Crane Control Device

Abstract

To perform work with cranes more efficiently.SOLUTION: A crane control device 40 controls a crawler crane 10 capable of suspending a cargo F by a cargo handling rope 108 hung on a boom 106 and moving the cargo F in the horizontal direction. A movement operation unit 210 receives movement operation of the cargo F from a worker. A vibration suppression control unit 404 performs vibration suppression control to suppress vibration by moving the boom 106 in a predetermined direction when vibration occurs in the cargo F at the start and end of the movement of the cargo F.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a crane control device for controlling a crane. [Background technology]

[0002] Conventionally, cranes capable of lifting a load and moving horizontally have been used at construction sites and the like. For example, the following Patent Document 1 aims to provide a construction machine (crane) that is advantageous in ensuring operating efficiency. When the loading winch of a crawler crane operates and the loading winch winds and unwinds the loading rope, the boom side pulley rotates. The rotational force of the boom side pulley is transmitted to the rotor via a power transmission mechanism, whereby the power generation unit generates power and charges the rechargeable battery unit. The power supply unit supplies the power of the rechargeable battery unit to the surveillance camera and the positioning unit. The surveillance camera captures an image below the boom tip to generate image information, which is then supplied to an information processing unit via a wireless line. The positioning unit detects the position of the boom tip to generate position information, which is then supplied to the information processing unit via a wireless line. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-172683 A Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, cranes handle heavy loads and are often used for work at height, so their operation requires skilled techniques. However, due to factors such as a decline in the working population caused by a declining birthrate and aging population, it is becoming difficult to secure skilled workers, and there are concerns that this will lead to a decline in work efficiency at construction sites. The present invention has been made in consideration of the above circumstances, and has an object to perform work using a crane more efficiently. [Means for solving the problem]

[0005] In order to achieve the above-mentioned objective, one embodiment of the present invention is a crane control device that controls a crane that can move a load horizontally by suspending the load from a loading rope hung from a boom, and is characterized by comprising a movement operation unit that accepts operations to move the load from an operator, and a vibration suppression control unit that performs vibration suppression control to suppress the vibration by changing the position of the boom in a predetermined direction when vibrations occur in the load when the load starts and ends. One embodiment of the present invention is characterized in that it further includes a vibration amount estimation unit that estimates the vibration amount of the luggage based on the operation speed of the moving operation unit by the worker, and the vibration suppression control unit performs the vibration suppression control when the vibration amount of the luggage is equal to or greater than a predetermined amount. One embodiment of the present invention is characterized in that it further includes a vibration suppression operation unit that specifies whether or not vibration suppression control is to be performed by the vibration suppression control unit, and the vibration suppression control unit performs the vibration suppression control when the execution of vibration suppression control is specified for the vibration suppression operation unit. One embodiment of the present invention is characterized in that the vibration suppression control section determines the amount of movement of the boom during the vibration suppression control based on the weight of the luggage. One embodiment of the present invention is characterized in that the vibration suppression control unit determines the amount of movement of the boom during the vibration suppression control based on the wind direction and wind speed around the crane. One embodiment of the present invention is characterized in that the vibration suppression control unit suppresses the vibration by changing the boom raising and lowering angle when lifting and lowering the load. One embodiment of the present invention is characterized in that, when the crane stops traveling, the vibration suppression control unit suppresses the vibration by moving the crane forward and moving the boom forward. One embodiment of the present invention is characterized in that, when the crane stops rotating, the vibration suppression control unit suppresses the vibration by rotating the upper rotating body of the crane and moving the boom in the rotation direction. Effect of the Invention

