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.
クレーン
2022-08-17
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |