crane

Abstract

To provide a crane that can efficiently suppress the swaying of suspended loads caused by rotation.SOLUTION: A crane comprises an upper rotating body and a boom that can be raised and lowered relative to the upper rotating body. When the upper rotating body rotates to move a suspended load, the crane automatically increases and decreases a boom hoisting angle (SU2) to dampen vibration of the suspended load, and in the vibration damping mode, increases and decreases the boom hoisting angle to dampen vibration of the suspended load.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a crane.

Background Art

[0002] Patent Document 1 describes vibration control for stopping the swing (pendulum motion) of a suspended load generated during the turning of a crane. In this vibration control, when the boom turns, the radius of the boom suspension point is decreased and at the same time the wire rope suspending the suspended load is payed out to stop the swing of the suspended load.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when trying to damp vibration only by paying out the wire rope as in the vibration control of Patent Document 1, there is a problem that the pay-out speed of the wire rope is slow and thus the speed required for swing stop cannot be ensured.

[0005] An object of the present invention is to provide a crane capable of efficiently suppressing the swing of a suspended load caused by turning.

Means for Solving the Problems

[0006] One crane according to the present invention is an upper slewing body and a crane provided with a boom that can be raised and lowered with respect to the upper slewing body, when the upper slewing body turns to move a suspended load, automatically increasing and decreasing the elevation angle of the boom to damp the suspended load.

Effects of the Invention

[0007] According to the present invention, an effect that the swing of the suspended load caused by turning can be efficiently suppressed is obtained.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

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Figure 6

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Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Best Mode for Carrying Out the Invention

[0009] Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings.

[0010] FIG. 1 is a block diagram showing the crane of this embodiment. The crane 1 of this embodiment includes a lower structure 11, an upper slewing body 12 that slews with respect to the lower structure 11, a boom (lifting member) 13 that lifts and lowers with respect to the upper slewing body 12, a hook 14 suspended from the boom 13 via a wire rope L, a detection device 16 such as a camera that detects the swing of the suspended load H, an operation control unit 20 that can be operated by an operator, an input / output unit 30 that outputs information to and inputs information from the operator, and a control unit 40 that controls the operation of the crane 1. The detection device 16 sends detection information (video data, etc.) of the swing of the suspended load H to the control unit 40 via I / O64.

[0011] In FIG. 1, although shown in a simplified manner, the lower structure 11 may be a traveling body such as a crawler, or may be a fixed structure. The upper slewing body 12 has a main frame connected to the lower structure 11 via a bearing, and the crane 1 includes a slewing device that slews via a bearing with power from a hydraulic motor or the like. The boom 13 is rotatably connected to the main frame of the upper slewing body 12, and the crane 1 includes a hoisting winch that raises and lowers the boom 13 by winding or unwinding a wire rope for hoisting. The hook 14 is suspended from the boom 13 via the wire rope L, and the crane 1 includes a hoisting winch that raises and lowers the hook 14 by winding or unwinding the wire rope L. The operation control unit 20, the input / output unit 30, and the control unit 40 may be arranged in, for example, the operator's cab 2 and the control room 3 on the upper slewing body 12.

[0012] With the above configuration, the crane 1 hangs the suspended load H on the hook 14, winds up the wire rope L to lift the suspended load H, then rotates the upper slewing body 12, and if necessary, changes the elevation angle of the boom 13, so that the suspended load H can be moved above the destination. Thereafter, the crane 1 can lower the suspended load H to the destination by paying out the wire rope L. The rotation of the upper slewing body 12, the elevation of the boom 13, and the raising and lowering of the suspended load H are realized by the control unit 40 outputting a rotation request signal, an elevation request signal, and a raising and lowering request signal to the rotation drive circuit 51 that drives the rotation device of the upper slewing body 12, the elevation drive circuit 52 that drives the winch for elevation, and the raising and lowering drive circuit 53 that drives the winch for raising and lowering, respectively, via the I / O 63. The rotation drive circuit 51, the elevation drive circuit 52, and the raising and lowering drive circuit 53 are collectively referred to as the drive circuit 50.

[0013] Although not particularly limited, the rotation device receives power from a hydraulic motor that rotates with the pressure oil supplied from the hydraulic motor via a control valve and rotates the upper slewing body 12. The rotation drive circuit 51 drives or brakes the rotation device by operating the hydraulic motor by driving the above control valve.

[0014] Also, the winch for elevation receives power from a hydraulic motor that rotates with the pressure oil supplied from the hydraulic motor via a control valve, rotates the drum, winds the wire rope around the drum, or pays out the wire rope from the drum to raise and lower the boom 13. The elevation drive circuit 52 drives the winch for elevation by operating the hydraulic motor by driving the above control valve. When the boom 13 rises (the elevation angle increases), the height of the tip 13t of the boom 13 increases, and when the boom 13 falls (the elevation angle decreases), the height of the tip 13t of the boom 13 decreases.

[0015] Also, the winch for raising and lowering receives power from a hydraulic motor that rotates with the pressure oil supplied from the hydraulic motor via a control valve, rotates the drum, winds the wire rope around the drum, or pays out the wire rope from the drum to raise and lower the hook 14. The raising and lowering drive circuit 53 drives the winch for raising and lowering by operating the hydraulic motor by driving the above control valve.

[0016] Hereinafter, the rotation of the upper rotating body 12 and its operation are simply referred to as "rotation" and "rotation operation", the raising and lowering of the boom 13 and its operation are simply referred to as "raising and lowering" and "raising and lowering operation", and the lifting and lowering of the suspended load H and its operation are simply referred to as "lifting and lowering" and "lifting and lowering operation". Also, hereinafter, the raising and lowering angle of the boom 13 is set such that the horizontal is 0 [rad] and the vertical is π / 2 [rad], and the increase and decrease of the raising and lowering angle and the rate of increase and decrease of the raising and lowering angle are represented.

[0017] The operation control unit 20 includes an operation lever 21 for manually performing rotation operation, raising and lowering operation, and lifting and lowering operation, an automatic operation start operation unit 22 for shifting the crane 1 to the automatic operation mode, and a vibration suppression mode shift operation unit 23 for shifting to the vibration suppression mode. The automatic operation mode is an operation mode in which information on the transport destination of the suspended load H is input in advance, and by operating the automatic operation start operation unit 22 with the suspended load H lifted, the rotation operation and the raising and lowering operation are automatically performed, and the suspended load H can be automatically moved above the transport destination. The vibration suppression mode is an operation mode in which a vibration suppression operation for reducing the swing of the suspended load H is automatically performed. The operation signal of the operation lever 21, the operation signal of the automatic operation start operation unit 22, and the operation signal of the vibration suppression mode shift operation unit 23 are sent to the control unit 40 via the I / O 61.

