Crane Equipment

Abstract

To provide a crane apparatus capable of safely proceeding works according to the swing of a hanging load while preventing contact between a hanging load and a boom.SOLUTION: A crane apparatus comprises a derrick angle sensor to detect a derrick angle of a boom, a camera to capture a hanging load, and a drum sensor to detect the winding length of a wire. A control program implemented in the crane apparatus calculates an initial maximum deflection angle θ0 max of the hanging load immediately after a dynamic lift-off work based on image data output by the camera (S17). The control program calculates a maximum allowable winding length Lmax which is the winding length of the wire until the hanging load contacts the boom, based on the initial maximum deflection angle θ0 max (S19). The control program forcibly stops the winch drive (S24) when the control program determines that an actual winding length LA detected by the drum sensor reaches the maximum allowable winding length Lmax-B (a safety constant) (S22:Yes). That is, the lifting of the hanging load by the winch is stopped before the hanging load contacts the boom.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a crane apparatus including a boom and a winch. [Background technology]

[0002] A crane apparatus is mounted on a vehicle and used as a crane vehicle, or is fixedly installed at a work site. In general, a crane apparatus includes a rotating base, a boom mounted on the rotating base, and a winch, and the boom is capable of raising, lowering, extending, and rotating. The winch is disposed at the base end of the boom and winds up or pays out a load wire rope. The load wire rope is extended along the boom to the tip of the boom and hangs down via a sheave. A hook is provided at the tip of the load wire rope, and this hook is suspended from the tip of the boom by the load wire rope.

[0003] In crane operations, the hook is hung on a load (typically construction materials) placed on the ground. After the load is hung on the hook, the wire rope is slightly reeled in to lift the load off the ground (so-called "ground lifting operation"). After that, the swivel base, boom, and winch are driven to move the load to a designated position.

[0004] When a suspended load leaves the ground, if it is not directly under the tip of the boom, the load will sway. The sway of the load can be simulated as a simple pendulum motion with the tip of the boom as the fulcrum and the load as the weight. Then, as the wire rope is reeled in, that is, as the distance between the fulcrum (tip of the boom) and the weight (load) becomes shorter, the sway angle of the load increases. If the sway angle becomes larger, there is a risk that the load will come into contact with the boom.

[0005] Patent Document 1 discloses a crane apparatus that prevents contact between a load and a boom. This crane apparatus recognizes the three-dimensional area occupied by the boom and the three-dimensional area occupied by the load based on the length, elevation angle, and rotation angle of the boom during operation. The three-dimensional area occupied by the load is the maximum area in which the load can move due to swinging and rotation. The maximum area in which the load can move due to swinging is determined assuming a swing angle θ according to the suspension length of the load. The maximum area in which the load can move due to rotation is determined assuming that the load rotates 360 degrees around the wire rope. When the crane apparatus determines that the three-dimensional area occupied by the boom and the three-dimensional area occupied by the load overlap, it performs an emergency stop of the drive of the rotating table, the boom, and the winch. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2020-132309 A Summary of the Invention [Problem to be solved by the invention]

[0007] In the crane apparatus described in Patent Document 1, it is necessary to assume the swing angle of the load when it swings to the maximum extent, regardless of the actual swing of the load, so that the load never comes into contact with the boom. This causes a situation in which the crane apparatus is stopped in an emergency even if the actual swing of the load is slight and the possibility of the load coming into contact with the boom is low. In other words, conventional crane apparatuses are insufficient in responding appropriately to disturbances such as swinging of the load.

[0008] The present invention has been made against this background, and its object is to provide a crane apparatus that can safely proceed with work in response to the swaying of the suspended load while preventing contact between the suspended load and the boom. [Means for solving the problem]

[0009] (1) A crane apparatus according to the present invention includes a telescopic and hoistable boom, a hook attached to a wire extending from a tip of the boom, a winch for winding up and paying out the wire, a first sensor for detecting a hoisting detection value indicating a length of hoisting of the wire by the winch, a second sensor for detecting a sway detection value indicating a sway of a suspended load attached to the hook, a third sensor for detecting a hoisting angle detection value corresponding to a hoisting angle of the boom, an operation device for receiving an instruction to drive the winch, and a control device. In response to receiving the drive instruction, the control device executes a first acquisition process for acquiring the hoisting angle detection value and the sway detection value, a threshold determination process for identifying a threshold based on the hoisting angle detection value and the sway detection value, a drive process for driving the winch, a second acquisition process for acquiring the hoisting detection value, a determination process for determining whether a value corresponding to the hoisting detection value has reached the threshold, and a stop process for stopping the drive of the winch based on the determination that the value corresponding to the hoisting detection value has reached the threshold.

[0010] By executing the stop process, the winch drive is stopped before the load comes into contact with the boom, preventing contact between the load and the boom due to swaying. The control device also specifies a threshold value used to determine whether or not to stop the winch drive, based on a boom hoisting angle detection value indicating the boom hoisting angle and a sway detection value indicating the swaying of the load. This makes it possible to improve the accuracy of determining whether or not to stop the winch drive, compared to when the threshold value used to determine whether or not to stop the winch drive is determined based on the maximum anticipated swaying (fixed value). As a result, work can be safely carried out in accordance with the swaying of the load, while preventing contact between the load and the boom.

