Tadano Ltd.

Shinsuke Kanda

Kazuma Mizuki

Hiroyuki Hayashi

Tomokazu Goto

Tatsuya Yanagisawa

Yoshimasa Minami

Hiroshi Yamauchi

Keita Mashima

Shoji Nishimoto

Masaki Shindo

Hiroki Mizobuchi

Naoki Ishihara

The invention addresses the problem of providing a remote operation terminal that prevents erroneous operation while remotely operating a mobile crane and that can easily and simply remotely operate the mobile crane, and a work vehicle comprising the remote operation terminal. A remote operation terminal comprises: a terminal-side GNSS receiver; a suspended load movement manipulation tool; and a terminal-side control device. The terminal-side control device acquires the current position of a boom tip from the crane control device and the current position of the remote operation terminal from the terminal-side GNSS receiver of the remote operation terminal, and sets the reference for the operation direction on a line L connecting the current position of the boom tip and the current position of the remote operation terminal.

Remote operation terminal and mobile crane comprising remote operation terminal

A crane for transporting a load from a transportation origin to a transportation destination, the crane being provided with: an operation function unit provided so as to be turnable; a hook suspended by a wire rope from a distal end part of the operation function unit; an information-reading unit provided to the hook or a member that moves with the hook, the information-reading unit acquiring information relating to a position of the transportation destination from an information storage unit provided to the load; a control unit for calculating, on the basis of the information relating to the position acquired from the information-reading unit, information relating to an operation of the crane for transporting the load to the transportation destination; and a display unit for displaying the information relating to the position and the information relating to the operation.

Crane and transportation destination presentation method

Provided is a crane including: an operable function part; an actuator; a generation part; a filter part filtering a first control signal and generating a second control signal; a control part controlling the actuator based on the second control signal; and a computation part computing information relating to a flow quantity estimated as the operable function part moving, if a stop signal has been inputted into the actuator at the present position of the operable function part, from when the stop signal has been inputted into the actuator to when the operation of the operable function part stops. The control part outputs the stop signal to the actuator if information relating to the present position of the operable function part, information relating to a target stop position whereat the operable function part is to be stopped, and the information relating to the flow quantity satisfy prescribed conditions.

Crane and crane control method

There is provided a crane control method whereby, during automatic transportation of a load along a preset transport route using a crane, it is possible to reliably transport the load along the route; and a crane that can be controlled by the crane control method. A control device () calculates target speed signals (VU), (VW), (VR) for designating the target hoisting speed and the target rotational speed of a boom () and the target winding/unwinding speed of main wire rope () or sub wire rope (), calculates the maximum speeds (VUmax), (VWmax), (VRmax) of the hoisting and rotation of the boom () and winding/unwinding of the main wire rope () or the sub wire rope (), and, if a target speed exceeds the corresponding maximum speed, controls the crane () by multiplying the target speed signal (VU), (VW), (VR) by a coefficient and restricting the target speed signal (VU), (VW), (VR) to be less than the corresponding maximum speed.

Crane control method and crane

An outrigger control device (A) includes: a plurality of outriggers () that is provided in a traveling body () and extendable/contractible between a non-grounding state where the traveling body is not supported and a grounding state where the traveling body is supported; an inclination sensor () that is provided in the traveling body and can detect inclination of the traveling body; and a controller () that controls an extension/contraction action of each outrigger and acquires a detection signal of the inclination sensor (). Further, the controller is provided with a grounding determination processing unit () that controls the outriggers to perform a predetermined grounding determination action and determines whether or not each outrigger is in the grounding state on the basis of the detected value of the inclination sensor at the time.

Outrigger control device

A control device equipped with a first acquisition unit for acquiring information pertaining to the location of the center of gravity of cargo transported by a work machine, a second acquisition unit for acquiring information pertaining to the location of a first section of the cargo which differs from the location of the center of gravity thereof, and a calculation unit for calculating information pertaining to the orientation of the cargo on the basis of the information pertaining to the location of the center of gravity of the cargo and the information pertaining to the location of the first section.

Control device, a terminal, and a calculation method capable of calculating a direction of a cargo conveyed by a work machine

The purpose of the present invention is to provide: a remote control terminal which can perform a remote control on a working vehicle easily and simply; and a working vehicle provided with a remote control terminal. The present invention is provided with: a vehicle-side azimuth sensor () which detects the azimuth around a crane device (); a remote control terminal () having a hung cargo movement control tool which is a first control part that remotely controls the crane device (), and a reference change control tool () which is a second control tool that sets a reference for the azimuth in which the crane device () operates according to a control of the hung cargo movement control tool (); and a control device () which is configured to be able to communicate with the remote control terminal () and controls the operation of the crane device (), wherein the control device () causes the crane device () to operate in the azimuth in which the crane device () operates, when acquiring, from the remote control terminal (), a signal of the azimuth in which the crane device () operates according to a control of the hung cargo movement control tool () and which is calculated on the basis of a set value of the reference change control tool ().