[0018] The input / output unit 30 includes a notification unit 31 that notifies the operator of information by display or sound, and an operation panel 32 through which the operator can input information by operating. Further, the control unit 40 includes an automatic driving setting processing unit 45 that causes the automatic driving setting information (such as the moving start position of the suspended load H, the moving path of the boom 13, the moving end position of the suspended load H, etc.) to be input via the operation panel 32. The notification unit 31 receives a command from the control unit 40 via the I / O 62 and performs a notification operation. The operation panel 32 receives a display signal from the control unit 40 (specifically, the automatic driving setting processing unit 45) via the I / O 62, and outputs an operation signal to the control unit 40 (specifically, the automatic driving setting processing unit 45) via the I / O 62. Information on the moving path of the boom 13 in automatic driving may be set in cases where there are locations where it is desired to avoid the passage of the boom 13 during slewing operation, or locations where it is desired to avoid the passage of the suspended load H and the wire rope L, and the passage can be avoided by changing the elevation angle of the boom 13. The information on the moving end position may be in a format input by position information, or in a format input by the slewing angle of the upper slewing body 12 and the elevation angle of the boom 13. Alternatively, a format may be adopted in which the position of the hook 14 is input as the moving end position by manually moving the hook 14 and performing a specified operation.

[0019] The control unit 40 includes a mode switching control unit 41 that performs switching control of the operation mode, a manual operation control unit 42 that controls the operation of the crane 1 in the manual operation mode, an automatic operation control unit 43 that controls the operation of the crane 1 in the automatic operation mode, a vibration damping mode operation control unit 44 that controls the operation of the crane 1 in the vibration damping mode, and the above-described automatic operation setting processing unit 45 that inputs setting information for automatic operation via the operation panel 32. The control unit 40 is a computer including a CPU (Central Processing Unit), a storage device that stores a control program, and an interface that inputs and outputs signals between the control unit 40 and external devices (components of the crane 1). The mode switching control unit 41, the manual operation control unit 42, the automatic operation control unit 43, the vibration damping mode operation control unit 44, and the automatic operation setting processing unit 45 may be software modules realized by the CPU executing the control program. The control unit 40 exchanges commands and information with the operation operation unit 20, the input / output unit 30, the detection device 16, and the drive circuit 50 via the bus and I / O 61 - 63.

[0020] Figure 2 is a flowchart showing the mode switching process executed by the mode switching control unit. Figure 3 is a flowchart showing the manual operation process executed by the manual operation control unit. Figure 4 is a flowchart showing the automatic operation process executed by the automatic operation control unit. Figure 5 is a flowchart showing the vibration damping operation process executed by the vibration damping mode operation control unit. Subsequently, the functions of each control unit of the control unit 40 will be described with reference to the flowcharts.

[0021] As shown in FIG. 2, in the manual mode, the mode switching control unit 41 executes a loop process including the determination processes of steps S1, S2, S4, and S5. In the loop process, the mode switching control unit 41 determines whether there is an operation (automatic operation start operation) of the automatic operation start operation unit 22 of the operator (step S1). If there is such an operation, the operation mode is switched to the automatic operation mode (step S3). Further, the mode switching control unit 41 determines whether a predetermined automatic switching condition to the automatic operation (for example, conditions such as there is a request for automatic switching to the automatic operation mode, the suspended load is located at the movement start position of the automatic operation, and the operation stops) is satisfied (step S2). When the condition is satisfied, the operation mode is switched to the automatic operation mode (step S3). By switching to the automatic operation mode, the automatic operation control unit 43 operates.

[0022] Furthermore, the mode switching control unit 41 determines whether there is an operation (operation to shift to the vibration suppression mode) of the vibration suppression mode shift operation unit 23 of the operator (step S4). If there is such an operation, the operation mode is switched to the vibration suppression mode (step S6). Further, the mode switching control unit 41 determines whether the swing of the suspended load H becomes equal to or greater than a predetermined threshold value (step S5). If it becomes the above, the operation mode is shifted to the vibration suppression mode (step S6). Note that the determination in step S5 may be a process of comprehensively determining various swing states of the suspended load H and determining whether vibration suppression is better, not just determining the magnitude of the swing. Detection information indicating the swing state (such as magnitude) of the suspended load H is input to the mode switching control unit 41 from the detection device 16. By switching to the vibration suppression mode, the vibration suppression mode operation control unit 44 operates.

[0023] Note that the mode switching control unit 41 may be configured to provide support for shifting the operation mode to the vibration suppression mode based on the swing state of the suspended load H. Support means an operation to prompt the operator to shift to the vibration suppression mode, such as performing notification via the notification unit 31. Further, the mode switching control unit 41 may shift the operation mode to the vibration suppression mode or provide support for the shift based on the rotation stop or deceleration of the rotation during manual operation (even during automatic operation without performing vibration suppression operation).

[0024] As shown in FIG. 3, the manual operation control unit 42 inputs the operation signal of the operation lever 21 (step S11), determines the type of operation of the operation lever 21 (step S12), and if it is a turning operation, outputs a turning command corresponding to the operation to the turning drive circuit 51 (step S13). Further, if it is a pitching operation, a pitching command corresponding to the operation is output to the pitching drive circuit 52 (step S14). Further, if it is a lifting operation, a lifting command corresponding to the operation is output to the lifting drive circuit 53 (step S15). Then, the manual operation control unit 42 returns the process to step S11. The manual operation control unit 42 realizes a turning operation, a pitching operation, and a lifting operation corresponding to the operation of the operation lever 21 by the above-described manual operation process.

[0025] The automatic operation control unit 43 performs an automatic operation including an automatic turning operation and an automatic pitching operation based on the automatic operation setting information set via the automatic operation setting processing unit 45. The automatic operation may include an automatic lifting operation. The automatic operation further includes a vibration damping operation for suppressing the swing of the suspended load H. The vibration damping operation here is an operation for suppressing the swing of the suspended load H at the final movement position of the suspended load H in the automatic operation, and includes the operation of accelerating and decelerating the turning and the operation of accelerating and decelerating the pitching. The automatic operation control unit 43 calculates the swing of the suspended load H generated by the automatic operation and the operation parameters of the vibration damping operation for suppressing this swing, and includes the vibration damping operation having the calculated operation parameters in the automatic operation.