[0011] (2) The crane apparatus according to the present invention may further include a fourth sensor that detects a load detection value indicating a size of the load. In response to receiving the drive command, the control device further executes a third acquisition process that acquires the load detection value. The threshold value identification process is a process that identifies the threshold value further based on the load detection value.

[0012] Since the threshold value is specified based additionally on the size of the suspended load, the accuracy of determining contact between the suspended load and the boom can be further improved.

[0013] (3) The control device may further execute a load information acquisition process to acquire load information indicating a size of the load. The threshold value specification process is a process for specifying the threshold value further based on the load information.

[0014] Since the threshold value is specified based additionally on the size of the suspended load, the accuracy of determining contact between the suspended load and the boom can be further improved.

[0015] (4) The crane apparatus according to the present invention may further include a fifth sensor for detecting a lifting load detection value indicating a weight of the lifted load, and a sixth sensor for detecting a length detection value corresponding to a length of the boom. The threshold value specification process specifies a value corresponding to a deflection of the boom from the hoisting angle detection value, the length detection value, and the lifting load detection value, and specifies the threshold value based on the value corresponding to the deflection.

[0016] Since the threshold value is specified based additionally on the deflection of the boom, the accuracy of determining contact between the suspended load and the boom can be further improved.

[0017] (5) The sway detection value may be a value indicating the mechanical energy of the load before the winch is driven. The threshold value specification process includes a process of specifying a contact angle based on the hoisting angle detection value, and a calculation process of calculating a maximum allowable hoisting length as the threshold value based on the contact angle and a value indicating the mechanical energy of the load.

[0018] (6) The second sensor may be a camera attached to the tip of the boom for capturing an image of the load, and the sway detection value is a load speed at the lowest point of the load or a maximum ascent value of the load, which is identified from an image of the load captured by the camera.

[0019] (7) A crane apparatus according to the present invention includes a telescopic and hoistable boom, a hook attached to a wire extending from a tip of the boom, a winch for winding up and paying out the wire, a first sensor for detecting a hoisting detection value indicating a hoisting length of the wire by the winch, a second sensor for detecting a sway detection value indicating a sway of a suspended load attached to the hook, an operation device for receiving an automatic control instruction for the winch and the boom, and a control device. In response to receiving the automatic control instruction, the control device executes a first acquisition process for acquiring a value indicating a planned hoisting angle of the boom and the sway detection value indicated by the automatic control instruction, a threshold identification process for identifying a threshold based on the value indicating the planned hoisting angle and the sway detection value, a drive process for driving the winch and the boom, a second acquisition process for acquiring the hoisting detection value, a determination process for determining whether a value corresponding to the hoisting detection value has reached the threshold, and a stop process for stopping the drive of the winch based on the determination that the value corresponding to the hoisting detection value has reached the threshold.

[0020] Even when the boom and winch are automatically driven, contact between the load and the boom due to swaying can be prevented. As a result, work can be carried out safely in accordance with the swaying of the load while preventing contact between the load and the boom.

[0021] (8) The crane apparatus of the present invention comprises a boom that can be extended and lowered, a hook attached to a wire extending from the tip of the boom, a winch that winds up and pays out the wire, a first sensor that detects a hoisting detection value that indicates the length of winding of the wire by the winch, a second sensor that detects a sway detection value that indicates the swaying of a load attached to the hook, an operating device that receives automatic control instructions for the winch and the boom, an alarm device, and a control device. In response to receiving the automatic control instruction, the control device executes a first acquisition process to acquire a value indicating the planned hoisting angle of the boom indicated by the automatic control instruction and the sway detection value, a judgment process to determine whether the load and the boom will come into contact during automatic control based on the value indicating the planned hoisting angle and the sway detection value, a drive process to drive the winch and the boom based on the determination that the load and the boom will not come into contact, and an alarm process to cause the alarm device to alarm that the load and the boom will come into contact or that the sway of the load will be suppressed based on the determination that the load and the boom will come into contact.

[0022] When the winch and boom are automatically driven and the judgment process judges that the load will come into contact with the boom while being automatically moved, a notice is issued to inform the operator that the load will come into contact with the boom or that the swaying of the load will be suppressed. This prevents interruption of the load transportation work. As a result, the work can be safely carried out in accordance with the swaying of the load while preventing contact between the load and the boom.

[0023] (9) A crane apparatus according to the present invention comprises a boom that can be extended and extended and raised, a hook attached to a wire extending from the tip of the boom, a winch that winds up and pays out the wire, a first sensor that detects a hoisting detection value indicating the length of winding of the wire by the winch, a second sensor that detects a sway detection value indicating the swaying of a load attached to the hook, a third sensor that detects a hoisting angle detection value corresponding to the hoisting angle of the boom, an operating device that receives drive instructions for the winch and the boom, and a control device. In response to receiving the drive instruction, the control device executes a first acquisition process to acquire the sway detection value, a drive process to drive the winch, a second acquisition process to acquire the hoisting angle detection value, a determination process to determine whether the load will contact the boom when the wire is wound up by the virtual unit hoisting length based on the virtual unit hoisting length, the sway detection value, and the hoisting angle detection value stored in memory, a stop process to stop driving of the winch based on the determination that the load will contact the boom, and an authorization process to permit driving of the winch up to the virtual unit hoisting length based on the determination that the load will not contact the boom.