[0006] According to one embodiment of the present invention, if vibrations occur in the load when the load starts to move or when the load finishes moving, the position of the boom is changed in a predetermined direction to suppress the vibrations of the load (vibration suppression control is implemented). This prevents the load from coming into contact with surrounding objects or workers, and is advantageous in improving the work efficiency and safety of work using a crane. Although such boom handling has traditionally been performed by skilled workers, by performing it automatically using a crane control device, work using a crane can be performed efficiently even when there is a shortage of skilled workers. According to one embodiment of the present invention, the amount of vibration of the load is estimated based on the operation speed of the moving operation unit, and vibration suppression control is performed when the amount of vibration is equal to or greater than a predetermined amount. This allows the boom to be moved only when vibration is generated to an extent that it affects the surroundings, and not moved when the vibration is smaller, which is advantageous in suppressing unnecessary movement of the crane. According to an embodiment of the present invention, vibration suppression control is performed only when execution of vibration suppression control is specified through the vibration suppression operation unit. This is advantageous in that it allows reliable specification of whether or not to perform vibration suppression control and improves the operational stability of the crane. Furthermore, according to one embodiment of the present invention, the amount of boom movement during vibration suppression control is determined based on the weight of the luggage, which is advantageous in more effectively suppressing luggage vibration by taking into account the magnitude of the inertial force acting on the luggage. Furthermore, according to one embodiment of the present invention, the amount of boom movement during vibration suppression control is determined based on the wind direction and volume around the crane, which is advantageous in more effectively suppressing vibrations of the cargo by taking into account the forces that the cargo receives from the crane and forces other than gravity. Furthermore, according to one embodiment of the present invention, when lifting and lowering a load, the boom angle is changed to suppress vibration of the load, which is advantageous in effectively suppressing vibration in accordance with the movement of the crane. Furthermore, according to one embodiment of the present invention, when the crane stops traveling, vibrations are suppressed by moving the crane forward and the boom forward, which is advantageous in effectively suppressing vibrations in accordance with the movement of the crane. Furthermore, according to one embodiment of the present invention, when the crane stops rotating, vibrations are suppressed by rotating the upper rotating body of the crane and moving the boom in the rotation direction, which is advantageous in effectively suppressing vibrations in accordance with the movement of the crane. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an external view of a crawler crane. [Diagram 2] FIG. 2 is a diagram showing the internal configuration of an operation room. [Diagram 3] FIG. 2 is a block diagram showing the configuration of a crawler crane. [Figure 4] FIG. 2 is a diagram showing a schematic diagram of the movement of the load and the crawler crane when lifting off the ground. [Diagram 5] FIG. 2 is a diagram showing a schematic diagram of an unloaded load and the movement of a crawler crane. [Figure 6] FIG. 4 is a diagram showing a schematic diagram of the movement of luggage and a crawler crane when traveling is stopped. [Figure 7] 1 is a diagram showing a schematic diagram of the movement of a load and a crawler crane during turning. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] The present embodiment will be described below with reference to the drawings. In this embodiment, a case will be described in which the crane to be controlled by the crane control device (crane control section 40) is a crawler crane 10. FIG. 1 is an external view of a crawler crane. The crawler crane 10 is a mobile crane, and includes a lower traveling body 102, an upper rotating body 104, and a boom 106. The crawler crane 10 is capable of moving a load F horizontally by traveling and rotating with the load F suspended by a loading rope 108 stretched across the boom 106.

[0009] The lower traveling body 102 travels on the ground by the rotation of the crawlers 1020. In this embodiment, one crawler 1020 is provided on each of the left and right sides. The crawlers 1020 are driven by a traveling actuator 310 (see FIG. 3).

[0010] The upper rotating body 104 is provided on the upper part of the lower running body 102 so as to be horizontally rotatable about a rotation axis. That is, a circular gear centered on the rotation axis is provided on the lower part of the upper rotating body 104, and a pinion gear provided on the lower traveling body 102 meshes with the circular gear. By rotating the rotation mechanism composed of these gears in any direction by the rotation actuator 312, it is possible to rotate the upper rotating body 104 around the rotation axis.

[0011] The upper rotating body 104 is provided with an operation room 20, and the lower traveling body 102 is provided with the operation room 20. An operating unit (see FIG. 2) is provided for operating the travel of the lift truck 102, the rotation of the upper rotating body 104, the winding and unwinding of the cargo rope (cargo wire rope) 108, the raising and lowering of the boom 106, and the like.

[0012] The upper rotating body 104 is also provided with a cargo handling winch 110 which winds up and pays out a cargo handling rope 108, and a boom hoist winch 114 which winds up and pays out a boom hoist rope (boom hoist wire rope) 112. The cargo handling winch 110 and the boom hoist winch 114 are driven by a cargo handling actuator 316 and a boom hoist actuator 318, respectively (see FIG. 3).

[0013] Boom 106 is supported at its base end via a horizontally extending support shaft relative to upper rotating body 104 so that it can be raised and lowered (swinged). Boom 106 is also configured so that multiple arm members are nested within each other, and boom 106 is extended by pushing an inner member out from an outer member, and is contracted by storing the inner member in the outer member. Boom 106 is pushed out and stored by driving a telescopic mechanism (not shown) using boom actuator 314 (see FIG. 3).

[0014] The end of a boom hoisting rope 112 that is reeled out from a boom hoisting winch 114 is attached to the rear of the tip of the boom 106. Therefore, the boom 106 is raised or lowered by the boom hoist winch 114 winding and unwinding the boom hoist rope 112.

[0015] A boom side pulley 116 is rotatably supported at the tip of the boom 106. A loading rope 108 reeled out from a loading winch 110 is hung over the boom side pulley 116 . The end of the cargo rope 108 is passed around a hook block side pulley 120 provided on the hook block 118 and then attached to the tip of the boom 106. Therefore, the hook block 118 moves up and down as the cargo rope 108 is wound and unwound by the cargo winch 110. In the drawing, reference numeral 122 denotes a hook provided on the hook block 118, and reference numeral F denotes a load suspended from the hook.

