crane

Abstract

This disclosure provides a crane capable of automatically generating a transport path for suspended loads that aligns with the operator's intuition. [Solution] The crane 1 comprises an upper rotating body that is rotatable, an attachment that is raised and lowered on the upper rotating body, and a hook that is suspended from the attachment so as to be able to be raised and lowered. The crane 1 also comprises an input device D2 that can input a specified route between the start position and the end position of the transport of the load suspended by the hook, and a controller 10 that generates a transport route for the load from the start position to the end position via the specified route input to the input device D2.

Description

Technical Field

[0001] The present disclosure relates to a crane.

Background Art

[0002] Conventionally, an invention related to a crane for calculating a load conveyance route has been known (see Patent Document 1 below).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the crane described in Patent Document 1, there is a possibility that a conveyance route far from the operator's sense may be presented.

[0005] The present disclosure provides a crane capable of automatically generating a conveyance route of a suspended load along the operator's sense.

Means for Solving the Problems

[0006] One embodiment of the present disclosure includes a slewing upper structure provided rotatably, an attachment provided on the upper structure so as to be able to move up and down, a hook suspended so as to be able to move up and down via the attachment, an input device capable of inputting a specified route between a start position and an end position of conveyance of a suspended load by the hook, and a controller that generates a conveyance route of the suspended load from the start position to the end position via the specified route input to the input device.

Effects of the Invention

[0007] According to each of the above aspects of the present disclosure, it is possible to provide a crane capable of automatically generating a conveyance route of a suspended load along the operator's sense. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view showing an embodiment of the crane related to this disclosure. [Figure 2] This is a top view of the upper rotating body of a crane according to an embodiment of the present disclosure. [Figure 3] This is a side view showing the tower specifications of a crane according to an embodiment of the present disclosure. [Figure 4] This is a perspective view of the interior of the operator's cab of a crane according to an embodiment of this disclosure. [Figure 5] This is a block diagram of the hydraulic drive system of a crane according to an embodiment of the present disclosure. [Figure 6] This is a functional block diagram of a crane according to an embodiment of the present disclosure. [Figure 7] This is a flowchart showing an example of crane processing according to the embodiment of this disclosure. [Figure 8] Figure 6 is a schematic diagram of a display device showing an example of the process for inputting the specified route. [Figure 9] This is an example of an image of the transport route in the process of displaying the transport route shown in Figure 6. [Figure 10] Figure 6 shows an example of a transport path image after the process of correcting the transport path. [Figure 11] Figure 6 shows an example of a transport path image after the process of correcting the transport path. [Figure 12] This is an example of an evaluation function used in the process of correcting the transport path shown in Figure 6. [Modes for carrying out the invention]

[0009] The embodiments of the crane described herein will be explained below with reference to the drawings.

[0010] The embodiments described below are illustrative and do not limit the invention. All features and combinations thereof in the embodiments of the present disclosure are not necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and redundant descriptions may be omitted.

[0011] FIG. 1 is a side view showing a crane 1 according to an embodiment of the present disclosure. The crane 1 includes, for example, a lower traveling body 2, an upper slewing body 3, and an attachment AT. The crane 1 shown in FIG. 1 is a mobile crane of a crane specification including a lower boom 61, an intermediate boom 62, and an upper boom 63 as the attachment AT.

[0012] The lower traveling body 2 includes, for example, left and right crawlers 21 and left and right traveling devices 22. The crawler 21 is driven by the traveling device 22 and rotates back and forth. The traveling device 22 is a hydraulic actuator including a traveling hydraulic motor driven by the hydraulic pressure of hydraulic oil, and the crane 1 is caused to travel back and forth by rotating the crawler 21 back and forth.

[0013] The upper slewing body 3 is provided rotatably on the lower traveling body 2. The upper slewing body 3 also has an operator's cab 4 provided on the side of the attachment AT.

[0014] FIG. 2 is a top view of the upper slewing body 3 of the crane 1 shown in FIG. 1. In FIG. 2, illustration of some components of the crane 1 shown in FIG. 1, such as the attachment AT, is omitted. As shown in FIG. 2, the upper slewing body 3 has, for example, a slewing frame 31 and beds 32, 33. Specifically, the upper slewing body 3 has a slewing frame 31 provided rotatably on the lower traveling body 2 and left and right beds 32, 33 connected to both sides of the slewing frame 31.

[0015] The slewing frame 31 is provided with a slewing device 35 at its front end and a counterweight 36 is mounted at its rear end. Further, the slewing frame 31 is provided with, for example, a front winch 37f, a rear winch 37r, a third winch 37t, and a boom hoisting winch 37b. Note that the crane 1 does not necessarily have to have the third winch 37t.

[0016] The slewing device 35 is, for example, a hydraulic actuator including a slewing motor driven by the hydraulic pressure of hydraulic oil, and slews the slewing frame 31 rotatably attached to the lower traveling body 2 with respect to the lower traveling body 2. The counterweight 36 can use, for example, a can-making counterweight or a casting counterweight.

[0017] The front winch 37f, the rear winch 37r, the third winch 37t, and the boom hoisting winch 37b are, for example, hydraulic actuators including hydraulic motors driven by the hydraulic pressure of hydraulic oil. These winches wind up the front drum wire rope 83, the rear drum wire rope 85, the boom hoisting wire rope 69, etc. shown in FIG. 1.

[0018] The left bed 32 is connected to the left side of the slewing frame 31 and constitutes the left side portion of the upper slewing body 3. The right bed 33 is connected to the right side of the slewing frame 31 and constitutes the right side portion of the upper slewing body 3. In the example shown in FIG. 2, the right bed 33 is arranged on the side portion where the cab 4 of the upper slewing body 3 is provided. The left and right beds 32, 33 are provided with a house 5 for accommodating various devices mounted on the upper slewing body 3.

[0019] The house 5 has a removable left cover 51L that covers the electrical components etc. mounted on the left bed 32. Further, the house 5 has, for example, a removable right cover 51R that covers various devices mounted on the right bed 33.

[0020] The driver's cab 4 is located, for example, at the front end of the right bed 33 and to the right of the attachment AT. The driver's cab 4 is also called a cabin or cab. Alternatively, the driver's cab 4 may be located at the front end of the left bed 32 and to the left of the attachment AT.

[0021] The attachment AT is mounted on the upper slewing body 3 so as to be able to raise and lower. Specifically, the attachment AT is attached to the front end of the slewing frame 31, for example, via a boom foot pin parallel to the width direction of the upper slewing body 3. In the crane 1 of the crane specifications shown in Figure 1, the attachment AT includes a lower boom 61, an intermediate boom 62, and an upper boom 63.