[0024] Even when the boom and winch are manually driven, contact between the load and the boom due to swaying can be prevented. As a result, work can be carried out safely in accordance with the swaying of the load while preventing contact between the load and the boom. Effect of the Invention

[0025] With the crane apparatus according to the present invention, it is possible to safely proceed with work in response to the swaying of the suspended load while preventing contact between the suspended load and the boom. [Brief description of the drawings]

[0026] [Figure 1] FIG. 1 is a side view of a mobile crane 10. [Diagram 2] FIG. 2 is a perspective view of pulley assembly 25. As shown in FIG. [Diagram 3]FIG. 3 is a functional block diagram of the crane apparatus 12. [Figure 4] FIG. 4 is a diagram showing a simple pendulum model of a suspended load 42, in which (A) shows the state immediately after the ground cutting operation, and (B) shows the state in which the wire 41 has been wound up by a length L. [Diagram 5] Figure 5(A) is an explanatory diagram explaining the contact conditions between a load 42 (a mass point ignoring its size) and the boom 22, Figure 5(B) is an explanatory diagram explaining the load elevation angle δ in variant example 1, Figure 5(C) is an explanatory diagram explaining the contact conditions between a load 42 (a load taking its size into account) and the boom 22 in variant example 1, and Figure 5(D) is an explanatory diagram explaining the virtual hoisting angle αA in variant example 2. [Figure 6] FIG. 6 is a flowchart of the winch drive control process. [Figure 7] FIG. 7(A) is a flowchart of the contact angle calculation process, FIG. 7(B) is a flowchart of the contact angle β calculation process related to variant example 1, and FIG. 7(C) is a flowchart of the contact angle β calculation process related to variant example 2. [Figure 8] FIG. 8 is a flowchart of a winch drive control process according to the third modification. [Figure 9] FIG. 9 is a flowchart of a winch drive control process according to the fourth modification. [Figure 10] FIG. 10 is a flowchart of a winch drive control process according to the fifth modification. [Figure 11] FIG. 11 is a flowchart of a winch drive control process according to the sixth modification. [Figure 12] FIG. 12 is a diagram showing the relationship between the rotation angle of a suspended load 42 and the boom 22 in the first modification. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] An embodiment of the present invention will be described below. Note that the embodiment described below is merely one example of the present invention, and it goes without saying that the embodiment of the present invention can be appropriately modified without changing the gist of the present invention. For example, the execution order of each process described below can be appropriately modified without changing the gist of the present invention. Alternatively, part of the process described below can be appropriately omitted without changing the gist of the present invention.

[0028] In this embodiment, a mobile crane 10 shown in Fig. 1 will be described. The mobile crane 10 is a rough terrain crane. However, the mobile crane 10 may also be an all-terrain crane.

[0029] The crane vehicle 10 comprises a running body 11, a crane device 12 mounted on the running body 11, and a driver's cab 13.

[0030] The crane equipment 12 has a swivel base 21, a boom 22, a winch 23, a pulley device 25 (see Figure 2), a group of sensors 26 (see Figure 3), a group of hydraulic actuators 27 (see Figure 3), a hydraulic supply device 28 (see Figure 3), an operating device 29 (see Figure 3), and a control device 70 (see Figure 3).

[0031] The swivel base 21 is supported by the traveling body 11 so as to be rotatable (rotatable) around a rotation axis (not shown) that is aligned in the vertical direction. The swivel base 21 is rotated by a rotation motor 51 (see FIG. 3) described later.

[0032] The boom 22 is supported on the swivel base 21 so that it can be raised and lowered. The boom 22 is made up of multiple cylinders arranged in a nested manner, forming a so-called telescopic structure, and is extendable and contractable. In other words, the boom 22 can be raised and lowered, can be extended and contracted, and can be rotated. The boom 22 is raised and lowered by a lowering cylinder 52 (see FIG. 3) described below, and is extended and contracted by a telescoping cylinder 53 (see FIG. 3).

[0033] The winch 23 is attached to the base end of the boom 22 or to the swivel base 21. The winch 23 has a drum 56 around which a lifting wire rope 41 (hereinafter referred to as "wire 41") is wound, and a sheave 57 around which the wire 41 is wound. The drum 56 is driven (rotated) by a hydraulic motor 54 (see FIG. 3), which will be described later. By driving the drum 56 via the hydraulic motor 54, the wire 41 is wound onto the drum 56, or the wire 41 is paid out from the drum 56.

[0034] The wire 41 is wound around the sheave 57, and then drawn out along the boom 22 to the tip of the boom 22, and wound around a pulley device 25 (see FIG. 2).

[0035] As shown in FIG. 2, the pulley device 25 includes a fixed sheave block 31 and a hook block 32 .

[0036] The fixed sheave block 31 has one first sheave 40 (see FIG. 1) and three second sheaves 33, 34, 35. The first sheave 40 and the second sheaves 33, 34, 35 are disk-shaped and rotatable around a central axis.

[0037] The first sheave 40 (see FIG. 1) is located above the tip of the boom 22 when the boom 22 is aligned in the horizontal direction. The three second sheaves 33, 34, 35 are arranged side by side in the width direction of the boom 22. The three second sheaves 33, 34, 35 are located below the first sheave 40 when the boom 22 is aligned in the horizontal direction. Note that while FIG. 2 shows an example in which the fixed sheave block 31 has three second sheaves 33, 34, 35, the fixed sheave block 31 may have two second sheaves or four or more second sheaves.