[0026] Specifically, as shown in FIG. 4, the automatic driving control unit 43 calculates time-series control data indicating the flow of each operation of turning operation, undulating operation, and lifting operation from the setting information of the automatic driving (step S21). Further, the automatic driving control unit 43 calculates the vibration generated in the suspended load H and the operation parameters of the vibration damping operation for suppressing this vibration from the time-series control data of the automatic driving calculated in step S21 (step S22). Then, time-series control data of the vibration damping operation to which the operation parameters of step S22 are applied is added to the time-series control data of the automatic driving calculated in step S21 (step S23). Note that the calculations in steps S21 to S23 may be performed when the setting information of the automatic driving is set, rather than being executed in the automatic driving process.

[0027] In the subsequent loop processing of steps S24 to S26, the automatic driving control unit 43 executes the automatic driving process along the time-series control data of the operation generated in steps S21 and S23. That is, the automatic driving control unit 43 determines the timing at which a command is issued (step S24), and if it is the timing, outputs a turning, undulating, or lifting command along the above time-series control data to the corresponding drive circuit (turning drive circuit 51, undulating drive circuit 52, lifting drive circuit 53) (step S25), and determines whether the above time-series control data has ended (step S26). Then, until it is determined in step S26 that the process has ended, the automatic driving control unit 43 repeats the processes of steps S24 to S26. By such a process, an automatic driving including the vibration damping operation calculated in steps S21 to S23 is realized.

[0028] The vibration damping mode operation control unit 44 performs a vibration damping operation to suppress the swing of the suspended load H. The vibration damping operation here is an operation to suppress the swing of the suspended load H that already exists when shifting to the vibration damping mode, and includes the operation of accelerating and decelerating the slewing and the operation of accelerating and decelerating the hoisting. The operation mode before shifting to the vibration damping mode corresponds to the normal mode. As shown in FIG. 5, first, the vibration damping mode operation control unit 44 acquires the detection information (such as the amplitudes and phases in two directions of the swing) of the detection device 16 indicating the state of the swing of the suspended load H (step S31). Next, based on the above detection information, the vibration damping mode operation control unit 44 calculates the operation parameters of the vibration damping operation for suppressing the swing of the suspended load H (step S32), and calculates the time-series control data of the vibration damping operation to which the calculated operation parameters are applied (step S33). Then, in the loop process of steps S34 to S36 that follow, the vibration damping mode operation control unit 44 executes the processing of the vibration damping operation along the time-series control data of the operation generated in step S33. That is, the vibration damping mode operation control unit 44 determines the timing at which to issue a command (step S34), and if it is the timing, outputs a slewing or hoisting command along the above time-series control data to the corresponding drive circuit (slewing drive circuit 51, hoisting drive circuit 52) (step S35), and determines whether the above time-series control data has ended (step S36). Then, until it is determined in step S36 that the process has ended, the vibration damping mode operation control unit 44 repeats the processes of steps S34 to S36. By such processing, the vibration damping operation calculated in step S33 is realized, and the swing of the suspended load H is suppressed.

[0029] (Automatic driving example 1) FIG. 6 is a time chart for explaining Automatic driving example 1 of the embodiment. FIG. 6 shows the automatic driving when the suspended load H can be moved from the movement start position to the movement end position only by the slewing operation.

[0030] In this case, if vibration control operation is not required, the suspended load H can be moved to the movement end position through acceleration turning a1, a2, constant speed turning c1, c2, c3, and deceleration turning b1, b2. However, in such movement, swing in the turning direction q (see Fig. 1) occurs due to the turning movement of the suspended load H, and at the same time, swing in the orthogonal direction r (a horizontal direction orthogonal to the turning direction q, see Fig. 1) occurs due to the centrifugal force generated in the suspended load H. The swing in the turning direction q is represented by the angle θq between the vertical line J passing through the tip of the boom 13 (the suspension position of the wire rope L) and the wire rope L in the turning direction q, and the swing in the orthogonal direction r is represented by the angle θr between the vertical line J and the wire rope L in the orthogonal direction r. Assuming the length of the wire rope L is l, the angular velocity ω and the period T of the swings θq and θr are functions of the length l. The period T corresponds to the swing period, which is the time for one round trip of the swing θq or θr.

[0031] As shown in Fig. 6, the automatic operation of the embodiment includes a turning vibration control operation SU1 that mainly suppresses the swing θq in the turning direction q and an orthogonal vibration control operation SU2 that mainly suppresses the swing θr in the orthogonal direction r. The orthogonal vibration control operation SU2 may also bear part of the suppression effect of the swing θq in the turning direction q. The turning vibration control operation SU1 may also bear part of the suppression effect of the swing θr in the orthogonal direction r.

[0032] The turning vibration control operation SU1 is an operation that includes deceleration turning B11, acceleration turning A12, and deceleration turning B13 in chronological order. The turning vibration control operation SU1 may be performed within the turning deceleration period T11 of the automatic operation at the end stage of the automatic operation approaching the movement end position. The turning vibration control operation SU1 may be an operation having a time length within one period of the swing. The turning vibration control operation SU1 may be an operation in which the turning angle at the start end is the same as the turning angle at the end end, or an operation in which they are not the same.

[0033] The orthogonal vibration damping operation SU2 is an operation that damps the suspended load H by increasing and decreasing the elevation angle of the boom 13, and includes a decreasing elevation angle B21, an increasing elevation angle A22, and a decreasing elevation angle B23 in chronological order. During the period of the orthogonal vibration damping operation SU2, the wire rope L is not wound or unwound. Note that during the period of the orthogonal vibration damping operation SU2, the wire rope L may be wound, unwound, or both. The orthogonal vibration damping operation SU2 may be performed at the end stage of the automatic operation approaching the movement end position, during the turning deceleration period T11 of the automatic operation, and the period thereafter. The orthogonal vibration damping operation SU2 may be an operation having a time length within one cycle of vibration. The orthogonal vibration damping operation SU2 may be an operation in which the elevation angle at the start end and the elevation angle at the end end are the same, or an operation in which they are not the same. The operation in which the elevation angle at the start end and the elevation angle at the end end of the orthogonal vibration damping operation SU2 are the same corresponds to an operation in which the increase amount and the decrease amount of the elevation angle during the orthogonal vibration damping operation are equal. Note that the increase amount and the decrease amount of the elevation angle being equal is not limited to only the case of being exactly equal, but includes the case of having an error. The error that can be regarded as the increase amount and the decrease amount of the elevation angle being equal is an amount such that the horizontal displacement amount of the hook 14 due to the difference in the elevation angle is equal to or less than the maximum horizontal width of the hook 14 (for example, 50 cm).

[0034] Based on the setting information of the automatic operation, the automatic operation control unit 43 creates time-series control data for realizing a turning operation and a hoisting operation including a turning vibration damping operation SU1 and an orthogonal vibration damping operation SU2 as shown in the time chart of FIG. 6. Then, when the start condition of the automatic operation is satisfied, such as when the suspended load H is placed at the movement start position and the automatic operation start operation unit 22 is operated, the automatic operation control unit 43 executes the turning operation and the hoisting operation according to the time-series control data of the turning operation and the hoisting operation.

[0035] In the case of automatic operation shown in FIG. 6, the upper swing body 12 including the boom 13 swings by the turning operations of the acceleration turn a1, the constant-speed turn c1, the acceleration turn a2, the constant-speed turn c2, and the deceleration turn b1, and accordingly, the suspended load H moves. Such turning movement causes the suspended load H to generate swings θq and θr in the turning direction q and the orthogonal direction r. Then, when the turning vibration damping operation SU1 and the orthogonal vibration damping operation SU2 are executed, the swing θq in the turning direction q and the swing θr in the orthogonal direction r of the suspended load H are reduced by the acceleration and deceleration of the turn in the turning vibration damping operation SU1 and the increase and decrease of the undulation angle in the orthogonal vibration damping operation SU2. Then, after passing through the subsequent deceleration turn b2, the turning of the boom 13 and the upper swing body 12 stops with the swing of the suspended load H reduced. And the movement of the suspended load H to the movement end position is completed in a state where the swing is suppressed.

[0036] <Calculation Method of Operating Parameters for Turning Vibration Damping Operation> Subsequently, an example of a calculation method of operating parameters for determining the turning vibration damping operation SU1 and the orthogonal vibration damping operation SU2 will be described. The magnitudes and times of the deceleration turn B11, the acceleration turn A12, and the deceleration turn B13 of the turning vibration damping operation SU1 are obtained from the following algorithm. Here, the acceleration and deceleration of the tip position of the boom 13 corresponding to the deceleration turn B11, the acceleration turn A12, and the deceleration turn B13 are represented as b11, a12, and b13.

[0037] First, the principle will be explained. As shown in FIG. 7(a), the swing θq in the turning direction q can be represented as circular motion of a phase point N shown on a predetermined phase plane (the horizontal axis is the phase θq and the vertical axis is the normalized angular velocity “1 / ω×dθq / dt” (time differentiation is indicated by a dot in the figure)). The circular motion of the phase point N orbits with a period T. If the tip of the boom 13 is stopped, the circular motion representing the swing θq follows a circle Cq0 centered at the origin of the phase plane. On the other hand, when an acceleration and deceleration a in the same direction as the swing θq is applied to the tip of the boom 13, the center of the circular motion representing the swing θq shifts to the point “vertical axis 0, horizontal axis (-a / g)” (g is the gravitational acceleration) corresponding to the acceleration and deceleration.

[0038] Therefore, as shown in FIGS. 7(a) and 7(b), when the phase point N indicating the swing moves along the initial circle Cq0, at the timing when the phase point N reaches a predetermined point Q1 on the circle Cq0, by applying the acceleration / deceleration b11, the center point of the circular motion on the phase plane can be changed to the point -b11 / g, and the circular motion of the phase point N indicating the swing can be changed to the motion along the circle Cq1. Next, as shown in FIGS. 7(b) and 7(c), when the phase point N indicating the swing moves along the circle Cq1, at the timing when the phase point N reaches a predetermined point Q2 on the circle Cq1, by applying the acceleration / deceleration a12, the center point of the circular motion on the phase plane can be changed to the point -a12 / g, and the circular motion of the phase point N indicating the swing can be changed to the motion along the circle Cq2. Similarly, as shown in FIGS. 7(c) and 7(d), when the phase point N indicating the swing moves along the circle Cq2, at the timing when the phase point N reaches a predetermined point Q3 on the circle Cq2, by applying the acceleration / deceleration b13, the center point of the circular motion on the phase plane can be changed to the point -b13 / g, and the circular motion of the phase point N indicating the swing can be changed to the circle Cq3 passing through the origin. Then, when the phase point N indicating the swing moves along the circle Cq3, by setting the acceleration / deceleration to zero at the timing when the phase point N reaches the origin, the phase point N indicating the swing can stop at the origin, and the swing θq of the suspended load H can be set to zero.

[0039] The automatic operation control unit 43 uses an algorithm along the above principle to calculate the acceleration / deceleration b11, a12, b13, and the converted turning acceleration / deceleration B11, A12, B13 for reducing or making the swing θq in the turning direction q substantially zero, and the timings when the phase point N reaches the predetermined points Q1, Q2, Q3, Q0. Then, the automatic operation control unit 43 sets these calculation results as the operation parameters of the turning vibration suppression operation SU1. There is still some degree of freedom in these operation parameters, and the automatic operation control unit 43 may use this degree of freedom to calculate the above operation parameters so that the turning angle at the start end and the turning angle at the end of the turning vibration suppression operation SU1 match.

[0040] <Calculation Method of Operation Parameters for Orthogonal Vibration Suppression Operation> The magnitudes and times of the reduction B21, increase A22, and reduction B23 of the undulation angle in the orthogonal vibration operation SU2 are obtained from an algorithm following the same principle as above. Here, the accelerations and decelerations in the orthogonal direction r of the tip position of the boom 13 corresponding to the undulation angle reduction B21, undulation angle increase A22, and undulation angle reduction B23 are represented as b21, a22, and b23.

[0041] First, the principle will be explained. As shown in Fig. 8(a), the swing θr in the orthogonal direction r can be represented as circular motion of a phase point N shown on a predetermined phase plane (the horizontal axis is the phase θr, and the vertical axis is the normalized angular velocity "1 / ω × dθr / dt" (time differentiation is indicated by a dot in the figure)). The circular motion of the phase point N orbits with a period T. If the tip of the boom 13 is stationary, the circular motion representing the swing θr follows a circle Cr0 centered at the origin of the phase plane. On the other hand, when an acceleration and deceleration a in the same direction as the swing θr is applied to the tip of the boom 13, the center of the circular motion representing the swing θr shifts to the point "vertical axis 0, horizontal axis (-a / g)" (g is the gravitational acceleration) according to the acceleration and deceleration.

[0042] Therefore, as shown in FIGS. 8(a) and 8(b), when the phase point N indicating the swing moves along the initial circle Cr0, at the timing when the phase point N reaches a predetermined point R1 on the circle Cr0, by applying a deceleration b21, the center point of the circular motion on the phase plane can be changed to the point -b21 / g, and the circular motion of the phase point N indicating the swing can be changed to the motion along the circle Cr1. Next, as shown in FIGS. 8(b) and 8(c), when the phase point N indicating the swing moves along the circle Cr1, at the timing when the phase point N reaches a predetermined point R2 on the circle Cr1, by applying an acceleration a22, the center point of the circular motion on the phase plane can be changed to the point -a22 / g, and the circular motion of the phase point N indicating the swing can be changed to the motion along the circle Cr2. Similarly, as shown in FIGS. 8(c) and 8(d), when the phase point N indicating the swing moves along the circle Cr2, at the timing when the phase point N reaches a predetermined point R3 on the circle Cr2, by applying a deceleration b23, the center point of the circular motion on the phase plane can be changed to the point -b23 / g, and the circular motion of the phase point N indicating the swing can be changed to the circle Cr3 passing through the origin. Then, when the phase point N indicating the swing moves along the circle Cr3, by setting the acceleration / deceleration to zero at the timing when the phase point N reaches the origin, the phase point N indicating the swing can stop at the origin, and the swing θr of the suspended load H can be set to zero.

[0043] The automatic operation control unit 43 uses an algorithm based on the above principle to calculate the accelerations / decelerations b21, a22, b23, and the accelerations / decelerations B21, A22, B23 of the undulations obtained by converting these, and the timings when the phase point N reaches the predetermined points R1, R2, R3, R0, so as to reduce or make substantially zero the swing θr in the orthogonal direction r. There is still some degree of freedom in these parameters, and the automatic operation control unit 43 uses this degree of freedom to calculate the parameters so that the undulation angle at the start end and the undulation angle at the end end of the orthogonal vibration control operation SU2 match. Then, the automatic operation control unit 43 uses these calculation results as the operation parameters of the orthogonal vibration control operation SU2.

[0044] Note that the calculation methods for the operation parameters of the above-described turning vibration suppression operation SU1 and orthogonal vibration suppression operation SU2 are merely examples. The automatic operation control unit 43 may perform correction on the calculation using the above algorithm, including various factors that affect the swing of the suspended load H, such as wind, the weight of the wire rope L, and changes in the turning direction q and orthogonal direction r due to turning, and then calculate the above operation parameters. Alternatively, the automatic operation control unit 43 may calculate the operation parameters for determining the turning vibration suppression operation SU1 and the orthogonal vibration suppression operation SU2 using other algorithms, or may obtain such operation parameters through machine learning.

[0045] <Simulation Results of Automatic Operation Example 1> Fig. 9(a) is a diagram showing the simulation result of the swing θq in the turning direction q during Automatic Operation Example 1 on a phase plane, and Fig. 9(b) is a diagram showing the simulation result of the swing θr in the orthogonal direction r during Automatic Operation Example 1 on a phase plane. Figs. 10(a) and (b) are diagrams showing the simulation results of the swings θq and θr during automatic operation without vibration suppression on a phase plane. In these figures, the points Qe and Rs indicate the phase points at the start end of the automatic operation, and the points Qe and Re indicate the phase points at the end end of the automatic operation.

[0046] According to Automatic Operation Example 1 shown in Fig. 6, the suspended load H can be moved to the movement end position by the turning operation, and furthermore, the swing of the suspended load H at the movement end position is suppressed by the turning vibration suppression operation SU1 and the orthogonal vibration suppression operation SU2. As shown in Figs. 9(a) and 9(b), as a result of the operation of Automatic Operation Example 1, the swings θq and θr in both the turning direction q and the orthogonal direction r are suppressed. The arrow curves F1 to F3 in Fig. 9(a) are the changes in the phase points due to the turning vibration suppression operation SU1, corresponding to the arrow curves f1 to f3 in Figs. 7(b) to (d) shown in the principle explanation. The arrow curves F4 to F6 in Fig. 9(b) are the changes in the phase points due to the orthogonal vibration suppression operation SU2, corresponding to the arrow curves f4 to f6 in Figs. 8(b) to (d) shown in the principle explanation.

[0047] On the other hand, as shown in FIGS. 10(a) and 10(b), when the turning vibration suppression operation SU1 and the orthogonal vibration suppression operation SU2 of the automatic driving example 1 are not performed, in the swing θq in the turning direction q, the phase points change greatly in the accelerating turns a1, a2 and the decelerating turns b1, b2, and the terminal phase point Qe does not approach the zero point, resulting in large residual vibration. Also, in the swing θr in the orthogonal direction r, the amplitude is slightly shifted by the centrifugal force, and the terminal phase point Re does not approach the zero point, resulting in large residual vibration.

[0048] (Automatic driving example 2) FIG. 11 is a time chart for explaining the automatic driving example 2 of the embodiment. The automatic driving example 2 is an automatic driving in a case where only the turning operation can move the suspended load H from the movement start position to the movement end position in the same manner as the automatic driving example 1, and is an example in which the execution timings of the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4 are changed from those of the automatic driving example 1.

[0049] As shown in FIG. 11, the automatic driving control unit 43 may execute the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4 during the turning of the automatic driving, more specifically, during the constant-speed turns c2m, d2n in the middle stage. In addition, the automatic driving control unit 43 may execute the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4 during the decelerating turn in the middle stage of the automatic driving, during the accelerating turn in the initial stage, etc. Also, the automatic driving control unit 43 may execute the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4 at different timings instead of simultaneously.

[0050] The turning vibration suppression operation SU3 is an operation including a decelerating turn B31, an accelerating turn A32, and a decelerating turn B33 in time series order. The turning vibration suppression operation SU3 may be an operation having a time length within one cycle of the swing. The turning vibration suppression operation SU3 may be an operation in which the initial turning angle and the terminal turning angle are the same, or may be an operation in which they are not the same.

[0051] The orthogonal vibration damping operation SU4 is an operation that damps the suspended load H by increasing and decreasing the elevation angle of the boom 13, and includes a decreasing elevation angle B41, an increasing elevation angle A42, and a decreasing elevation angle B43 in chronological order. During the period of the orthogonal vibration damping operation SU4, the wire rope L is not wound or unwound. However, the winding and unwinding of the wire rope L may be used in combination. The orthogonal vibration damping operation SU4 may be an operation having a time length within one cycle of vibration. The orthogonal vibration damping operation SU4 may be an operation in which the starting elevation angle and the ending elevation angle coincide, or may be an operation in which they do not coincide.

[0052] Based on the setting information of the automatic operation, the automatic operation control unit 43 creates time-series control data for realizing a slewing operation and a hoisting operation including a slewing vibration damping operation SU3 and an orthogonal vibration damping operation SU4 as shown in the time chart of FIG. 11. Then, when the starting conditions for the automatic operation are satisfied, such as when the suspended load H is placed at the movement start position and the automatic operation start operation unit 22 is operated, the automatic operation control unit 43 executes the slewing operation and the hoisting operation according to the time-series control data of the slewing operation and the hoisting operation.

[0053] In the case of the automatic operation in FIG. 11, by the slewing operations of the accelerating slewing a1, the constant-speed slewing c1, the accelerating slewing a2, and the constant-speed slewing c2m, the upper slewing body 12 including the boom 13 slews, and accordingly the suspended load H moves. Due to such a slewing movement, the suspended load H generates vibrations θq and θr in the slewing direction q and the orthogonal direction r. Then, when the slewing vibration damping operation SU3 and the orthogonal vibration damping operation SU4 are executed, the vibration θq of the suspended load H in the slewing direction q changes due to the slewing vibration damping operation SU3. Further, the vibration θr in the orthogonal direction r changes due to the orthogonal vibration damping operation SU4. Furthermore, thereafter, when the constant-speed slewing c2n, the decelerating slewing b1, the constant-speed slewing c3, and the decelerating slewing b2 are performed, the action of vibration is added to the suspended load H by these slewing operations. And by adding the above actions to the vibrations θq and θr changed by the execution of the slewing vibration damping operation SU3 and the orthogonal vibration damping operation SU4, the vibration of the suspended load H is finally reduced. Then, the slewing of the boom 13 and the upper slewing body 12 stops, and the movement of the suspended load H to the movement end position is completed in a state where the vibration is suppressed.

[0054] <Calculation Method of Operating Parameters for Vibration Damping Operation> When the turning vibration damping operation SU3 is performed during the turning of the automatic driving (for example, in the initial stage or the middle stage of the automatic driving), the automatic driving control unit 43 uses an algorithm in accordance with the above-described principle so that the swing is suppressed at the end of the automatic driving, including the action of the swing in the turning direction q caused by the turning operation after the turning vibration damping operation SU3, to calculate the operating parameters of the turning vibration damping operation SU3.

[0055] Similarly, when the orthogonal vibration damping operation SU4 is performed during the turning of the automatic driving (for example, in the initial stage or the middle stage of the automatic driving), the automatic driving control unit 43 performs a calculation using the above algorithm so that the swing is suppressed at the end of the automatic driving, including the action on the swing in the orthogonal direction r due to the centrifugal force of the turning operation after the orthogonal vibration damping operation SU4, to calculate the operating parameters of the orthogonal vibration damping operation SU4.

[0056] Furthermore, when the turning angle for performing the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4 is significantly different from the turning angle at the end position of the movement, the turning direction q during the vibration suppression operation is a direction including the component in the turning direction q at the end of the automatic operation and the component in the orthogonal direction r. Similarly, the orthogonal direction r during the vibration suppression operation is a direction including the component in the turning direction q at the end of the automatic operation and the component in the orthogonal direction r. For this reason, the turning vibration suppression operation SU3 acts on both the swing θq in the turning direction q and the swing θr in the orthogonal direction at the end of the automatic operation, and the orthogonal vibration suppression operation SU4 acts on both the swing θq in the turning direction q and the swing θr in the orthogonal direction at the end of the automatic operation. Therefore, in such a case, the automatic operation control unit 43 combines the amount by which both the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4 act on the swing in the turning direction q at the end of the automatic operation, and the amount by which the automatic operation after the vibration suppression operation acts on the swing in the turning direction q at the end of the automatic operation, so as to suppress the swing in the turning direction q, and may determine the operation parameters of the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4. In addition, the automatic operation control unit 43 combines the amount by which both the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4 act on the swing in the orthogonal direction r at the end of the automatic operation, and the amount by which the automatic operation after the vibration suppression operation acts on the swing θr in the orthogonal direction r at the end of the automatic operation, so as to suppress the swing in the orthogonal direction r, and may determine the operation parameters of the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4. By the turning vibration suppression operation SU3 and the orthogonal vibration suppression operation SU4 calculated in this way, even when the beginning or middle of the automatic operation is used as the execution timing of the vibration suppression operation, the swing of the suspended load H at the end of the automatic operation can be suppressed.

[0057] (Automatic operation example 3) FIG. 12 is a time chart for explaining Example 3 of the automatic driving of the embodiment. Example 3 of the automatic driving is an automatic driving including a heaving operation to change the moving radius of the suspended load H. For example, when the heaving angle of the boom 13 is different between the moving start position and the moving end position of the suspended load H, or when there are constraints on the moving path of the boom 13 or the suspended load H during the moving process and it is necessary to change the heaving angle of the boom 13, etc., an automatic driving for changing the moving radius of the suspended load H is adopted. Such automatic driving includes, in addition to the turning operation including the same acceleration turning a1, a2, constant speed turning c1, c2, c3, and deceleration turning b1, b2 as in Example 1 and Example 2 of the automatic driving, a heaving operation including a heaving angle increase aa1, a constant speed heaving cc1, and a heaving angle decrease bb1.

[0058] The automatic driving control unit 43 performs a turning vibration control operation SU5 and an orthogonal vibration control operation SU6 during the above-described automatic driving. In the example of FIG. 12, the automatic driving control unit 43 performs the turning vibration control operation SU5 and the orthogonal vibration control operation SU6 at the end stage of the automatic driving, more specifically, during the turning deceleration period T11 and the heaving deceleration period T12. However, as shown in Example 2 of the automatic driving, the automatic driving control unit 43 may perform the turning vibration control operation SU5 and the orthogonal vibration control operation SU6 at the start stage or the middle stage of the automatic driving. Further, the automatic driving control unit 43 may not perform the turning vibration control operation SU5 and the orthogonal vibration control operation SU6 at the same time, but may execute them at different timings.

[0059] The turning vibration control operation SU5 is calculated based on the same concept as the turning vibration control operation SU1 shown in Example 1 of the automatic driving.

[0060] The orthogonal vibration damping operation SU6 is an operation that dampens the suspended load H by increasing and decreasing the elevation angle of the boom 13, and includes a decrease in elevation angle B61, an increase in elevation angle A62, and a decrease in elevation angle B63 in chronological order. During the period of the orthogonal vibration damping operation SU6, the wire rope L is not wound or unwound. However, the winding and unwinding of the wire rope L may be used in combination. The orthogonal vibration damping operation SU6 may be an operation having a time length within one cycle of vibration. The orthogonal vibration damping operation SU6 may be an operation in which the starting elevation angle and the ending elevation angle match, or an operation in which they do not match. The decreases in elevation angle B61 and B63 and the increase in elevation angle A62 of the orthogonal vibration damping operation SU6 may have acceleration and deceleration that are steeper than the acceleration and deceleration of the increase in elevation angle aa1 and the decrease in elevation angle bb1 during other periods during automatic operation.

[0061] Based on the setting information of the automatic operation, the automatic operation control unit 43 creates time-series data control data for realizing the slewing operation and the hoisting operation including the slewing vibration damping operation SU5 and the orthogonal vibration damping operation SU6 as shown in the time chart of FIG. 12. Then, when the starting conditions of the automatic operation are satisfied, such as when the suspended load H is placed at the movement start position and the automatic operation start operation unit 22 is operated, the automatic operation control unit 43 executes the slewing operation and the hoisting operation according to the time-series control data of the slewing operation and the hoisting operation. By such automatic operation, the slewing angle and the elevation angle change and the suspended load H moves to the movement end position, and further, by the slewing vibration damping operation SU5 and the orthogonal vibration damping operation SU6, the swing of the suspended load H is suppressed at the movement end position.

[0062] (Operation example of the vibration damping mode) FIG. 13 is a time chart showing an operation example of the vibration damping mode.

[0063] When shifting to the vibration damping mode, the vibration damping mode operation control unit 44 performs, for example, a turning vibration damping operation SU7 and an orthogonal vibration damping operation SU8 as shown in FIG. 13. After manually moving the suspended load H, when the vibration damping mode shift operation unit 23 is operated to shift to the vibration damping mode in order to suppress the swing of the suspended load H, periods T31 and T32 during which turning and heaving stop are included immediately before and after the vibration damping operation (turning vibration damping operation SU7 and orthogonal vibration damping operation SU8). Also, when the mode switching control unit 41 automatically shifts to the vibration damping mode because the swing of the suspended load H increases during the movement of the suspended load H, periods T31 and T32 during which turning and heaving stop may be included immediately before, after, or both before and after the vibration damping operation (turning vibration damping operation SU7 and orthogonal vibration damping operation SU8).

[0064] The vibration damping mode operation control unit 44 may acquire information on the swings θq and θr of the suspended load H before the vibration damping operation and their phases based on the detection information indicating the swing state of the suspended load H detected by the detection device 16, for example, during the period T31. The vibration damping mode operation control unit 44 calculates the operation parameters of the turning vibration damping operation SU7 and the orthogonal vibration damping operation SU8 according to the principles and algorithms described in the description of the automatic operation example 1. Then, the vibration damping mode operation control unit 44 executes the turning operation and the heaving operation according to the time-series control data to which the operation parameters are applied.

[0065] The turning vibration damping operation SU7 is an operation including a decelerated turn B71, a turn with an increasing heaving angle A72, and a decelerated turn B73 in time series. The turning vibration damping operation SU7 may be an operation having a time length within one cycle of the swing. The turning vibration damping operation SU7 is an operation in which the turning angle at the start end and the turning angle at the end end coincide, but may also be an operation in which they do not coincide.

[0066] The orthogonal vibration damping operation SU8 is an operation that damps the suspended load H by increasing and decreasing the elevation angle of the boom 13, and includes a decreasing elevation angle B81, an increasing elevation angle A82, and a decreasing elevation angle B83 in chronological order. During the orthogonal vibration damping operation SU8, the wire rope L is not wound or unwound. However, the winding and unwinding of the wire rope L may be used in combination. The orthogonal vibration damping operation SU8 may be an operation having a time length within one cycle of vibration. The orthogonal vibration damping operation SU8 is an operation in which the starting elevation angle and the ending elevation angle coincide, but it may also be an operation in which they do not coincide.

[0067] <Simulation Results of Vibration Damping Mode> Figure 14 is a phase plane locus diagram (a) in the turning direction q, a phase plane locus diagram (b) in the orthogonal direction r, and a locus diagram (c) of the suspended load, showing the simulation results of the vibration damping mode. Points Qs, Rs, and Ps indicate the respective phase points and locus points before the vibration damping operation, and points Qe, Re, and Pe indicate the respective phase points and locus points after the vibration damping operation. By the operation of the vibration damping mode in Figure 13, as shown in Figures 14(a) to (c), the vibrations in both the turning direction q and the orthogonal direction r were suppressed.

[0068] As described above, according to the crane 1 of the present embodiment, during the automatic operation in which the upper slewing body 12 slews to move the suspended load H, the suspended load H is damped by the orthogonal vibration damping operations SU2, SU4, and SU6 that increase and decrease the elevation angle of the boom 13. According to such a vibration damping operation, it is not necessary to wind or unwind the wire rope L, and the vibration θr in the orthogonal direction r generated by the slewing operation can be suppressed without changing the vibration cycle of the suspended load H. Since the vibration cycle does not change, the control of vibration damping becomes easy, and it also becomes easy for the operator to predict the locus of the suspended load H. However, the vibration cycle may be changed.

[0069] Furthermore, according to the crane 1 of the present embodiment, as shown in the automatic driving example 3, when the hoisting operation (hoisting angle increase aa1, constant speed hoisting cc1, hoisting angle decrease bb1) for changing the moving radius of the suspended load H is included in the automatic driving, the hoisting angle increase A62 and the hoisting angle decreases B61, B63 included in the orthogonal vibration damping operation SU6 (increase and decrease of the hoisting angle for vibration damping) have a larger increase rate or decrease rate than the hoisting angle increase aa1 and the hoisting angle decrease bb1 included in the above hoisting operation. According to such automatic driving, it is possible to gently reduce the speed at which the swing of the suspended load H increases due to the hoisting operation for changing the moving radius. Furthermore, during the vibration damping operation, the swing of the suspended load H can be quickly suppressed.

[0070] Furthermore, according to the crane 1 of the present embodiment, the times of the orthogonal vibration damping operations SU2, SU4, SU6, SU8 are shorter than the period of the swing. Therefore, after the vibration damping operation is started, the time during which large swing continues can be shortened.

[0071] Furthermore, according to the crane 1 of the present embodiment, the increase amount and the decrease amount of the hoisting angle of the orthogonal vibration damping operations SU2, SU4, SU6, SU8 are equal. Therefore, it is possible to suppress the change in the hoisting angle of the boom 13 before and after the vibration damping operation, and it is possible to suppress the change in the moving radius of the suspended load H during the automatic driving due to the vibration damping operation.

[0072] Furthermore, according to the crane 1 of the present embodiment, as shown in the automatic driving example 1 and the automatic driving example 3, the orthogonal vibration damping operations SU2, SU6 are performed during the turning deceleration period T11 of the automatic driving and the subsequent period. Therefore, since the operation that causes the swing of the suspended load H does not continue for a long time after the orthogonal vibration damping operations SU2, SU6, the swing of the suspended load H at the moving end position of the automatic driving can be made smaller. In addition, by performing the vibration damping operation during the turning deceleration period T11, there is an effect that the boom 13 can perform the hoisting and falling for vibration damping while moving.

[0073] Furthermore, according to the crane 1 of the present embodiment, the vibration damping mode operation control unit 44 vibrates the suspended load H by increasing and decreasing the elevation angle of the boom 13 in the vibration damping mode. Therefore, by activating the vibration damping mode, it is possible to respond to the requirement at various timings when vibration damping in the orthogonal direction r is required.

[0074] Furthermore, according to the crane 1 of the present embodiment, a detection device 16 for detecting the swing of the suspended load H is provided, and the mode switching control unit 41 shifts to or assists in shifting to the vibration damping mode based on the detection information of the detection device 16 indicating the state of the swing of the suspended load H. With such a configuration, when the swing of the suspended load H becomes large, it is possible to shift to the vibration damping mode and suppress the swing.

[0075] Furthermore, according to the crane 1 of the present embodiment, the mode switching control unit 41 shifts to or assists in shifting to the vibration damping mode based on the stop or deceleration of the rotation of the upper slewing body 12. The period during which the rotation is stopped or decelerated is often the end stage of the movement of the suspended load H, and at the end stage of the movement, the requirement for suppressing the swing in order to lower the suspended load H is high. Therefore, with the above configuration, it is possible to respond to the requirement for suppressing the swing at the end stage of the movement of the suspended load H. Note that the mode switching control unit 41 may determine the stop or deceleration of the rotation based on the operation signal of the operation lever 21 or may determine it based on the movement of the upper slewing body 12.

[0076] The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments. For example, in the above embodiment, a configuration is shown in which the vibration damping operation of increasing or decreasing the undulation angle of the boom is performed only once during automatic driving. However, for example, the vibration damping operation may be performed multiple times at a plurality of timings during automatic driving such as in the middle stage and the final stage. When performing the operation multiple times, the vibration damping operation other than the last one may be an operation for suppressing the swing θr at that time. Further, in the above embodiment, as an example of the vibration damping operation of increasing or decreasing the undulation angle of the boom, an example of an operation in which the undulation angle decreases, the undulation angle increases, and the undulation angle decreases in time series is shown. However, for example, an operation in which the undulation angle increases, the undulation angle decreases, and the undulation angle increases in time series may be used, or instead of switching the undulation with a constant acceleration and deceleration, a combination of an increasing undulation angle and a decreasing undulation angle in which the amount of acceleration and deceleration changes continuously over time may be combined to configure the vibration damping operation. Further, the orthogonal vibration damping operations SU2 and SU8 as shown in FIGS. 6 and 13 may be divided into two at the timing when the undulation speed is zero, and the first half operation and the second half operation after the division may be performed at different times. Further, in the above embodiment, an example in which the orthogonal vibration damping operation and the turning vibration damping operation are performed together is shown. However, when the vibration damping in the turning direction is not required, the orthogonal vibration damping operation may be performed without performing the turning vibration damping operation.

[0077] Further, in the above embodiment, a crane having one boom that can undulate with respect to the upper slewing body is shown. However, the crane according to the present invention may be a crane having a first boom (for example, a tower boom) rotatably connected to the upper slewing body and a second boom (for example, a jib) rotatably connected to the first boom. In this case, an operation of increasing and decreasing the undulation angles of the first boom, the second boom, or both of them to damp the suspended load may be performed. Further, the crane according to the present invention may be any crane having an upper slewing body and capable of undulating, such as a wheel crane, a truck crane, a jib crane, a tower crane, etc. In addition, the details shown in the embodiments can be appropriately changed without departing from the gist of the invention.

Explanation of Reference Numerals

[0078] 1 Crane 11 Lower structure 12 Upper slewing body 13 Boom 14 Hook 16 Detection device 22 Automatic driving start operation unit 23 Vibration damping mode shift operation unit 31 Notification unit 40 Control unit 41 Mode switching control unit 43 Automatic driving control unit 44 Vibration damping mode driving control unit L wire rope H Suspended load θq Swing in the slewing direction θr Swing in the orthogonal direction T11 Slewing deceleration period SU1, SU3, SU5, SU7 Slewing vibration damping operation SU2, SU4, SU6, SU8 Orthogonal vibration damping operation B21, B23, B41, B43, B61, B63, B81, B83 Luffing angle decrease A22, A42, A62, A82 Luffing angle increase

Claims

1. An upper slewing body, a crane comprising a boom that can be raised and lowered with respect to the upper slewing body, when the upper slewing body rotates to move a suspended load, automatically increasing and decreasing the elevation angle of the boom to damp the suspended load, a crane.

2. During the automatic operation in which the upper slewing body rotates to move a suspended load, automatically increasing and decreasing the elevation angle of the boom to damp the suspended load, the crane according to Claim 1.

3. The automatic operation includes a hoisting operation for changing the moving radius of the suspended load, the increase rate of the elevation angle for damping is greater than the increase rate of the elevation angle included in the hoisting operation, or the decrease rate of the elevation angle for damping is greater than the decrease rate of the elevation angle included in the hoisting operation, the crane according to Claim 2.

4. The time for increasing and decreasing the elevation angle for damping is shorter than the swing period, which is the time for one round trip of the swing of the suspended load, the crane according to any one of Claims 1 to 3.

5. The increase amount and the decrease amount of the elevation angle for damping are equal, the crane according to any one of Claims 1 to 3.

6. During decelerated slewing of the upper slewing body, after slewing stops, or between both of these, the elevation angle is increased and decreased for damping, the crane according to any one of Claims 1 to 3.

7. There are a normal mode in which damping is not performed and a damping mode in which damping is performed, in the damping mode, increasing and decreasing the elevation angle of the boom to damp the suspended load, the crane according to Claim 1.

8. A detection device for detecting the swing of the suspended load, a control unit that shifts to or supports the shift to the damping mode based on the detection information of the detection device, the crane according to Claim 7, comprising the above.

9. The crane according to Claim 7 or Claim 8, comprising a control unit that shifts to or supports the shift to the damping mode based on the stop or deceleration of the slewing of the upper slewing body.

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