[0022] The lower boom 61 is mounted to the slewing frame 31 of the upper slewing body 3 so as to be rotatable forward and backward. The intermediate boom 62 is mounted to the tip of the lower boom 61. The upper boom 63 has guide sheaves 64 and auxiliary sheaves 65 and is mounted to the tip of the intermediate boom 62. The height of the attachment AT can be changed by increasing or decreasing the number of intermediate booms 62 between the lower boom 61 and the upper boom 63.

[0023] Furthermore, the crane 1 shown in Figure 1 has a pendant rope 66, an upper spreader 67, a lower spreader 68, a boom luffing wire rope 69, a gantry 71, a gantry lifting cylinder 72, and a backstop 73.

[0024] The pendant rope 66 has one end connected to the rear of the tip of the upper boom 63 and the other end connected to the upper spreader 67. The lower spreader 68 is attached to the tip of the gantry 71, which is mounted on the slewing frame 31 so as to be luffable. The gantry lifting cylinder 72 is mounted on the slewing frame 31 and luffs the gantry 71. The boom luffing wire rope 69 is stretched between the upper spreader 67 and the lower spreader 68 and is wound around the boom luffing winch 37b.

[0025] With the gantry 71 raised by the gantry lifting cylinder 72, the boom luffing winch 37b can be used to wind up the boom luffing wire rope 69, thereby rotating the attachment AT backward and upward to raise it. At this time, the backstop 73 restricts the backward rotation of the attachment AT. Furthermore, by unwinding the boom luffing wire rope 69 with the boom luffing winch 37b, the attachment AT can be rotated forward and downward to tilt it forward.

[0026] Furthermore, the crane 1 shown in Figure 1 has a boom hook 81, a jib hook 82, a front drum wire rope 83, a hook overwinding prevention device 84, and a rear drum wire rope 85.

[0027] The front drum wire rope 83 is stretched across the boom hook 81 and wound around the front winch 37f. A hook overwinding prevention device 84 is provided on the front drum wire rope 83. The rear drum wire rope 85 is connected to the jib hook 82 and wound around the rear winch 37r.

[0028] By winding up the front drum wire rope 83 with the front winch 37f, the boom hook 81 can be raised to lift the load. At this time, the hook overwinding prevention device 84 prevents the boom hook 81 from being wound up excessively. Conversely, by unwinding the front drum wire rope 83 with the front winch 37f, the boom hook 81 can be lowered to lower the load.

[0029] Similarly, the jib hook 82 can be raised and the load lifted by winding up the rear drum wire rope 85 with the rear winch 37r. Conversely, the jib hook 82 can be lowered and the load lowered by unwinding the rear drum wire rope 85 with the rear winch 37r.

[0030] Figure 3 is a side view showing the tower configuration of crane 1 in Figure 1. In the tower configuration of crane 1, attachment AT includes a lower tower boom 61t, an intermediate tower boom 62t, an upper tower boom 63t, a lower tower jib 61j, an intermediate tower jib 62j, and an upper tower jib 63j.

[0031] The lower tower boom 61t is mounted to the slewing frame 31 of the upper slewing body 3 so as to be rotatable forward and backward. The intermediate tower boom 62t is mounted to the tip of the lower tower boom 61t. The upper tower boom 63t has tower struts 63ts and is mounted to the tip of the intermediate tower boom 62t. The height of the attachment AT can be changed by increasing or decreasing the number of intermediate tower booms 62t between the lower tower boom 61t and the upper tower boom 63t.

[0032] The lower tower jib 61j has a tower jib backstop 61js and is mounted to the upper tower boom 63t in a luffable manner. The intermediate tower jib 62j is mounted to the tip of the lower tower jib 61j. The upper tower jib 63j is mounted to the tip of the intermediate tower jib 62j.

[0033] Furthermore, the tower-type crane 1 shown in Figure 3 has a tower jib pendant rope 66j, a tower jib upper spreader 67j, a tower jib lower spreader 68j, and a tower jib luffing wire rope 69j.

[0034] The tower jib pendant rope 66j is stretched between the tip of the upper tower jib 63j and the tower strut 63ts, and between the tower strut 63ts and the upper tower jib spreader 67j. The lower tower jib spreader 68j is attached to the rear of the intermediate tower boom 62t, which is connected to the tip of the lower tower boom 61t. The tower jib luffing wire rope 69j is stretched between the upper tower jib spreader 67j and the lower tower jib spreader 68j and is wound around the rear winch 37r.

[0035] By winding up the tower jib luffing wire rope 69j with the rear winch 37r, the tower jib, including the lower tower jib 61j, intermediate tower jib 62j, and upper tower jib 63j, rotates rearward and upward relative to the tower boom, including the lower tower boom 61t, intermediate tower boom 62t, and upper tower boom 63t, and stands upright. At this time, the rearward rotation of the tower jib is restricted by the tower jib backstop 61js. Also, by unwinding the tower jib luffing wire rope 69j with the rear winch 37r, the tower jib rotates forward and downward.

[0036] Furthermore, the tower-type crane 1 shown in Figure 3 has a tower pendant rope 66t, a tower upper spreader 67t, a tower lower spreader 68t, and a tower luffing wire rope 69t.

[0037] The tower pendant rope 66t has one end connected to the rear of the upper tower boom 63t and the other end connected to the upper tower spreader 67t. The lower tower spreader 68t is attached to the tip of the gantry 71, which is provided on the slewing frame 31 so as to be able to luff. The tower luffing wire rope 69t is stretched between the upper tower spreader 67t and the lower tower spreader 68t and is wound around the boom luffing winch 37b.

[0038] With the gantry 71 raised by the gantry lifting cylinder 72, the attachment AT can be rotated backward and upward by winding up the tower luffing wire rope 69t with the boom luffing winch 37b, thereby raising it to an upright position. At this time, the backward rotation of the attachment AT is restricted by the backstop 73. Furthermore, by unwinding the tower luffing wire rope 69t with the boom luffing winch 37b, the attachment AT can be rotated forward and downward, thereby tilting it forward.

[0039] Furthermore, the tower-type crane 1 shown in Figure 3, like the crane-type crane 1 shown in Figure 1, has a boom hook 81, a front drum wire rope 83, and a hook overwinding prevention device 84. This allows the boom hook 81 to be raised and the load lifted by winding up the front drum wire rope 83 with the front winch 37f. At this time, the hook overwinding prevention device 84 prevents excessive winding of the boom hook 81. Also, the boom hook 81 can be lowered and the load lowered by unwinding the front drum wire rope 83 with the front winch 37f.

[0040] Figure 4 is a perspective view of the interior of the operator's cab 4 of the crane 1 shown in Figures 1 to 3. Inside the operator's cab 4 is an operator's seat 41 where the operator of the crane 1 sits. In this embodiment, the front-to-back, left-to-right, and up-and-down directions of the crane 1 are, for example, the front-to-back, left-to-right, and up-and-down directions as seen from the perspective of the operator seated in the operator's seat 41. Various operating devices for operating the crane 1 are provided around the operator's seat 41.

[0041] Specifically, the operating device of crane 1 includes, for example, a display device 42, a switch panel 43, a slewing lever 44s, a front winch operating lever 44f, a rear winch operating lever 44r, and a boom luffing winch operating lever 44b. The operating device of crane 1 also includes, for example, a slewing brake pedal 45s, a front winch brake pedal 45f, a rear winch brake pedal 45r, a left travel lever 46L, and a right travel lever 46R.

[0042] The display device 42, for example, includes a touch panel and displays images of the area around the crane 1 and information regarding overload prevention. The switch panel 43 accepts various operations from the operator. The slewing operation lever 44s is used to operate the slewing mechanism 35 to rotate the upper slewing body 3.

[0043] The front winch control lever 44f is used to raise and lower the boom hook 81 using the front winch 37f. The rear winch control lever 44r is used to raise and lower the jib hook 82 using the rear winch 37r, and to luff the tower jib in the tower-type attachment AT. The boom luffing winch control lever 44b is used to luff the lower boom 61, intermediate boom 62, and upper boom 63, or the lower tower boom 61t, intermediate tower boom 62t, and upper tower boom 63t.

[0044] The front winch operating lever 44f and the rear winch operating lever 44r may each have a changeover switch 44fs and a changeover switch 44rs. The changeover switch 44fs of the front winch operating lever 44f is used to switch the brake mode of the front winch 37f, and the changeover switch 44rs of the rear winch operating lever 44r is used to switch the brake mode of the rear winch 37r.

[0045] The slewing brake pedal 45s is used to brake the slewing of the upper slewing body 3. The front winch brake pedal 45f is used to brake the rotation of the front winch 37f when lowering the boom hook 81 while freeing the rotation of the front winch 37f. The rear winch brake pedal 45r is used to brake the rotation of the rear winch 37r when lowering the jib hook 82 while freeing the rotation of the rear winch 37r. The left travel lever 46L is used to operate the left travel device 22 that makes up the lower travel body 2. The right travel lever 46R is used to operate the right travel device 22 that makes up the lower travel body 2.

[0046] Figure 5 is a block diagram of the hydraulic drive and control systems of crane 1 shown in Figures 1 to 4. In Figure 5, double lines indicate the transmission of mechanical power, and solid lines indicate the high-pressure hydraulic path. Dashed lines indicate the transmission path of pilot pressure, and dotted lines indicate the transmission paths of electrical signals and control signals.

[0047] The hydraulic drive system of crane 1 is equipped with hydraulic actuators that drive the lower traveling body 2, the upper slewing body 3, the attachment AT, the boom hook 81, and the jib hook 82, etc. Specifically, the hydraulic actuators of crane 1 include, for example, the left traveling motor 2ML, the right traveling motor 2MR, the slewing motor 3A, the front motor 3Mf, the rear motor 3Mr, the third motor 3Mt, and the boom luffing motor 3Mb.

[0048] The left travel motor 2ML is incorporated into the left travel device 22 of the lower travel body 2 and generates power to rotate the left crawler 21 back and forth. The right travel motor 2MR is incorporated into the right travel device 22 of the lower travel body 2 and generates power to rotate the right crawler 21 back and forth. The slewing motor 3A is incorporated into the slewing device 35 shown in Figure 2 and generates power to slewing the upper slewing body 3 relative to the lower travel body 2.

[0049] The front motor 3Mf is incorporated into the front winch 37f shown in Figure 2. The front motor 3Mf generates power to raise or lower the boom hook 81 by winding up or unwinding the front drum wire rope 83.

[0050] The rear motor 3Mr is incorporated into the rear winch 37r shown in Figure 2. In the crane configuration crane 1 shown in Figure 1, the rear motor 3Mr generates power to raise or lower the jib hook 82 by winding up or unwinding the rear drum wire rope 85. In the tower configuration crane 1 shown in Figure 3, the rear motor 3Mr generates power to raise or lower the attachment AT, which includes the tower boom and tower jib, by winding up or unwinding the tower jib luffing wire rope 69j.

[0051] The third motor 3Mt is incorporated into the third winch 37t shown in Figure 2, and generates power to wind up or unwind the wire rope wound around the third winch 37t.

[0052] The boom luffing motor 3Mb is integrated into the boom luffing winch 37b shown in Figure 2. The boom luffing motor 3Mb generates power to raise or lower the attachment AT, which includes the lower boom 61, intermediate boom 62, and upper boom 63, by winding up or unwinding the boom luffing wire rope 69 in the crane configuration shown in Figure 1.

[0053] Furthermore, the hydraulic drive system of crane 1 includes a power source 11, a main pump 12, a control valve unit 13, a pilot pump 14, and a proportional control valve 15. Furthermore, the control system of crane 1 includes a controller 10, a regulator 16, an operating device OD, an operating sensor 17, and a discharge pressure sensor 18.

[0054] The power source 11 is the main power source in the hydraulic drive system and is mounted, for example, at the rear of the upper slewing body 3. Specifically, the power source 11 rotates at a constant speed at a preset target rotational speed under direct or indirect control by the controller 10, driving the main pump 12 and the pilot pump 14. The power source 11 is, for example, an engine. Specifically, the power source 11 is, for example, a diesel engine that uses light oil as fuel. The power source 11 may also be a gasoline engine or a hydrogen engine, etc. Furthermore, the power source 11 may be a combination of a power source such as a battery or fuel cell and an electric motor.

[0055] The main pump 12 is mounted, for example, at the rear of the upper slewing body 3, similar to the power source 11. The main pump 12 is a hydraulic pump that supplies hydraulic fluid to the control valve unit 13 through the high-pressure hydraulic line 19. The main pump 12 is driven by the power source 11, as described above. The main pump 12 is, for example, a variable displacement hydraulic pump. As described above, under the control of the controller 10, the piston stroke length of the main pump 12 can be adjusted by adjusting the tilt angle of the swash plate by the regulator 16, thereby controlling the discharge volume or discharge pressure.

[0056] The control valve unit 13 is a hydraulic control device that controls the hydraulic system in the crane 1. In this embodiment, the control valve unit 13 includes control valves 131-137. The control valve unit 13 is configured to selectively supply the hydraulic fluid discharged by the main pump 12 to one or more hydraulic actuators through the control valves 131-137.

[0057] Control valves 131-137 control the flow rate of hydraulic fluid from the main pump 12 to the hydraulic actuator, and the flow rate of hydraulic fluid from the hydraulic actuator to the hydraulic fluid tank. More specifically, control valve 131 corresponds to the left travel motor 2ML, control valve 132 to the right travel motor 2MR, and control valve 133 to the slewing motor 3A. Additionally, control valve 134 corresponds to the front motor 3Mf, control valve 135 to the rear motor 3Mr, control valve 136 to the third motor 3Mt, and control valve 137 to the boom luffing motor 3Mb.

[0058] The pilot pump 14 is an example of a pilot pressure generating device and is configured to supply hydraulic fluid to hydraulic control equipment via a pilot line. In this embodiment, the pilot pump 14 is a fixed-displacement hydraulic pump. The pilot pressure generating device may also be implemented by the main pump 12. That is, the main pump 12 may have the function of supplying hydraulic fluid to the control valve unit 13 via a hydraulic fluid line, as well as the function of supplying hydraulic fluid to various hydraulic control equipment via a pilot line. In this case, the pilot pump 14 may be omitted.

[0059] The proportional control valve 15 functions as a control valve for machine control. The proportional control valve 15 is located in the pipeline connecting the pilot pump 14 and the pilot ports of the control valves 131-137 in the control valve unit 13, and is configured to change the flow area of ​​the pipeline. In this embodiment, the proportional control valve 15 operates in response to control commands output by the controller 10. Therefore, the controller 10 can supply the hydraulic fluid discharged by the pilot pump 14 to the pilot ports of the control valves 131-137 in the control valve unit 13 via the proportional control valve 15, independently of the operator's operation of the operating device OD.

[0060] This configuration allows the controller 10 to operate the hydraulic actuator corresponding to a specific operating device OD even when no operation is being performed on that specific operating device OD. Furthermore, if the crane 1 does not have machine control or remote control functions, the crane 1 does not need to have a proportional control valve 15.

[0061] The regulator 16 controls the discharge volume of the main pump 12, which is a hydraulic pump. The regulator 16 controls the discharge volume of the hydraulic fluid by the main pump 12 by adjusting the angle of the swash plate of the main pump 12, i.e., the tilt angle, in response to a control command from the controller 10.

[0062] The operating device OD is a device used by the operator to operate the actuator. The operating device OD includes, for example, the slewing lever 44s, the front winch operating lever 44f, the rear winch operating lever 44r, and the boom luffing winch operating lever 44b shown in Figure 4. The operating device OD also includes, for example, the slewing brake pedal 45s, the front winch brake pedal 45f, the rear winch brake pedal 45r, the left travel lever 46L, and the right travel lever 46R.

[0063] The operation sensor 17 is configured to detect the operator's actions using the operation device OD. In this embodiment, the operation sensor 17 detects the operating direction and amount of operation of the operation device OD corresponding to each actuator, and outputs the detected values ​​to the controller 10.

[0064] The discharge pressure sensor 18 is configured to detect the discharge pressure of the main pump 12. In this embodiment, the discharge pressure sensor 18 outputs a signal to the controller 10 corresponding to the detected discharge pressure of the main pump 12.

[0065] The controller 10 is, for example, located in the operator's cab 4 and controls the drive of the crane 1. The controller 10 includes, for example, an auxiliary storage device 10A such as ROM (Read-Only Memory), a processing device 10B such as a CPU (Central Processing Unit), a memory device 10C such as RAM (Random Access Memory), and an interface device 10D for communication with other devices. The controller 10 is, for example, a controller that controls various parts of the crane 1. The controller 10 may consist of one controller or multiple controllers.

[0066] The controller 10 controls the opening area of ​​the proportional control valve 15 according to the output of the operation sensor 17. The controller 10 then supplies the hydraulic fluid discharged by the pilot pump 14 to the pilot ports of the corresponding control valves 131-137 in the control valve unit 13. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is, in principle, the pressure corresponding to the operating direction and amount of the operation sensor 17 corresponding to each hydraulic actuator. In this way, the operating device OD is configured to supply the hydraulic fluid discharged by the pilot pump 14 to the pilot ports of the corresponding control valves 131-137 in the control valve unit 13.

[0067] Furthermore, the control system of crane 1 includes, for example, a slewing sensor S1, a boom luffing sensor S2, a tower jib luffing sensor S3, a length sensor S4, a swing sensor S5, a positioning device PS, a display device D1, an input device D2, and a communication device T1.

[0068] The rotation sensor S1 outputs information regarding the rotation of the upper rotating body 3. The rotation sensor S1 detects, for example, the rotational angular velocity of the upper rotating body 3 relative to the lower traveling body 2. The rotation sensor S1 also detects the rotation angle. The rotation sensor S1 can be, for example, a gyro sensor, resolver, rotary encoder, or IMU (Inertial Measurement Unit). The signal corresponding to the rotation angle or rotational angular velocity of the upper rotating body 3 detected by the rotation sensor S1 is input to the controller 10.

[0069] The boom luffing sensor S2 detects the luffing angle of the lower boom 61 or lower tower boom 61t, i.e., the tilt angle relative to the upper slewing body 3. The boom luffing sensor S2 can be, for example, a gyro sensor, resolver, rotary encoder, or IMU. The signal corresponding to the luffing angle of the lower boom 61 or lower tower boom 61t detected by the boom luffing sensor S2 is input to the controller 10.

[0070] The tower jib luffing sensor S3 detects the luffing angle of the lower tower jib 61j, that is, the inclination angle of the lower tower jib 61j relative to the upper tower boom 63t. The tower jib luffing sensor S3 can be, for example, a gyro sensor, resolver, rotary encoder, or IMU. The signal corresponding to the luffing angle of the lower tower jib 61j detected by the tower jib luffing sensor S3 is input to the controller 10.

[0071] The length sensor S4 detects the length of wire ropes such as the front drum wire rope 83 and rear drum wire rope 85 hanging from the sheave at the tip of the attachment AT. The length sensor S4 can use, for example, a gyro sensor, resolver, rotary encoder, and IMU to detect the rotation of the drums of the front winch 37f and support member 38r. Alternatively, the length sensor S4 can use, for example, a distance sensor to detect the distance from the sheave at the tip of the attachment AT to hooks such as the boom hook 81 and jib hook 82. The signal corresponding to the wire rope length detected by the length sensor S4 is input to the controller 10.

[0072] The swing sensor S5 detects the swing angle and angular velocity of the hooks of the crane 1, such as the boom hook 81 and the jib hook 82. The swing sensor S5 can be configured, for example, as a gyro sensor attached to the hook, or as an imaging device attached to the tip of the attachment AT. The signals corresponding to the swing angle and angular velocity of the hook detected by the swing sensor S5 are input to the controller 10.

[0073] The positioning device PS is configured to acquire information regarding the position of crane 1. In this embodiment, the positioning device PS is configured to measure the position and orientation of crane 1. Specifically, the positioning device PS is a GNSS (Global Navigation Satellite System) receiver incorporating an electronic compass, and measures the latitude, longitude, and altitude of the current position of crane 1, as well as the orientation of crane 1.

