Provided is a crane that can suppress swinging of a load with a high level of accuracy when an actuator is controlled using the load as a reference. A slewing base camera (7a) detects a load W that is suspended by a wire rope, the current coordinate location p(n) of the load W is calculated from the location of the detected load W, the current coordinate location q(n) of a tip end of a boom (9) is calculated from the position of a crane (1), a target velocity signal Vd that was inputted from a manipulation tool is converted into a target coordinate location p(n+1) of the load W, a wire rope direction vector e(n) is calculated from the current coordinate location p(n) of the load W and the target coordinate location p(n+1) of the load W, a target location q(n+1) of the tip end of the boom (9) for the target coordinate location p(n+1) of the load W is calculated from a wire rope reel-out amount 1(n) and the wire rope direction vector e(n), and an actuator operation signal Md is generated.


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    Title :

    クレーン


    Publication date :

    2022-08-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES



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