[0016] FIG. 2 is a diagram showing the internal configuration of the operation room. The operation room 20 is provided with a driver's seat 200, a driving lever 202 (202A, 202B), a left operation lever 204, a right operation lever 206, an accelerator pedal 208, and a display 212. The driving lever 202, the left operation lever 204, the right operation lever 206, and the accelerator pedal 208 function as a movement operation unit 210 (see FIG. 3) that accepts operations from the operator (including operations to move the luggage F). The operator's seat 200 is a seat where an operator who operates the crawler crane 10 sits.

[0017] The travel levers 202 (202A, 202B) include a left travel lever 202A and a right travel lever 202B, and are used to move the crawler crane 10 forward / reverse, stop the vehicle, change course, and adjust the travel speed. The left travel lever 202A adjusts the movement of the left crawler 1020, and the right travel lever 202B adjusts the movement of the right crawler 1020. The left travel lever 202A and the right travel lever 202B can each be swung forward and backward from a neutral position. The left travel lever 202A and the right travel lever 202B are configured to return to the neutral position when not in operation (when the operator is not swinging them forward or backward).

[0018] To move the crawler crane 10 forward, the operator tilts both the left and right travel levers 202A, 202B forward together. This causes the left and right crawlers 1020 to rotate forward, and the crawler crane 10 moves straight forward. The greater the forward tilt amount (tilt angle) of the left and right travel levers 202A, 202B, the faster the forward speed of the crawler crane 10 (the rotation speed of the left and right crawlers 1020). When moving the crawler crane 10 backward, the operator tilts both the left and right travel levers 202A, 202B backward together. This causes the left and right crawlers 1020 to rotate backward, and the crawler crane 10 moves straight backward. The greater the amount of backward tilt (tilt angle) of the left and right travel levers 202A, 202B, the faster the reverse speed of the crawler crane 10 (the rotation speed of the left and right crawlers 1020). When stopping the crawler crane 10, the operator releases the left and right travel levers 202A, 202B and returns them to the neutral position. Then, the left and right crawlers 1020 stop rotating, and the crawler crane 10 stops.

[0019] When turning left while moving forward, the operator tilts only the right travel lever 202B forward. Then, only the right crawler 1020 rotates forward, and the left crawler 1020 acts as an axis, changing the direction of the crawler crane 10 to the front and left. When turning left while moving backward with the crawler crane 10, the operator tilts only the right travel lever 202B backward. Then, only the right crawler 1020 rotates backward, and the left crawler 1020 acts as an axis, changing the direction of the crawler crane 10 backward and to the left. When turning right while moving forward, the operator tilts only the left travel lever 202A forward. Then, only the left crawler 1020 rotates forward, and the right crawler 1020 acts as an axis, changing the direction of the crawler crane 10 to the right forward. When turning right while moving backward with the crawler crane 10, the operator tilts only the left travel lever 202A backward. Then, only the left crawler 1020 rotates backward, and the right crawler 1020 acts as an axis, changing the direction of the crawler crane 10 to the rear and right.

[0020] The left working lever 204 is used to rotate the upper rotating body 104 and extend and retract the boom 106. The left working lever 204 can be swung in the front-rear and left-right directions from a neutral position. The left working lever 204 is configured to return to the neutral position when not in operation (when the operator is not swinging the lever in the front-rear or left-right directions).

[0021] To rotate the upper rotating body 104 to the right, the operator tilts the left working lever 204 to the right (pulls the tip of the left working lever 204 closer to the operator). Then, the upper rotating body 104 rotates to the right (clockwise) around the rotation axis. To rotate the upper rotating body 104 to the left, the operator tilts the left working lever 204 to the left (pushes the tip of the left working lever 204 away from the operator). Then, the upper rotating body 104 rotates to the left (counterclockwise) about the rotation axis.

[0022] To extend the boom 106, the operator tilts the left operating lever 204 forward, whereupon the inner arm member that constitutes the boom 106 is pushed out from the outer arm member, causing the boom 106 to extend. When the boom 106 is to be retracted, the operator tilts the left operating lever 204 rearward. Then, the inner arm member that constitutes the boom 106 is housed inside the outer arm member, and the boom 106 is retracted.

[0023] When the left working lever 204 is returned to the neutral position, the rotation of the upper rotating body 104 or the extension and retraction of the boom 106 stops, but the rotational state of the upper rotating body 104 and the extension and retraction state of the boom 106 are maintained as they are.