[0074] The display device D1 is installed in a location easily visible to a seated operator in the driver's cab 4 and displays various information images under the control of the controller 10. The display device D1 includes, for example, the display device 42 shown in Figure 4. The display device D1 may be connected to the controller 10 via an in-vehicle communication network such as CAN (Controller Area Network), or it may be connected to the controller 10 via a one-to-one dedicated line. Furthermore, the display device D1 is not limited to the display device 42 pre-installed in the driver's cab 4, but may also be a detachable monitor. In addition, the display device D1 may be, for example, a portable information terminal such as a tablet PC (Personal Computer) that can communicate with the communication device T1.

[0075] The input device D2 is located within reach of a seated operator in the driver's cab 4 and receives various operation inputs from the operator, outputting signals corresponding to the operation inputs to the controller 10. The input device D2 includes a touch panel mounted on the display of the display device D1, which includes a display device 42 that displays various information images, and knob switches provided at the ends of lever devices such as the slewing operation lever 44s. The input device D2 also includes button switches, levers, toggles, rotary dials, etc., installed around the display device 42 installed in the driver's cab 4. Signals corresponding to the operations performed on the input device D2 are input to the controller 10.

[0076] The communication device T1 communicates with external devices through a predetermined network, including a mobile communication network with a base station as its endpoint, a satellite communication network, and the Internet network. The communication device T1 is, for example, a mobile communication module that supports mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0077] Figure 6 is a functional block diagram of the controller 10 shown in Figure 5. In Figure 6, the sensor SN includes the slewing sensor S1, boom luffing sensor S2, tower jib luffing sensor S3, length sensor S4, swing sensor S5, and positioning device PS shown in Figure 5.

[0078] As shown in Figure 6, the controller 10 includes, for example, a crane information storage unit 101, a map information storage unit 102, a transport route generation unit 103, and a transport control unit 104. Each of these parts of the controller 10 represents a function of the controller 10 that is realized, for example, by loading a program stored in the auxiliary storage device 10A into the memory device 10C by the processing unit 10B and executing it. Note that each part of the controller 10 shown in Figure 6 may be realized by a single controller or by multiple different controllers.

[0079] The crane information storage unit 101 receives, for example, three-dimensional information including the dimensions and range of motion of each part of the crane 1 via the communication device T1 or the input device D2. The crane information storage unit 101 stores the three-dimensional information of the crane 1 received via the communication device T1 or the input device D2 in the auxiliary storage device 10A or the memory device 10C.

[0080] The map information storage unit 102 receives, for example, three-dimensional map information of the work site where the crane 1 performs its work via the communication device T1 or the input device D2. The map information storage unit 102 stores the map information received via the communication device T1 or the input device D2 in the auxiliary storage device 10A or the memory device 10C.

[0081] The transport route generation unit 103 generates a transport route for the load suspended by the crane 1 based on three-dimensional information including the movable range of the crane 1 stored in the crane information storage unit 101, three-dimensional map information stored in the map information storage unit 102, and a specified route input via the input device D2.

[0082] Specifically, the input device D2 is configured to allow input of a specified route between the start and end positions of the load being transported by the crane 1's hook, such as the boom hook 81. The transport route generation unit 103 generates a transport route for the load, starting from the transport start position, passing through the specified route input to the input device D2, and ending at the transport end position. As will be described in detail later, the specified route input by the crane 1 operator via the input device D2 is information regarding the position or route of the load to generate a transport route for the load that aligns with the operator's own senses and intentions.

[0083] Furthermore, the transport route generation unit 103 outputs image information of the transport route of the generated suspended load to the display device D1, including the display device 42 in the driver's cab 4. As a result, the image of the transport route generated by the transport route generation unit 103 is displayed on the display device D1, including the display device 42. The transport route generation unit 103 also outputs information of the transport route of the generated suspended load to the transport control unit 104.

[0084] The transport control unit 104 acquires information on the transport path of the suspended load output from the transport path generation unit 103. The transport control unit 104 controls the actuators of the crane 1 so that the suspended load, which is attached to the hooks of the crane 1 such as the boom hook 81, moves along the transport path acquired from the transport path generation unit 103. Specifically, the transport control unit 104 generates control commands to move the suspended load along the transport path and outputs them to the proportional control valve 15.

[0085] The proportional control valve 15 controls the pilot pressure of the hydraulic fluid supplied from the pilot pump 14 to the control valve in the control valve unit 13 according to the control command input from the transport control unit 104. As a result, the control valve in the control valve unit 13 controls the flow rate and direction of the hydraulic fluid supplied from the main pump 12 to hydraulic actuators such as the slewing motor 3A, front motor 3Mf, rear motor 3Mr, and boom luffing motor 3Mb. Consequently, the hydraulic actuators rotate the upper slewing body 3, luff the attachment AT, and raise and lower the boom hook 81 and other hooks, causing the suspended load attached to the hooks to move along the transport path generated by the transport path generation unit 103.

[0086] Next, an example of processing by the controller 10 of the crane 1 in this embodiment will be described with reference to Figures 7 to 11.

[0087] Figure 7 is a flowchart showing the process flow for generating a transport route for a suspended load by the controller 10. When the controller 10 starts the process flow shown in Figure 7, it executes process P01 to acquire map information and process P02 to acquire crane information. Specifically, in process P01, the transport route generation unit 103 of the controller 10 acquires 3D map information of the work site from the map information storage unit 102. In process P02, the transport route generation unit 103 acquires 3D information of the crane 1, including the shape, dimensions, position, orientation, and range of motion of each part of the crane 1, from the crane information storage unit 101. Next, the controller 10 executes process P03 to input the specified route.

[0088] Figure 8 is a schematic diagram of a display device D1 showing an example of a process P03 for inputting the specified route shown in Figure 7. In this process P3, the transport route generation unit 103 receives input of the specified route DR from the operator via a touch panel TP, which is an input device D2 provided on the display device D1, such as the display device 42 in the driver's cab 4. The transport route generation unit 103 may also receive input of the specified route DR via an input device D2 other than the touch panel TP, such as a mouse or cursor keys.

[0089] In the example shown in Figure 8, the transport path generation unit 103 displays images of the crane 1 and its surrounding obstacles on the display device D1 based on the 3D information of the crane 1 and the 3D map information of the work site. More specifically, in the example shown in Figure 8, the right half of the display device D1 screen displays a perspective view G1 of the crane 1 and the work site. In addition, the upper left of the display device D1 screen displays a side view G2 of the crane 1 and the work site, and the lower left of the display device D1 screen displays a plan view G3 of the crane 1 and the work site.

[0090] In the example shown in Figure 8, the operator, for example, traces the space between the start position SP and the end position EP of the suspended load transport on the plan view G3 in the lower left of the display device D1 screen with their finger and inputs a designated route DR that matches their senses and intentions using the touch panel TP. Here, the designated route DR that the operator inputs to the transport route generation unit 103 via the input device D2 such as the touch panel TP includes, for example, one or more points in a three-dimensional coordinate system.