Remote control terminal, and working vehicle provided with remote control terminal

This crane is provided with: a operable functional unit; an actuator; a generation unit that generates a first control signal including a first deceleration signal section composed of a control signal for decelerating a speed of the operable functional unit from a first speed to a second speed and a first constant-speed signal section composed of a control signal for maintaining the speed of the operable functional unit at the second speed; a filter unit for filtering the first control signal to generate a second control signal; and a control unit that controls the actuator so as to decelerate the operable functional unit based on the second control signal, then controls the actuator so as to maintain the speed at the second speed, and controls the actuator so as to zero the speed when a load has been moved to a location satisfying a prescribed condition.

Crane

This crane is provided with: a operable functional part that is supported on a pair of lower bases; a driving device; a detection unit that detects information about the attitude of the operable functional part; a target signal generation unit that generates a target signal regarding the moving direction and the moving speed of a suspended load on the basis of information about an operation input for instructing the moving direction and the moving speed of the suspended load; a filter unit that generates a filtering target signal by filtering the target signal; a control signal generation unit that generates a speed control signal for controlling the operation speed of the driving device on the basis of the information about the attitude and the filtering target signal; and a control unit that controls the driving device on the basis of the speed control signal.

The present invention provides a remote control terminal which achieves both easy visibility and easy control by indicating the movement direction and the movement speed of a work device as a directed segment according to the operation direction and the operation amount of an operation tool. The present invention provides a remote control terminal which remotely controls a crane device of a crane, the remote control terminal being provided with: a terminal-side communication unit; a suspended load movement operation tool; a terminal-side display device; and a terminal-side control device. The terminal-side control device calculates a vector which represents the movement direction and the movement speed of the crane device according to the operation direction and the operation amount of the suspended load movement operation tool, and the terminal-side control device displays an image in which the directed segment representing the vector is superimposed on the image captured by the camera.

Remote control terminal and work vehicle

A crane comprising a traveling body and a turning body turnably supported by the traveling body, the crane performing power feeding and communication between the traveling body and the turning body. The traveling body is provided with: a power supply; a lower controller which controls the traveling body and transmits power to the devices included in the traveling body; and a lower transmitter-receiver which wirelessly transmits and receives the power and data signal from the power supply. The turning body is provided with: an upper controller which controls the turning body and transmits power to the devices included in the turning body; and an upper transmitter-receiver which wirelessly transmits and receives the power and data signal to and from the lower transmitter-receiver.

This crane is provided with: a operable function unit; an operation unit; an actuator; a generation unit which generates a first control signal for the actuator on the basis of an operation input; a plurality of wire ropes; a plurality of hooks suspended from a leading end section of a boom by the plurality of wire ropes, respectively; a hook detection unit which detects, from among the plurality of hooks, an unused hook suspending no load; a calculation unit which calculates a resonance frequency for a wire rope, among the plurality of wire ropes, that suspends the detected unused hook; a filter unit which generates a filter on the basis of the resonance frequency and generates a second control signal by filtering the first control signal using the filter; and a control unit which controls the actuator on the basis of the second control signal.

There is provided a method for controlling a crane, with which the position of a hook is automatically adjusted before lift-off, where a freely-derricking telescopic boom is provided to a swivel base, a main hook is suspended with a main wire rope from a distal end section of the telescopic boom, and a suspended load is suspended on a main hook with slinging wire ropes, wherein post-slinging lift-off is preceded by a hook position adjustment control involving repeating: a first process where the control device controls so as to reel in the main wire rope to a position where the main wire rope is tensed; and a second process where the control device controls so as to move the distal end section of the telescopic boom in the same direction of a horizontal direction component of the movement of the main hook in the first process.

Method for controlling crane, and crane

The resonant frequency &#x3c9;x(n) of horizontal shaking of a suspended load W suspended from the distal end of a telescopic boom 9 via wire ropesis calculated on the basis of the suspension length Lm(n)&#xb7;Ls(n) of the wire ropes; the characteristic frequency &#x3c9;y(n) in the raising and lowering direction of the telescopic boomis calculated; and, in accordance with an operation for raising and lowering the telescopic boomthe filtering control signal Cd(n) of an actuator is generated in which a frequency component in a discretionary frequency range is attenuated at a discretionary ratio with reference to the resonant frequency &#x3c9;x(n) of the suspended load W, and in which a frequency component in a discretionary frequency range is attenuated at a discretionary ratio with reference to the characteristic frequency &#x3c9;y(n) in the raising and lowering direction of the telescopic boom

This crane is provided with: a boom; a wire rope suspended down from a leading end section of the boom; a suspender that is fixed to a lower end of the wire rope and is for suspending a slinging tool for hanging a load; a calculation unit that calculates a first load, which is the weight of a member that is suspended down from the suspender; a slinging tool database unit that stores information pertaining to the slinging tool corresponding to the first load; a determination unit that determines whether a load is being suspended from the suspender; and a control unit that acquires the information pertaining to the slinging tool corresponding to the first load from the slinging tool database unit if the load is being suspended, and sets the vertical length of the slinging tool on the basis of the acquired information pertaining to the slinging tool.

Growing community of inventors

Kagawa, Japan

Shinsuke Kanda