[0024] The right working lever 206 is used to raise and lower the hook block 118 (cargo F) and to raise and lower the boom 106. The right working lever 206 can be swung in the front-rear and left-right directions from a neutral position. The right working lever 206 is configured to return to the neutral position when not in operation (when the worker is not swinging the lever in the front-rear or left-right directions).

[0025] When lifting the hook block 118 (cargo F), the worker tilts the right working lever 206 rearward. Then, the cargo rope 108 is wound up by the cargo winch 110, and the hook block 118 is lifted. When lowering the hook block 118 (cargo F), the worker tilts the right working lever 206 forward. Then, the cargo rope 108 is wound down by the cargo winch 110, and the hook block 118 is lowered.

[0026] When raising the boom 106 (bringing it closer to a vertical position relative to the ground), the operator tilts the right working lever 206 to the left (pulls the tip of the left working lever 204 closer to the operator). Then, the boom hoisting winch 114 takes up the boom hoisting rope 112, and the boom 106 is raised. When lowering the boom 106 (bringing it closer to being parallel to the ground), the operator tilts the right operation lever 206 to the right (pushing the tip of the left operation lever 204 away from the operator). Then, the boom hoisting winch 114 reels out the boom hoisting rope 112, and the boom 106 is lowered.

[0027] Furthermore, when the right work lever 206 is returned to the neutral position, the raising and lowering of the hook block 118 or the raising and lowering of the boom 106 stops, and the raised and lowered state of the hook block 118 and the raised and lowered state of the boom 106 are maintained as they are.

[0028] The accelerator pedal 208 is used to adjust the rotation speed and output of the engine 320 (see FIG. 3) when the crawler crane 10 is traveling or performing crane work. Specifically, when accelerator pedal 208 is depressed while engine 320 is running, the output of engine 320 increases in proportion to the amount of depression of accelerator pedal 208. When accelerator pedal 208 is not depressed, engine 320 is in an idling state.

[0029] The display 212 displays various information to the operator. The various information includes, for example, images captured by a camera 330 (see FIG. 3) installed around the crawler crane 10, and the status of the crawler crane 10 (boom length, boom height, boom angle, load, engine speed, traveling speed, etc.).

[0030] FIG. 3 is a block diagram showing the configuration of a crawler crane. In addition to the components described above (FIG. 3 only shows the travel lever 202, left work lever 204, right work lever 206, accelerator pedal 208, crawler 1020, upper rotating body 104, boom 106, loading winch 110, and hoisting winch 114), the crawler crane 10 is equipped with a first detection unit 300, a second detection unit 302, a third detection unit 304, a fourth detection unit 306, a travel actuator 310, a slewing actuator 312, a boom actuator 314, a loading actuator 316, a hoisting actuator 318, an engine 320, a camera 330, and a crane control unit (crane control device) 40.

[0031] The first detection unit 300 detects the operation status of the travel lever 202. More specifically, the first detection unit 300 detects the operation amount (the swing amount of the lever) of each of the left and right travel levers 202A, 202B. The second detector 302 detects the operation status of the left working lever 204. More specifically, the second detector 302 detects the amount of operation of the left working lever 204 in the front-rear and left-right directions (the amount of swing of the lever). The third detector 304 detects the operation status of the right working lever 206. More specifically, the third detector 304 detects the amount of operation of the right working lever 206 in the front-rear and left-right directions (the amount of swing of the lever). Fourth detection unit 306 detects the operation state of accelerator pedal 208. More specifically, fourth detection unit 306 detects the operation amount of accelerator pedal 208 (the amount of depression of the pedal). The operation status detected by each detector is output to the crane control unit 40.

[0032] The traveling actuator 310, the swing actuator 312, the boom actuator 314, the cargo handling actuator 316, and the hoist actuator 318 form a hydraulic circuit 319 together with a hydraulic pump 321. The traveling actuator 310, the swing actuator 312, the boom actuator 314, the cargo handling actuator 316, and the hoist actuator 318 are driven by high-pressure hydraulic oil supplied from the hydraulic pump 321. The traveling actuator 310 is, for example, a hydraulic motor, and outputs a driving force for rotating the crawler 1020 . The rotation actuator 312 is, for example, a hydraulic motor, and outputs a driving force for rotating the upper rotating body 104 . The boom actuator 314 is, for example, a hydraulic cylinder, and outputs a driving force for extending and retracting the boom 106 . The cargo handling actuator 316 is, for example, a hydraulic motor, and outputs a driving force for rotating the cargo handling winch 110 . The hoisting actuator 318 is, for example, a hydraulic motor, and outputs a driving force for rotating the hoisting winch 114. The engine 320 outputs a driving force for rotating a hydraulic pump 321 by using the combustion energy generated when fuel is combusted. The operating states of the traveling actuator 310 , the swing actuator 312 , the boom actuator 314 , the cargo handling actuator 316 , the hoisting actuator 318 , the hydraulic pump 321 and the engine 320 are controlled by a crane control unit 40 .