[0091] Specifically, the designated route DR may be a straight line or curve in a three-dimensional Cartesian coordinate system that represents part or all of the transport route of the suspended load, or it may be one or more points in a three-dimensional Cartesian coordinate system that specify the positions through which the suspended load passes. When the designated route DR is input using the plan view G3, the height of the designated route DR is automatically calculated by the transport route generation unit 103 based on initial settings such as the minimum distance between the obstacle OB and the suspended load, or it is separately input by the operator via the input device D2.

[0092] Furthermore, the start position SP and end position EP for the transport of the suspended load by the crane 1 may be input by the operator via the touch panel TP. In this case, for example, the position where the operator first touches the touch panel TP with their fingertip is input as the start position SP. Alternatively, the current position of the crane 1's hooks, such as the boom hook 81 and jib hook 82, may be registered as the start position SP for the transport of the suspended load. The current position of the crane 1's hooks can be obtained, for example, from the detection results of a slewing sensor S1, boom luffing sensor S2, tower jib luffing sensor S3, length sensor S4, positioning device PS, etc.

[0093] Next, for example, the operator moves their fingertip along the touch panel TP from the starting position SP to input the specified route DR. Finally, the position where the operator lifts their fingertip from the touch panel TP is input as the ending position EP. Note that the starting position SP and ending position EP for the transport of the suspended load by the crane 1 may be input to the transport route generation unit 103 in advance via the input device D2 or the communication device T1 before inputting the specified route DR. Here as well, the starting position SP for the transport of the suspended load can be the current position of the hook of the crane 1.

[0094] Next, the controller 10 executes a process P04 to generate a transport path for the suspended load, as shown in Figure 7. In this process P04, the transport path generation unit 103 generates a transport path for the suspended load, starting from the transport start position SP of the suspended load, via the designated path DR input to the input device D2 in the previous process P03, and ending at the transport start position SP of the suspended load. This transport path is the initial path that the controller 10 first generates based on the designated path DR. Note that passing through the designated path DR includes passing through the designated path DR and passing through points within a predetermined distance from the designated path DR.

[0095] Next, the controller 10 executes a process P05 to display the generated transport route, as shown in Figure 7. In this process P05, the transport route generation unit 103 generates image data of the transport route generated in the previous process P04 and outputs it to the display device D1, including the display device 42 in the driver's cab 4, causing the display device D1 to display an image of the transport route.

[0096] Figure 9 is an example of an image showing the transport path CR0 of the suspended load generated by the controller 10. In the example shown in Figure 9, the transport path CR0 is displayed three-dimensionally using straight lines and curves in a three-dimensional Cartesian coordinate system. In addition, the example shown in Figure 9 displays the positions of the start position SP and end position EP of the transport of the suspended load in the three-dimensional Cartesian coordinate system, as well as images of obstacles OB such as buildings that affect the transport path CR0.

[0097] Furthermore, if the controller 10 is unable to generate the transport route CR0 in the previous process P04, it may instruct the display device D1 to display information regarding the inability to generate the transport route CR0 in this process P05. Specifically, suppose the transport route generation unit 103 was unable to generate the transport route CR0 based on the specified route DR in the previous process P04, for example, due to interference between the crane 1 or the suspended load and an obstacle OB. In this case, the transport route generation unit 103 in this process P05 generates image data indicating, for example, that the transport route CR0 based on the specified route DR cannot be generated, outputs it to the display device D1, and displays a transport route CR0 generation error on the display device D1.

[0098] Next, as shown in Figure 7, the controller 10 executes process P06, which prompts the operator to input whether or not the transport route needs to be modified. In this process P06, the transport route generation unit 103, for example, displays an image on the display device D1 to confirm whether or not the transport route CR0 needs to be modified, and accepts input from the operator regarding whether or not the transport route CR0 needs to be modified via the input device D2. After that, the controller 10 executes process P07, which determines whether or not the transport route CR0 needs to be modified.

[0099] In the previous process P06, if the operator inputs to the input device D2 that no modification to the transport route CR0 is necessary, in this process P07, the transport route generation unit 103 determines that no modification to the transport route CR0 is necessary (NO). In this case, the controller 10 executes process P08 to transport the suspended load. Then, in this process P08, the transport control unit 104 obtains the detection result from the sensor SN and outputs a control command to the proportional control valve 15 to control the control valve of the control valve unit 13. This controls the flow rate and direction of the hydraulic fluid supplied from the main pump 12 to actuators such as the slewing motor 3A, front motor 3Mf, rear motor 3Mr, and boom luffing motor 3Mb.

[0100] As a result, the slewing device 35, front winch 37f, rear winch 37r, boom luffing winch 37b, etc. of crane 1 are driven as needed, and the slewing of the upper slewing body 3, the luffing of the attachment AT, and the raising and lowering of hooks such as the boom hook 81 are performed as needed. The suspended load attached to the hooks is then automatically transported along the transport path CR0 from the transport start position SP to the transport end position EP.

[0101] In this manner, the controller 10 controls the rotation of the upper slewing body 3, the raising and lowering of the attachment AT, or the raising and lowering of the hook to transport the suspended load along the transport path CR0. After that, the controller 10 completes the processing flow shown in Figure 7. Note that in processing P08, the transport control unit 104 may switch the operation of some actuators, such as the front motor 3Mf that raises and lowers the boom hook 81, to manual operation operated by the operator using the operating device OD.

[0102] On the other hand, if the operator inputs to the input device D2 in the aforementioned process P06 that the transport path CR0 needs to be modified, the transport path generation unit 103 determines in the next process P07 that the transport path CR0 needs to be modified (YES). In this case, the controller 10 executes process P09 to select a mode.

[0103] In this process P09, the transport route generation unit 103 displays, for example, a selection of modes for modifying the transport route CR0 on the display device D1 and accepts mode input from the operator via the input device D2. The modes selected by the operator include, for example, multiple modes with different indicators to be prioritized in the transport route of the suspended load. Here, the indicators to be prioritized in the transport route of the suspended load include, for example, indicators related to productivity during transport of the suspended load, indicators related to energy saving, or indicators related to safety.

[0104] In other words, the modes selectable by the operator include, for example, a productivity priority mode, an energy-saving mode, or a safety mode. The productivity priority mode is a mode that improves the productivity of the load transport operation by shortening the length of the transport path, which is an indicator of productivity during load transport. The energy-saving mode is a mode that improves energy efficiency in load transport operations by suppressing changes in the potential energy of the load, which is an indicator of energy efficiency. The safety mode is a mode that improves safety in load transport operations by providing a margin of safety in the minimum distance between the load and an obstacle OB, which is an indicator of safety.

[0105] Next, the controller 10 executes process P10 to modify the transport route CR0. Specifically, when the operator inputs the mode selected via the input device D2 in the previous process P09, the transport route generation unit 103 receives the indicators that should be prioritized in the transport route of the suspended load, according to the selected mode. Then, in this process P10, the transport route generation unit 103 modifies the transport route CR0, which was generated as the initial route in process P04, based on the input indicators that should be prioritized.

[0106] Figure 10 is an example image showing the transport route CR1 of the suspended load modified by the controller 10. In process P10, the transport route generation unit 103 generates a new transport route CR1 by modifying the transport route CR0, which was generated as the initial route according to the input mode. In the example shown in Figure 10, the productivity priority mode is selected in process P09, and the transport route generation unit 103 generates a transport route CR1 that does not interfere with obstacles OB and is within the movable range of the crane 1, while shortening the route length from the start position SP to the end position EP compared to the original transport route CR0.

[0107] Figure 11 is an example image showing an alternative transport route CR2 for a suspended load that has been modified by the controller 10. In the example shown in Figure 11, the operator modifies the transport route CR1 that has been modified by the controller 10, for example, by selecting productivity priority mode. The operator inputs the specified route DR as a point in a three-dimensional coordinate system to the controller 10, for example, by touching the touch panel TP. Then, in process P10, the transport route generation unit 103 generates a new transport route CR2 by modifying the transport route CR1 to pass through the input specified route DR.

[0108] Figure 12 shows an example of a crane model and evaluation function J. The transport path generation unit 103 can, for example, use the crane model and evaluation function J shown in Figure 12 to generate transport paths for suspended loads that prioritize productivity or transport paths for suspended loads that prioritize energy saving. The crane model shown in the upper left of Figure 12 is a model of crane 1 in a three-dimensional Cartesian coordinate system consisting of the x, y, and z axes.

[0109] In the crane model in Figure 12, H is the height from a reference plane such as the ground surface to the rotational axis of the boom foot pin, which is provided on the upper slewing body 3 and rotatably supports the attachment AT. B is the length of the attachment AT from the central axis of the boom foot pin to the sheave provided at the tip of the attachment AT. r is the radius of the sheave provided at the tip of the attachment AT. d is the distance from the central axis of the boom foot pin to the rotational axis of the upper slewing body 3. The rotational axis of the upper slewing body 3 coincides with the z-axis.

[0110] Furthermore, in the crane model in Figure 12, p is the slewing angle of the upper slewing body 3, and q is the luffing angle of the attachment AT. Also, l is the rope length, which is the distance from the sheave at the tip of the attachment AT to the suspended load attached to the hook suspended by the wire rope. In this crane model, the coordinates (x, y, z) of the suspended load can be expressed as a function using the aforementioned slewing angle p, luffing angle q, distance d, radius r, length B, height H, and rope length l, as shown in equations (1) to (3) in Figure 12.

[0111] Furthermore, the slewing angle p, the elevation angle q, and the rope length l can be expressed as functions using the coordinates (x,y,z), distance d, radius r, length B, elevation angle q, and height H of the suspended load, as shown in equations (4) to (6) in Figure 12. This three-dimensional orthogonal coordinate system, with the slewing angle p, elevation angle q, and rope length l as axes, is called the configuration space. The transport path generation unit 103 optimizes the transport path of the suspended load using the configuration space, for example.

[0112] Specifically, the transport path generation unit 103 generates a transport path for a suspended load using an evaluation function J(p,q,l) which is a function of the transport path length f(p,q,l) and a function of the potential energy g(p,q,l), as shown in equations (7) to (9) in Figure 12. In the evaluation function J(p,q,l), α and β are weights. That is, in the evaluation function J(p,q,l), increasing α and decreasing β generates a transport path that prioritizes productivity with a shortened transport path length, and increasing β and decreasing α generates an energy-saving transport path that prioritizes energy saving with suppressed changes in the potential energy of the transport path.

[0113] In equation (7), the function of path length f(p,q,l) is expressed with a sum of square brackets. The first term represents the path length due to turning, the second term represents the path length due to elevation changes, and the third term represents the path length due to wire length. Equation (7) shown in Figure 12 is just one example and is not particularly limited. Specifically, as shown below, in equation (7), the function of path length f(p,q,l) can be any expression that represents the length of the line segment from the starting position SP to the ending position EP.

[0114] f(p,q,l) = {length of the line segment from the starting position SP to the ending position EP} ... (7)

[0115] Furthermore, in the sum of the potential energy function g(p,q,l) shown in equation (8), the first term in the curly braces represents the potential energy of the elevation of the attachment AT, the second term represents the potential energy of the suspended load, and the third term represents the potential energy of the wire. Equation (8) shown in Figure 12 is just one example and is not particularly limited. Specifically, as shown below, in equation (8), the potential energy function g(p,q,l) only needs to include the sum of the change in potential energy associated with the change in the elevation angle q of the attachment AT and the change in potential energy associated with the change in rope length l.

[0116] g(p,q,l) = {change in potential energy with respect to change in elevation angle q} +{Change in potential energy due to change in rope length l}···(8)

[0117] The {length of the line segment from the starting position SP to the ending position EP} in equation (7) above can be obtained, for example, by integrating the length of the line segment connecting the position coordinates on the transport path of the suspended load. Furthermore, equation (8) above can be obtained by expressing the potential energy of attachment AT as (1 / 2) × MgB × sinq and the potential energy of the suspended load as (1 / 2) × mgB × (sinq + l), and integrating them.

[0118] As described above, the controller 10 modifies the transport path CR0 using an evaluation function J(p,q,l) which includes, for example, a function f(p,q,l) of the path length, which is an indicator of productivity, and a function g(p,q,l) of the potential energy, which is an indicator of energy saving. In addition to the functions f(p,q,l) and g(p,q,l), the evaluation function J(p,q,l) may also include a function h(p,q,l) that represents the distance between the obstacle OB and the transport path of the suspended load.

[0119] Subsequently, the controller 10 repeats processes P05 to P07 as shown in Figure 7. During this process, if the operator inputs to the input device D2 in process P06 that no modification to the transport route CR1 is necessary, the transport route generation unit 103 determines in process P07 that no modification to the transport route CR1 is necessary (NO). Subsequently, as described above, in process P08, the controller 10 automatically transports the suspended load along the new transport route CR1, and completes the process flow shown in Figure 7.

[0120] The operation of the crane 1 in this embodiment will be described below.

[0121] As described above, the crane 1 of this embodiment includes a rotatable upper slewing body 3, an attachment AT that is pivotably mounted on the upper slewing body 3, and a hook such as a boom hook 81 suspended via the attachment AT so as to be able to move up and down. The crane 1 also includes an input device D2 and a controller 10. The input device D2 is configured to input a specified route DR between the start position SP and the end position EP of the transport of the load suspended by the hook. The controller 10 generates a transport route CR0 of the load, from the start position SP of the load transport, through the specified route DR input to the input device D2, to the end position EP of the load transport.