[0038] The hook block 32 has a body 45, three sheaves 36, 37, 38 rotatably held by the body 45, and a hook 39 attached to the body 45. The sheaves 36, 37, 38 are disk-shaped and rotatable around a central axis. The hook block 32 may have two sheaves, or may have four or more sheaves.

[0039] The wire 41 wound around the sheave 57 (see FIG. 1) of the winch 23 is pulled out along the boom 22 and wound around the first sheave 40 (see FIG. 1) of the fixed sheave block 31, and then wound around the second sheave of the fixed sheave block 31 and the sheave of the hook block 32. In the example shown in FIG. 2, the wire 41 is wound around the second sheave 33, the sheave 36, the second sheave 35, and the sheave 38. That is, in the example shown in FIG. 2, the number of wire turns (hereinafter, referred to as the "number of wire turns"), which is the number of times the wire 41 is wound around the pulley device 25, is "4". By increasing the number of wire turns, the maximum lifting load amount, which is the maximum value of the load 42 (see FIG. 1) that the crane device 12 can suspend, increases. That is, the lifting performance of the crane device 12 increases.

[0040] 3, the crane apparatus 12 includes a hydraulic actuator group 27. The hydraulic actuator group 27 includes a swing motor 51, a hoisting cylinder 52, a telescopic cylinder 53, and a hydraulic motor 54.

[0041] The swing motor 51 is a hydraulic motor that rotates via hydraulic oil supplied from the hydraulic supply unit 28, and rotates the swing base 21. The hoisting cylinder 52 is a hydraulic cylinder that expands and contracts via hydraulic oil supplied from the hydraulic supply unit 28, and raises and lowers the boom 22. The telescopic cylinder 53 is a hydraulic cylinder that expands and contracts via hydraulic oil supplied from the hydraulic supply unit 28, and extends and lowers the boom 22. The hydraulic motor 54 rotates via hydraulic oil supplied from the hydraulic supply unit 28, and rotates the drum 56 of the winch 23.

[0042] The hydraulic supply device 28 includes a hydraulic pump driven by the engine 15 mounted on the traveling body 11, piping connecting the hydraulic pump to the swing motor 51 of the hydraulic actuator group 27, and a hydraulic switching valve provided on the piping. The hydraulic switching valve may be a so-called electromagnetic valve, and is driven by a drive signal input from the control device 70. The solenoid valve is driven to drive the swing motor 51, the hoisting cylinder 52, the telescopic cylinder 53, and the hydraulic motor 54. That is, the control device 70 outputs a drive signal to swing, hoist, and extend the boom 22, and to wind or unwind the wire 41. In the following, swinging the swing base 21 through the swing motor 51 is referred to as "driving the swing base 21" or "driving the swing base 21". Also, hoisting and extending the boom 22 through the hoisting cylinder 52 and the telescopic cylinder 53 is referred to as "driving the boom 22" or "driving the boom 22". In addition, rotating the drum 56 through the hydraulic motor 54 is described as "driving the winch 23" or "driving the winch 23".

[0043] The crane apparatus 12 includes a sensor group 26. The sensor group 26 includes a boom length sensor 61, a hoisting angle sensor 62, a drum sensor 63, a lifting load sensor 64, and a camera 65.

[0044] The boom length sensor 61 is a sensor that outputs a detection value corresponding to the length of each cylinder of the boom 22. The boom length sensor 61 may be a sensor that directly detects the length of each cylinder, or may be a sensor that detects the extension length or extension time when the telescopic cylinder 53 extends (slides) each cylinder. In short, the boom length sensor 61 may be a sensor that detects a physical quantity corresponding to the length of each cylinder of the boom 22. The boom length sensor 61 corresponds to the "sixth sensor" recited in the claims. The detection value output by the boom length sensor 61 corresponds to the "length detection value" recited in the claims.

[0045] The hoisting angle sensor 62 is a sensor that outputs a hoisting angle detection value corresponding to the hoisting angle of the boom 22. The hoisting angle sensor 62 is typically a sensor that directly detects the hoisting angle of the boom 22, such as an inclination sensor or horizontal sensor that is attached to the boom 22 and outputs the angle with respect to the horizontal plane. However, the hoisting angle sensor 62 may also be a sensor that detects the extension length of the hoisting cylinder 52. In short, the hoisting angle sensor 62 may be any sensor that detects a physical quantity corresponding to the hoisting angle of the boom 22. The hoisting angle sensor 62 corresponds to the "third sensor" recited in the claims.

[0046] The drum sensor 63 is, for example, a rotary encoder attached to the shaft of the drum 56 of the winch 23. The drum sensor 63 outputs a pulse signal, which is a detection value, according to the rotation of the drum 56. The number of pulses per unit time indicates the rotation speed (angular velocity) of the drum 56. The total number of pulses indicates the number of rotations or the rotation angle of the drum 56. The length of the unwound wire 41 or the length of the wound wire 41 is calculated by multiplying the number of rotations or the rotation angle of the drum 56 by the "winding radius". The "winding radius" is the radius of the drum 56 plus the thickness of the layer of the wire 41 wound around the drum 56. In the following description, the length of the wire 41 wound around the drum 56 is described as the "actual winding length LA". The drum sensor 63 corresponds to the "first sensor" described in the claims. The pulse signal output by the drum sensor 63 corresponds to the "winding detection value" described in the claims.