[0033] The camera 330 captures images of the periphery of the crawler crane 10. It is preferable that a plurality of cameras 330 are provided so as to be able to capture images of the entire periphery of the crawler crane 10. In this embodiment, the camera 330 is capable of capturing images of at least the cargo F being transported by the crawler crane 10. The image captured by the camera 330 is displayed, for example, on the display 212 and is used to enable the worker to operate the crawler crane 10 while checking the safety of areas that the worker cannot see with his own eyes.

[0034] The crane control unit 40 is a control unit that controls the crawler crane 10, and corresponds to the crane control device in the claims. The crane control unit 40 is composed of a CPU, a ROM for storing and recording control programs and the like, a RAM as an operating area for the control programs, an EEPROM for rewritably holding various types of data, and an interface with peripheral circuits and other components. The crane control unit 40 functions as a drive control unit 400, a vibration amount estimating unit 402, and a vibration suppression control unit 404 as a result of the CPU executing the control program.

[0035] The drive control unit 400 drives each drive unit of the crawler crane 10 (travel actuator 310, rotation actuator 312, boom actuator 314, loading actuator 316, hoisting actuator 318, hydraulic pump 321, engine 320) in accordance with the driving operations performed by the operator using the movement operation unit 210 (travel levers 202 (202A, 202B), left working lever 204, right working lever 206, accelerator pedal 208). More specifically, the drive control unit 400 determines the drive amount of each drive unit of the crawler crane 10 based on the operation amount of the moving operation unit 210 detected by the first detection unit 300, the second detection unit 302, the third detection unit 304, and the fourth detection unit 306, and drives each drive unit.

[0036] The vibration amount estimation unit 402 estimates the amount of vibration of the luggage F at the start and end of the movement of the luggage F. The movement of the luggage F includes vertical movement such as hoisting or lowering the luggage F, and horizontal movement such as traveling or turning of the crawler crane 10 with the luggage F hoisted.

[0037] The following describes vibrations of the luggage F when the luggage F starts to move and when the luggage F finishes moving. When the luggage F starts to move and when the luggage F finishes moving, the forces (gravity, thrust, etc.) acting on each part of the luggage F and the crawler crane 10 change, and the luggage F and each part of the crawler crane 10 may move in an unintended direction.

[0038] Specifically, for example, as shown in Fig. 4A, consider a case where a load F placed on the ground G is lifted and lifted off the ground G (when lifting off the ground). In this case, ideally, as shown by the dotted line in Fig. 4A, the load F should move vertically upward from the ground G, without moving horizontally, i.e., without vibrating. Meanwhile, in reality, as shown in Fig. 4B, when the load F leaves the ground G, the load applied to the boom 106 via the boom-side pulley 116 increases, and the boom 106 is pulled (bowed) toward the ground as shown by the dotted line in Fig. 4B. As a result, the load F swings in a direction away from the center of rotation of the crawler crane 10, and the position of the boom-side pulley 116 at the tip of the boom 106, which is the fulcrum of the load F, shifts horizontally from the position of the load F, causing horizontal vibration.

[0039] Also, for example, as shown in Fig. 5A, consider the case where a lifted load F is placed on the ground G (when unloading). In this case, ideally, as shown by the dotted line in Fig. 5A, the load F moves vertically downward relative to the ground G, and it is preferable that the loading rope 108 and hook block 118 that suspend the load F remain stationary. Meanwhile, in reality, as shown in Fig. 5B, when a load F is placed on the ground G, the load applied to the boom 106 via the boom side pulley 116 decreases, and the boom 106 rises upward as shown by the dotted line in Fig. 5B. As a result, the hook block 118 suspended from the boom 106 swings in a direction closer to the center of rotation of the crawler crane 10, and the position of the boom side pulley 116 at the tip of the boom 106, which is the fulcrum of the hook block 118, shifts horizontally from the position of the hook block 118, causing horizontal vibration.

[0040] Although not shown in the drawings, consider a case where the crawler crane 10 rotates the crawler 1020 and starts traveling with a load F suspended from it. In this case, ideally, it is preferable for the load F to be suspended vertically from the ground G while traveling. However, in reality, when the crawler crane 10 starts traveling, a horizontal inertial force acts, and the timing at which the load F starts moving lags behind the timing at which the crawler crane 10 starts traveling, causing the load F to swing in the opposite direction to the traveling direction. As a result, the position of the boom-side pulley 116 at the tip of the boom 106, which is the fulcrum of the load F, shifts horizontally from the position of the load F, causing horizontal vibration.