[0122] This configuration allows the operator of the crane 1 to input a designated route DR via the input device D2, based on their own senses and intentions when operating the crane 1 to transport the suspended load, before the controller 10 generates the transport route CR0 for the suspended load. This enables the controller 10 to generate a transport route CR0 based on the designated route DR that aligns with the operator's senses and intentions. Therefore, according to the crane 1 of this embodiment, it becomes possible to automatically generate a transport route CR0 that aligns with the operator's senses. Furthermore, the controller 10 no longer needs to determine whether a transport route CR0 passes over an obstacle OB, thereby reducing the computational load on the controller 10.

[0123] Furthermore, in the crane 1 of this embodiment, the designated path DR includes one or more points in the three-dimensional coordinate system.

[0124] This configuration allows the operator of crane 1 to input just one point via input device D2, and the controller 10 can then generate a transport route CR0 that reflects the operator's senses and intentions, thereby reducing the operator's input burden. Furthermore, by increasing the number of points input by the crane 1 operator via input device D2, a transport route CR0 that more accurately reflects the operator's senses and intentions can be generated. In addition, by increasing the number of points input by the crane 1 operator via input device D2, a specified route DR including straight lines and curves can be generated, as shown in Figure 8, resulting in a transport route CR0 that more accurately reflects the operator's senses and intentions.

[0125] Furthermore, in the crane 1 of this embodiment, when the controller 10 receives an indicator that should be prioritized in the transport path CR0 via the input device D2, it modifies the transport path CR0 based on that indicator.

[0126] This configuration allows for the generation of a transport path CR0 that aligns with the operator's intuition and intentions, and by modifying that transport path CR0 based on priority indicators, the modified transport path CR1 can also be made to align with the operator's intuition and intentions.

[0127] Furthermore, in the crane 1 of this embodiment, the above indicators include indicators related to productivity during the transport of suspended loads, indicators related to energy saving, or indicators related to safety.

[0128] This configuration allows for the generation of a transport path CR0 that aligns with the operator's intuition and intentions, and enables the modification of that transport path CR0 based on the above-mentioned indicators. Therefore, according to the crane 1 of this embodiment, it is possible to generate a transport path CR1 that aligns with the operator's intuition and intentions, and is also superior in terms of productivity, energy efficiency, or safety.

[0129] Furthermore, in the crane 1 of this embodiment, the controller 10 modifies the transport path CR0 using an evaluation function J(p,q,l) which includes a function f(p,q,l) of the path length, which is an indicator of productivity, and a function g(p,q,l) of the potential energy, which is an indicator of energy saving.

[0130] This configuration allows for the generation of a transport path CR0 that aligns with the operator's intuition and intentions, followed by modification of that transport path CR0 using the evaluation function J(p,q,l) to generate a transport path CR1 that is highly productive or highly energy-efficient. Furthermore, by adjusting the weight α of the path length function f(p,q,l) and the weight β of the potential energy function g(p,q,l) in the evaluation function J(p,q,l), the balance between productivity and energy efficiency in the modified transport path CR1 can be freely changed.

[0131] Furthermore, the crane 1 of this embodiment is further equipped with a display device D1 capable of displaying the transport paths CR0 and CR1 generated by the controller 10.

[0132] This configuration allows the operator and manager of crane 1 to visually confirm the transport routes CR0 and CR1 displayed on the display device D1. Therefore, the operator can confirm whether the transport routes CR0 and CR1 generated by crane 1 are in line with their own senses and intentions by looking at the images displayed on the display device D1.

[0133] Furthermore, in the crane 1 of this embodiment, if the controller 10 is unable to generate the transport path CR0, it causes the display device D1 to display information regarding the inability to generate the transport path CR0.

[0134] This configuration allows the operator of crane 1 to see the information on the inability to generate transport route CR0 displayed on the display device D1 and recognize that the specified route DR that they entered into the input device D2 is incorrect.

[0135] Furthermore, in the crane 1 of this embodiment, the input device D2 on which the specified route DR can be input is a touch panel TP provided on the display device D1.

[0136] With this configuration, the operator of crane 1 can input the designated route DR by tracing the touch panel TP on the display device D1, while referring to obstacles OB at the work site and crane 1 itself, according to their own senses and intentions. Therefore, it becomes possible to easily input a designated route DR that better reflects the operator's senses and intentions.

[0137] Furthermore, in the crane 1 of this embodiment, the controller 10 controls the rotation of the upper slewing body 3, the raising and lowering of the attachment AT, or the raising and lowering of hooks such as the boom hook 81, to transport the suspended load along the transport paths CR0 and CR1.

[0138] This configuration allows even inexperienced operators to efficiently and safely transport the suspended load using crane 1 along transport routes CR0 and CR1 that match the operator's own senses and intentions.

[0139] Preferred embodiments of the present disclosure have been described above. However, the inventions of the present disclosure are not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the inventions of the present disclosure. Furthermore, each of the features described with reference to the embodiments described above may be combined as appropriate, as long as they do not contradict each other technically. [Explanation of Symbols]

[0140] 1 Crane 3. Upper rotating body 10 Controllers 81 Boom Hook (Hook) 82 Jib Hook (Hook) AT attachment CR0 transport route CR1 transport route D1 display device D2 Input Device DR designated route EP end position f is a function of path length. g is a function of potential energy J-evaluation function SP start position TP Touch Panel

Claims

1. A rotatable upper rotating body, An attachment is provided on the upper rotating body so as to be able to be raised and lowered, A hook suspended via the aforementioned attachment so as to be able to move up and down, An input device that allows input of a specified route between the start and end positions of the transport of the load suspended by the hook, The system includes a controller that generates a transport route for the suspended load from the starting position to the ending position via the specified route input to the input device, crane.

2. The specified route includes one or more points in a three-dimensional coordinate system. The crane according to claim 1.

3. When the controller receives an indicator to be prioritized in the transport path via the input device, it modifies the transport path based on the indicator. The crane according to claim 1.

4. The aforementioned indicators include indicators relating to productivity, energy efficiency, or safety during the transport of the suspended load. The crane according to claim 3.

5. The controller modifies the transport path using an evaluation function that includes a function of the path length, which is an indicator of productivity, and a function of the potential energy, which is an indicator of energy saving. The crane according to claim 4.

6. The system further includes a display device capable of displaying the transport route generated by the controller. The crane according to claim 1.

7. The controller, when it is unable to generate the transport path, causes the display device to display information regarding the inability to generate the transport path. The crane according to claim 6.

8. The input device is a touch panel provided on the display device. The crane according to claim 6.

9. The controller controls the rotation of the upper rotating body, the raising and lowering of the attachment, or the raising and lowering of the hook to transport the suspended load along the transport path. The crane according to any one of claims 1 to 8.

Images