[0047] The hoisting load sensor 64 is a sensor that detects the weight of the load 42 (see FIG. 1) suspended by the wire 41. For example, the hoisting load sensor 64 is attached to the tip of the boom 22 or the winch 23, and is a tension sensor that detects the tension applied to the wire 41, or a pressure sensor that detects the hydraulic pressure of the hydraulic motor 54 that drives the drum 56 of the winch 23. For example, the hoisting load force is calculated from the tension or pressure detected by the hoisting load sensor 64 and the number of wire loops. Note that the number of wire loops is input to the control device 70 via the operation device 29 by the operator, for example, or is automatically determined by the control device 70. The hoisting load sensor 64 corresponds to the "fifth sensor" recited in the claims. The tension and hydraulic pressure detected by the hoisting load sensor 64 correspond to the "hoisting load detection value" recited in the claims.

[0048] The camera 65 is attached to the tip of the boom 22 with the imaging range being downward. The camera 65 images the hook block 32 and the suspended load 42 from above, generates image data, and outputs the generated image data. The camera 65 corresponds to the "second sensor" recited in the claims. The image data output by the camera 65 corresponds to the "swing detection value" recited in the claims. The image shown by the image data corresponds to the "suspended load image" recited in the claims.

[0049] The boom length sensor 61, the hoisting angle sensor 62, the drum sensor 63, the lifting load sensor 64, and the camera 65 of the sensor group 26 are connected to the control device 70 by signal lines (not shown). That is, the detection values ​​output by the boom length sensor 61, the hoisting angle sensor 62, the drum sensor 63, and the lifting load sensor 64, and the image data output by the camera 65 are input to the control device 70.

[0050] The sensor group 26 may include other sensors, such as a rotation angle sensor that detects the rotation angle of the swivel base 21.

[0051] The operating device 29 is arranged in the driver's cab 13. The operating device 29 includes an operating lever or the like operated by an operator and a display 67. The operating lever or the like includes a foot pedal, buttons and switches, a touch sensor superimposed on the display 67, etc. The operating device 29 is connected to the control device 70 by a signal line (not shown). The operator operates the operating device 29 to input the above-mentioned wire hanging number and drive instruction to the control device 70, and operates the crane device 12. The display 67 corresponds to the "notification device" described in the claims. Note that the crane device 12 may be provided with a speaker as a notification device instead of or in addition to the display 67.

[0052] In addition to or instead of the operating device 29, the crane vehicle 10 may be provided with a remote control device (not shown). The remote control device includes, for example, a touch panel, input buttons, input levers, etc. that receive the operator's input, and an antenna that sends an operation signal corresponding to the operator's input operation. The operation signal sent by the remote control device is received by an antenna installed in the driver's cab 13 or the like of the crane vehicle 10 and input to the control device 70. However, the control device 70 itself may be incorporated into the remote device.

[0053] The control device 70 includes a CPU 71 which is a central processing unit, a memory 72, a power supply circuit 73, and a communication bus (not shown). The control device 70 is realized by an IC, a microcomputer, resistors, diodes, capacitors, etc. mounted on a control board. The control board is arranged, for example, in a control box arranged in the driver's cab 13.

[0054] The CPU 71, the memory 72, the hydraulic supply device 28, the boom length sensor 61 etc. of the sensor group 26, and the operation device 29 are connected to a communication bus. A control program 74 described later executed by the CPU 71 reads data and information from the memory 72, stores the data and information in the memory 72, controls the driving of the swing motor 51 etc. of the hydraulic actuator group 27, obtains detection values ​​and image data output by the boom length sensor 61 etc. of the sensor group 26, obtains signals corresponding to operations performed by the operator on the operation device 29, and displays images on the display 67.

[0055] The memory 72 stores in advance a control program 74 executed by the CPU 71, arithmetic expressions, a correspondence table, the number of wires W, and the like.

[0056] The number of wire threads W is input by an operator and stored in the memory 72. Alternatively, the number of wire threads W is automatically determined by the control program 74 based on values ​​detected by the sensor group 26 and stored in the memory 72.

[0057] The calculation formula is Equation 1 or Equation 2 described later. The correspondence table is a table that associates the size of the hook block 32 with a correction coefficient. The correspondence table is used to identify the swing width D (see FIG. 4) of the suspended load 42 from the size of the hook block 32 captured by the camera 65. Details will be described later.

[0058] The power supply circuit 73 converts a DC voltage supplied from the battery 16 mounted on the running object 11 into a DC voltage of a predetermined voltage value, such as 5V or 12V, and outputs the converted voltage. The power supply circuit 73 is realized by, for example, a power supply IC that is a DC / DC converter, a capacitor, a resistor, a diode, a coil, and the like. The battery 16 is charged by the engine 15 of the running object 11. The DC voltage output by the power supply circuit 73 is supplied to the CPU 71, the operation device 29, the sensor group 26, and the like. In FIG. 3, the power supply lines from the power supply circuit 73 to the sensor group 26 and the like are omitted.

[0059] The winch drive control process executed by the control program 74 will be described below with reference to FIG.

[0060] The winch drive control process is a process for driving the winch 23 to wind up the wire 41 in a fixed state without rotating the swivel base 21 and without raising or lowering or extending the boom 22. The winch drive process is also a process for preventing the load 42 and the boom 22 from coming into contact with each other due to the swinging of the load 42.

[0061] The operator operates the operating device 29 to rotate the rotating platform 21 and raise and lower the boom 22 so that the tip of the boom 22 is positioned above the load 42 placed on the ground or the like (see FIG. 1). Next, the operator drives the winch 23 to pay out (lower) the wire 41 and lower the hook block 32. The operator or worker attaches the hook 39 to the load 42. The operator drives the winch 23 slightly to slightly raise the load 42 so that the load 42 is lifted off the ground (ground-cutting operation). FIG. 1 shows the crane vehicle 10 immediately after the ground-cutting operation. If the tip of the boom 22 is not directly above the load 42, the load 42 will swing after the ground-cutting operation. The swing of the load 42 can be simulated as a simple pendulum motion with the tip of the boom 22 as the fulcrum and the hook block 32 and the load 42 as the weights. In the following description, the hook block 32 and the load 42 are assumed to be mass points. The mass point is determined to be located at the lowest point of the hook 39, for example.

[0062] For example, after a ground cutting operation, the operator makes an input to the operation device 29 indicating that the ground cutting operation is completed or an input instructing the start of a hoisting operation. The control program 74 executes a winch drive control process using this input as a trigger. Alternatively, the control program 74 may determine whether or not ground cutting operation has been performed based on the drive of the winch 23 or the like, and execute a winch drive control process based on the determination that ground cutting operation has been performed. The operator's input indicating that ground cutting operation is completed or the operator's input instructing the start of a hoisting operation, or the operator's input of an operating lever or the like during ground cutting operation corresponds to a "drive instruction" as described in the claims.

[0063] The control program 74 determines whether or not a command to drive the winch 23 has been input (S11). The control program 74 waits until a command to drive the winch 23 has been input (S11: No).

[0064] When the control program 74 determines that a command to drive the winch 23 has been input (S11: Yes), it reads out and obtains the number of wire hooks W from the memory 72 (S12). The control program 74 also obtains the initial boom hoisting angle α0 of the boom 22 detected by the boom hoisting angle sensor 62 (S13).

[0065] The control program 74 also acquires image data generated by the camera 65 through imaging during a predetermined period of time after the drive command for the winch 23 is input (S14). The predetermined period is a period previously stored in the memory 72, and is a period during which the load 42 makes at least one reciprocation in the simple pendulum motion. The image data may be data showing a video or data showing a plurality of still images. In the following description, the image data is described as data showing a plurality of still images. The processes of steps S12, S13, and S14 may be executed in parallel. The processes of steps S13 and S14 correspond to the "first acquisition process" described in the claims.

[0066] The control program 74 calculates the period T of the suspended load 42 (mass point) in the simple pendulum motion based on the acquired image data (S15). Fig. 4(A) is a diagram showing a simple pendulum model in which the swing of the suspended load 42 immediately after the ground cutting work is simulated as a simple pendulum motion. The calculation of the period T of the suspended load 42 will be described with reference to Fig. 4(A).

[0067] In Fig. 4(A), the "fulcrum" is the tip of the boom 22, and the "mass point" is the suspended load 42 and the hook block 32. "Swing width D" is the horizontal distance traveled when the mass point moves from the lowest point to the highest point where the speed is zero. "θ0max" is the angle between the wire 41 when the mass point is at the lowest point and the wire 41 when the mass point is at the above-mentioned highest point, and is the initial maximum swing angle.

[0068] The control program 74 identifies the hook block 32 in a plurality of still images represented by the image data using a technique such as pattern matching, and identifies the position of the hook block 32 in each still image in association with the passage of time. The control program 74 then identifies the period T of the hook block 32 from the position of the hook block 32 and the passage of time.

[0069] In the simple pendulum motion, the period T and the length (initial wire length) L0 of the wire 41 satisfy the relationship of the following formula 1.

number

[0070] The memory 72 pre-stores the arithmetic expression of Equation 1. The control program 74 inputs the period T identified in step S15 into T of Equation 1 stored in the memory 72 to calculate the initial wire length L0 (S16).

[0071] Further, the control program 74 specifies the swing width D based on the image data (S15). Specifically, the control program 74 specifies a correction coefficient corresponding to the size of the hook block 32 specified in the still image in the correspondence table (see FIG. 3). The control program 74 calculates the swing width D by multiplying the maximum movement distance of the hook block 32 in the still image by the correction coefficient and 1 / 2. That is, the control program 74 calculates the swing width D of the load 42 by converting the distance on the still image into an actual distance using the size of the hook block 32 in the still image.

[0072] The control program 74 calculates the initial maximum swing angle θ0max from the swing width D calculated in step S15 and the initial wire length L0 calculated in step S16 (S17). To explain in detail, sinθ0max=D / L0 (see FIG. 4(A)), and θ0max=arcsin(D / L0). The memory 72 pre-stores the arithmetic expression θ0max=arcsin(D / L0). The control program 74 calculates θ0max by inputting the swing width D calculated in step S15 and the initial wire length L0 calculated in step S16 into this arithmetic expression. Note that the control program 74 may calculate a value correlated with θ0max, such as sinθ0max, cosθ0max, or tanθ0max, instead of θ0max.

[0073] Next, the control program 74 executes a contact angle β calculation process to calculate a contact angle β (S18). The contact angle β is the sway angle of the load 42 when the load 42 contacts the boom 22. That is, as shown in FIG. 5(A), the load 42 contacts the boom 22 when the maximum sway angle θmax of the load 42 (mass point) is the contact angle β. The contact angle β calculation process will be described with reference to FIG. 7(A). The control program 74 calculates π / 2-α0 as the contact angle β using the boom hoisting angle α0 acquired in step S13 (S31). Then, the control program 74 stores the calculated π / 2-α0 as the contact angle β in the memory 72 (S32), and returns to the winch drive control process shown in FIG. 6 (RETURN).

[0074] After executing the contact angle β acquisition process (S18), the control program 74 calculates the virtual hoisting length L with the contact angle β as the maximum swing angle θmax as the maximum allowable hoisting length Lmax (S19). That is, in step S19, the hoisting length (virtual hoisting length L) of the wire 41 immediately before (or immediately after) the load 42 comes into contact with the boom 22 is calculated as the maximum allowable hoisting length Lmax. This will be described in detail with reference to FIG. 4.

[0075] Fig. 4(A) shows the case immediately after the ground-cutting operation, when the load 42 swings at the initial maximum swing angle θ0max. The kinetic energy E0 of the simple pendulum model immediately after the ground-cutting operation can be expressed as E0 = m·g·L0(1-cosθ0max) using the maximum swing angle θ0max, the mass m of the mass point (the load 42 and the hook block 32), the gravitational acceleration g, and the initial wire length L0. θ0max or m·g·L0(1-cosθ0max) corresponds to the "value indicating the mechanical energy of the load" recited in the claims. L0(1-cosθ0max) corresponds to the "maximum lift value" recited in the claims.

[0076] On the other hand, Figure 4(B) shows the case where the wire 41 is wound up by the virtual hoisting length L immediately after the ground cutting operation and the mass point swings at the maximum swing angle θmax. The kinetic energy E of the simple pendulum model in this state can be expressed as E = m g (L0-L) (1-cosθmax) using the maximum swing angle θmax, the mass m of the mass point, the gravitational acceleration g, the initial wire length L0, and the virtual hoisting length L.

[0077] If the loss coefficient of the mechanical energy lost by the simple pendulum model due to friction while the wire 41 is wound up by the virtual winding length L is taken as γ, then according to the law of conservation of mechanical energy, E = γ·E0. In other words, m·g·(L0-L)(1-cosθmax) = γ·m·g·L0(1-cosθ0max). When this equation is rearranged for "L", it becomes Equation 2 shown below. The loss coefficient γ is determined by actual measurement using a crane truck 10, for example.

number

[0078] If the contact condition θmax=β(contact angle)=π / 2-α0 is substituted into this formula 2 and cos(π / 2-α0)=sinα0 is set, L=Lmax=L0-γ·L0(1-cosθ0max) / (1-sinα0). "α0" is the boom hoisting angle of the boom 22 acquired in step S13 and is a constant. Also, θ0max is the value calculated in step S17 and is a constant. Therefore, the maximum allowable hoisting length Lmax can be calculated as a numerical value by formula 2. The processes of steps S18 and S19 correspond to the "threshold value identification process" described in the claims. The process of step S18 corresponds to the "process of identifying the contact angle based on the boom hoisting angle detection value" described in the claims. The process of step S19 corresponds to the "calculation process" described in the claims.

[0079] 6, the control program 74 calculates the maximum allowable winding length Lmax (S19), and then drives the winch 23 in a direction for winding the wire 41 (S20). The process of step S20 corresponds to the "driving process" described in the claims.

[0080] After driving the winch 23 (S20), the control program 74 acquires the winding length (actual winding length) LA detected by the drum sensor 63 (S21). The process of step S21 corresponds to the "second acquisition process" described in the claims.

[0081] The control program 74 judges whether the acquired actual hoisting length LA has reached "Lmax-B" (S22). "B" is a safety constant. That is, in step S22, it is judged whether the wire 41 has been hoisted up to a length at which there is a possibility that the load 42 will come into contact with the boom 22 if the wire 41 is hoisted up any further. The processing of step S22 corresponds to the "judgment processing" recited in the claims. "Lmax-B" corresponds to the "threshold value" recited in the claims. Note that the safety factor B may be zero. That is, the maximum allowable hoisting length Lmax may be set as the threshold value.

[0082] When the control program 74 determines that the actual winding length LA has not reached "Lmax-B" (S22: No), it determines whether or not the drive of the winch 23 has been stopped (S23). Specifically, the control program 74 determines whether or not the drive command has been no longer input from the operating device 29, or whether or not the output of the drive signal for driving the hydraulic motor 54 based on the drive command has been stopped.

[0083] When the control program 74 determines that the drive of the winch 23 has not been stopped (S23: No), it executes the processes from step S21 onward again. The control program 74 repeatedly executes the processes from step S21 to S23 at a predetermined time interval of, for example, several tens of milliseconds to several hundreds of milliseconds.

[0084] When the control program 74 determines that the actual hoisting length LA has reached "Lmax-B" (S22: Yes), it forcibly stops the drive of the winch 23 (S24), regardless of the operation of the operator on the operation device 29. By the processing of step S24, the lifting of the load 42 is stopped before it comes into contact with the boom 22 due to its swing. The processing of step S24 corresponds to the "stop processing" recited in the claims.