[0041] 6A, consider a case where the crawler crane 10, which has been traveling with a load F suspended, stops the rotation of the crawler 1020 and stops traveling. In this case as well, ideally, it is preferable for the load F to be stopped while maintaining a state in which it is suspended vertically from the ground G. 6A, when the crawler crane 10 stops traveling, a horizontal inertial force acts, and the timing at which the load F stops moving is delayed from the timing at which the crawler crane 10 stops traveling, causing the load F to swing in the direction of travel. As a result, the position of the boom-side pulley 116 at the tip of the boom 106, which is the fulcrum for the load F, is misaligned horizontally from the position of the load F, causing horizontal vibration.

[0042] Also, consider the case where crawler crane 10 with cargo F suspended from it rotates upper rotating body 104, as shown in Fig. 7A. Fig. 7A is a top view of crawler crane 10 as seen from above, and shows an example in which crawler crane 10 (shown by dotted line), which was facing to the right on the page, rotates 90 degrees and faces downward on the page (shown by solid line). In this case as well, ideally it is preferable for the cargo F to be kept suspended vertically above ground G when stopped. 7A, when the crawler crane 10 stops swinging, an inertial force acts in the swing direction, and even if the crawler crane 10 stops swinging, the load F continues to move in the swing direction, and the load F swings in the swing direction. As a result, the position of the boom-side pulley 116 at the tip of the boom 106, which is the fulcrum of the load F, is misaligned in the horizontal direction, and horizontal vibration occurs. Similarly, when starting to turn, the timing at which the cargo F starts to move is delayed relative to the timing at which the crawler crane 10 starts to turn, causing the cargo F to swing in the opposite direction to the turning direction, resulting in horizontal vibrations.

[0043] A skilled worker will operate the movement operation unit 210 slowly and suppress the speed at which it is operated, thereby preventing vibration of the luggage F, etc. (luggage F and hook block 118) at the start and end of such movement. In other words, by changing the state of the force acting on the luggage F, etc. as slowly as possible, the force acting on the luggage F, etc. other than gravity is minimized, and vibration of the luggage F is suppressed by suppressing the horizontal deviation between the position of the boom side pulley 116 at the tip of the boom 106, which is the fulcrum of the luggage F, and the position of the luggage F. Conversely, if the rate of change in the force acting on the luggage F, etc. is fast, the vibration of the luggage F, etc. will increase. For this reason, the vibration amount estimation unit 402 estimates the amount of vibration of the luggage F, etc. at the start and end of movement based on, for example, the operation speed of the movement operation unit 210 by the worker. That is, it is estimated that the vibration amount of the luggage F is greater as the operation speed of the movement operation unit 210 is faster.

[0044] When vibrations occur in the luggage F when the luggage F starts to move and when the luggage F stops moving, the vibration suppression control unit 404 performs vibration suppression control to suppress vibrations in the luggage F by changing the position of the boom 106 in a predetermined direction. Changing the position of the boom 106 refers to the boom 106 moving within fixed coordinates set, for example, with respect to the ground, and includes not only moving the boom 106 itself, such as by changing the angle at which the boom 106 is raised or lowered, but also changing the position of the boom 106 by running or rotating the crawler crane 10.

[0045] As described above, it is possible to suppress vibrations of the luggage F, etc. to some extent by slowing down the operation speed of the movement operation unit 210. However, since the appropriate operation speed differs depending on the model of the crawler crane 10 and the weight and shape of the luggage F, it is difficult to completely suppress vibrations of the luggage F, etc. Therefore, when vibrations occur in the luggage F when the luggage F starts to move and when the luggage F ends to move, the vibration suppression control unit 404 changes the boom 106 and adjusts it so that the luggage F is located directly below the boom side pulley 116 at the tip of the boom 106. Such handling of the boom 106 is observed even by skilled workers.

[0046] The vibration suppression control unit 404 performs vibration suppression control, for example, when the vibration amount of the luggage F estimated by the vibration amount estimation unit 402 is equal to or greater than a predetermined amount. This is because it is considered that the vibration of the luggage F will not be completely reduced to zero even if an experienced worker performs the operation carefully, and it is more realistic to perform vibration suppression control by the vibration suppression control unit 404 only when vibration that affects the surroundings is generated. Vibration that affects the surroundings (vibration amount equal to or greater than a predetermined amount) may be defined as, for example, an amplitude equal to or greater than α / the dimension of the luggage F in the vibration direction (α is any positive number).

[0047] In addition, for example, a vibration suppression operation unit (such as an on / off switch) that specifies whether or not vibration suppression control is to be performed by the vibration suppression control unit 404 may be provided in the operation room 20, and vibration suppression control may be performed when the execution of vibration suppression control is specified for the vibration suppression operation unit. This allows the worker to take into consideration his / her own crane operation skill level (or the work manager to take into consideration the worker's crane operation skill level) to determine whether or not to execute vibration suppression control by the vibration suppression control unit 404.

[0048] A specific operation during vibration suppression control will be described. When there is a possibility that the load F will swing in a direction away from the center of rotation of the crawler crane 10 due to the boom 106 bowing, for example, when lifting off the ground as shown in Figure 4, the vibration suppression control unit 404 raises the boom 106 slightly (moves it vertically) as shown by the dotted line in Figure 4B, thereby preventing the load F from vibrating. In addition, when there is a possibility that the boom 106 will rise and cause the hook block 118 to swing in a direction closer to the center of rotation of the crawler crane 10, such as when unloading a load as shown in Figure 5, the vibration suppression control unit 404 slightly tilts the boom 106 (moves it horizontally) as shown by the dotted line in Figure 5B to prevent vibration of the hook block 118. That is, when lifting and lowering the load F, the vibration suppression control unit 404 suppresses vibration of the load F or the hook block 118 by changing the hoisting angle of the boom 106. Note that the amount of change in the hoisting angle at this time is set to an amount that offsets the amount of hoisting of the boom 106 caused by raising and lowering the load F.

[0049] In addition, when there is a possibility that the timing at which the cargo F stops moving is later than the timing at which the crawler crane 10 stops moving, such as when the crawler crane 10 stops moving as shown in Figure 6, and the cargo F may sway in the direction of travel, the vibration suppression control unit 404 slightly rotates the crawler 1020 forward after the crawler crane 10 stops moving, as shown by the dotted line in Figure 6B, to move the crawler crane 10 forward and cause the boom 106 to follow the swing of the cargo F caused by the stop of moving. That is, when the crawler crane 10 stops traveling, the vibration suppression control unit 404 suppresses vibration of the load F by moving the crawler crane 10 forward and moving the boom 106 forward.

[0050] In addition, when there is a possibility that the timing at which the load F stops moving will be later than the timing at which the crawler crane 10 stops traveling, such as when the crawler crane 10 is rotating as shown in Figure 7, and the load F will swing in the direction of rotation, the vibration suppression control unit 404 rotates the upper rotating body 104 slightly in the rotation direction after the crawler crane 10 stops rotating, as shown by the dotted line in Figure 7B, to allow the crawler crane 10 to follow the swing of the load F caused by the stop of rotation. That is, when the crawler crane 10 stops rotating, the vibration suppression control unit 404 suppresses vibration of the load F by rotating the upper rotating body 104 of the crawler crane 10 and rotating the boom 106 in the rotating direction.

[0051] The vibration suppression control unit 404 may determine the amount of movement of the boom 106 during vibration suppression control based on the weight of the luggage F. This is because it is estimated that the heavier the luggage F is, the greater the inertial force of the luggage F becomes, and the greater the vibration becomes. In other words, the vibration suppression control unit 404 increases the amount of movement of the boom 106 as the weight of the luggage F increases. The weight of the luggage F is estimated by image analysis based on information on the size and material of the luggage F obtained from an image captured by the camera 330, for example. Also, if the weight of the luggage F is known (for example, if it is printed on the outer surface of the luggage F), the weight may be input by an operator. Furthermore, if the crawler crane 10 is equipped with a weight sensor, for example, the weight value measured when the luggage F is hoisted may be used.

[0052] Furthermore, the vibration suppression control section 404 may determine the amount of movement of the boom 106 during vibration suppression control based on the wind direction and wind speed around the crawler crane 10, for example. That is, it is estimated that the stronger the wind (higher the wind speed) in the direction of the vibration of the luggage F, the greater the vibration of the luggage F, and therefore the movement amount of the boom 106 is increased. Also, it is estimated that the stronger the wind (higher the wind speed) in the direction opposite to the vibration direction of the luggage F, the smaller the vibration of the luggage F, and depending on the wind speed, the luggage F may be swept away in the direction of the wind. In this case, therefore, the movement amount of the boom 106 is reduced or moved in a direction different from the vibration. In reality, it is rare that the vibration direction of the luggage F coincides with the wind direction, and therefore the vibration amount is estimated using the component of the wind direction that coincides with the vibration direction of the luggage F. Information on the wind direction and wind speed around the crawler crane 10 is obtained, for example, from a wind direction and wind speed meter installed on the crawler crane 10 itself or on the construction site where the crawler crane 10 is used. Also, real-time information on the wind direction and wind speed around the crawler crane 10 may be obtained via the Internet, for example.

[0053] As described above, according to the crane control unit 40 (crane control device) of the embodiment, if vibrations occur in the load F when the load starts to move and when the load ends to move, the position of the boom 106 is changed in a predetermined direction to suppress the vibrations of the load F (vibration suppression control is implemented). This prevents the load F from coming into contact with surrounding objects or workers, which is advantageous in improving the work efficiency and safety of work using the crawler crane 10. Although such handling of the boom 106 has traditionally been performed by a skilled worker, by having the crane control unit 40 perform it automatically, work using the crawler crane 10 can be performed efficiently even when there is a shortage of skilled workers. Furthermore, in the crane control unit 40 according to the embodiment, if the amount of vibration of the cargo F is estimated based on the operating speed of the moving operation unit 210, and vibration suppression control is performed when the amount of vibration is equal to or greater than a predetermined amount, the boom 106 will be moved only when vibration is generated to an extent that it affects the surrounding area, and will not be moved when the vibration is smaller than that, which is advantageous in suppressing unnecessary movement of the crawler crane 10. Furthermore, in the crane control unit 40 of the embodiment, if vibration suppression control is performed only when execution of vibration suppression control is specified to the vibration suppression operating unit (not shown), it is possible to reliably specify whether or not to perform vibration suppression control, which is advantageous in improving the operational stability of the crawler crane 10. Furthermore, in the crane control unit 40 according to the embodiment, if the amount of movement of the boom 106 during vibration suppression control is determined based on the weight of the cargo F, this is advantageous in more effectively suppressing the vibration of the cargo F by taking into account the magnitude of the inertial force acting on the cargo F. Furthermore, in the crane control unit 40 of the embodiment, if the amount of movement of the boom 106 during vibration suppression control is determined based on the wind direction and wind volume around the crane, this will be advantageous in more effectively suppressing vibration of the cargo F by taking into account the force that the cargo F receives from the crawler crane 10 and forces other than gravity. Furthermore, the crane control unit 40 according to the embodiment is advantageous in effectively suppressing vibration in accordance with the movement of the crawler crane 10. Specifically, for example, when lifting and lowering a load F, the hoisting angle of the boom 106 is changed. When the crawler crane 10 stops traveling, the crawler crane 10 is moved forward to move the boom 106 forward. When the crawler crane 10 stops rotating, the upper rotating body 104 of the crawler crane 10 is rotated to move the boom 106 in the rotating direction, thereby suppressing vibration.

[0054] In this embodiment, the case has been described where the crane to be controlled by the crane control device (crane control unit 40) is the crawler crane 10, but the present invention can also be applied to cranes other than the crawler crane 10, such as a truck crane mounted on a truck or a tower crane installed on a mast installed near the construction target. Truck cranes and tower cranes only rotate the load and do not move the crane itself. [Explanation of symbols]

[0055] 10. Crawler Crane 102 Undercarriage 104 Upper rotating body 106 Boom 108 Cargo Rope 110 Loading winch 112 Boom raising and lowering rope 114 Hoisting winch 116 Boom side pulley 118 Hook Block 120 Hook block side pulley 122 Hook 20 Control room 202(202A,202B) Travel lever 204 Left operation lever 206 Right working lever 208 Accelerator pedal 210 Movement operation unit 40 Crane control unit (crane control device) 400 Drive control unit 402 Vibration amount estimation section 404 Vibration suppression control unit F. Baggage

Claims

1. A crane control device that controls a crane that can suspend a load by a loading rope stretched across a boom-side pulley supported at the tip of the boom and move the load in a horizontal direction, A movement operation unit that receives an operation for moving the luggage from a worker; a vibration amount estimation unit that estimates a vibration amount of the luggage based on an operation speed of the moving operation unit by the worker; a vibration suppression control unit that performs vibration suppression control to suppress the vibration by changing a position of the boom so that the luggage is located directly under the boom side pulley when vibration occurs in the luggage when the luggage starts to move and when the estimated vibration amount of the luggage is equal to or greater than a predetermined amount; A crane control device comprising:

2. The vibration suppression control unit determines a movement amount of the boom during the vibration suppression control based on a weight of the luggage.

2. The crane control device according to claim 1.

3. The vibration suppression control unit determines the movement amount of the boom during the vibration suppression control based on a wind direction and a wind speed around the crane.

3. The crane control device according to claim 1 or 2.

4. the vibration suppression control unit suppresses the vibration by changing a hoisting angle of the boom when lifting and lowering the load. The crane control device according to any one of claims 1 to 3.

5. When the traveling of the crane is stopped, the vibration suppression control unit suppresses the vibration by moving the crane forward and moving the boom forward immediately after the traveling of the crane is stopped.

5. The crane control device according to claim 1, wherein the control device is a control device for controlling a crane.

6. When the rotation of the crane is stopped, the vibration suppression control unit suppresses the vibration by rotating the upper rotating body of the crane and moving the boom in the rotation direction immediately after the rotation of the crane is stopped. The crane control device according to any one of claims 1 to 5.

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