[0085] After executing the process of step S24, or when it is determined that the drive of the winch 23 has been stopped (S23: Yes), the control program 74 ends the winch drive control process (END).

[0086] [Effects of the embodiment]

[0087] In the crane apparatus 12 according to this embodiment, the process of step S24 (forced stop of the winch) is executed, whereby the drive of the winch 23 is stopped before the swing of the load 42 contacts the boom 22, thereby preventing contact between the load 42 and the boom 22. In addition, the control program 74 specifies the maximum allowable hoisting length Lmax, which is a threshold value used to determine whether or not to stop the drive of the winch 23, based on the initial hoisting angle α0 of the boom 22 and the maximum swing angle θmax indicating the swing of the load 42. Therefore, it is possible to improve the accuracy of determining whether or not the load 42 has come into contact with the boom 22, compared to the conventional technology in which the threshold value used to determine whether or not to stop the drive of the winch 23 is determined by the expected maximum swing (fixed value).

[0088] [Variation 1]

[0089] In the above-described embodiment, an example has been described in which the load 42 and the hook block 32 are mass points and the size of the load 42 can be ignored. In this modified example, an example will be described in which the contact angle β and the maximum allowable hoisting length Lmax are calculated further based on the size of the load 42. Note that configurations and processes other than those described below are the same as the configurations and processes described in the embodiment. Configurations and processes that are the same as those in the embodiment will be described with the same symbols and step numbers as those in the embodiment.

[0090] The control program 74 executes the winch drive control process shown in Fig. 6. The control program 74 executes the processes of steps S11 to S17. In step S18 of the winch drive control process, the control program 74 executes the contact angle β calculation process shown in Fig. 7(B) instead of the contact angle β calculation process shown in Fig. 7(A).

[0091] The control program 74 acquires the maximum load length Q (S41). As shown in FIG. 5(B), the maximum load length Q is the longest length from the center of the load 42 to the end of the load 42. The control program 74 calculates the maximum load length Q based on the image data output by the camera 65. To explain in detail, the control program 74 specifies the size of the hook block 32 in the still image, and specifies the correction coefficient using the correspondence table. The control program 74 also specifies the maximum load length on the image from the center of the load 42 in the still image. The control program 74 multiplies the specified maximum load length on the image by the correction coefficient to calculate the maximum load length Q. The camera 65 corresponds to the "fourth sensor" described in the claims. The image data output by the camera 65 or the maximum load length Q calculated from the image data corresponds to the "load detection value" described in the claims. In addition to the camera 65 attached to the tip of the boom 22, a camera, a laser distance measuring sensor, a radar, or the like for detecting the size of the suspended load 42 may be attached to the crane vehicle 10 as a fourth sensor.

[0092] As shown in FIG. 7(B), the control program 74 calculates the maximum load length Q (S41), and then calculates the load elevation angle δ (S42). As shown in FIG. 5(B), the load elevation angle δ is the angle between a line connecting the fulcrum (tip of the boom 22) and the center of the load 42, and a line connecting the fulcrum and the end of the load 42. The load elevation angle δ can be expressed as tan δ=Q / L0 using the initial wire length L0 and the maximum load length Q. Therefore, it can be expressed as δ=arctan(Q / L0). This δ=arctan(Q / L0) is stored in advance in the memory 72 as an arithmetic formula. The control program 74 inputs the maximum load length Q calculated in step S41 and the initial wire length L0 calculated in step S16 (see FIG. 6) into the arithmetic formula to calculate the load elevation angle δ (S42). Note that the control program 74 may calculate a value correlated with δ, such as sin δ, cos δ, or tan δ, instead of δ. The process of step S41 or step S42 corresponds to a "third acquisition process" recited in the claims.

[0093] The control program 74 calculates the contact angle β using the calculated load elevation angle δ (S43). As shown in FIG. 5(C), the contact angle β can be calculated as β=π / 2-α0-δ using the initial hoisting angle α0 of the boom 22 and the load elevation angle δ. This β=π / 2-α0-δ is stored in advance in the memory 72 as an arithmetic formula. The control program 74 calculates the contact angle β using this arithmetic formula (S43). The processing of steps S43 and S19 corresponds to "processing for further identifying the above threshold value based on the suspended load detection value" recited in the claims.

[0094] As shown in Fig. 7(B), the control program 74 stores "π / 2-α0-δ" calculated in step S43 in the memory 72 as the contact angle β (S44), and returns to the winch drive control process shown in Fig. 6 (RETURN). Then, the control program 74 calculates the maximum allowable hoisting length Lmax based on the contact angle β (S19). That is, the control program 74 calculates the maximum allowable hoisting length Lmax, which is the hoisting length of the wire 41 when the load 42 contacts the boom 22, based on the size of the load 42 in addition to the swaying of the load 42 immediately after the ground cutting operation.

[0095] [Effects of Modification Example 1]

[0096] In this modified example, the contact angle β and the maximum allowable hoisting length Lmax are calculated based additionally on the size of the load 42, so that the accuracy of determining contact between the load 42 and the boom 22 can be further improved.

[0097] In this modification, the contact angle β=π / 2-α0-δ is calculated using the maximum load length Q, assuming that the load 42 rotates around the wire 41. However, the crane apparatus 12 may be provided with a "rotation control device" that controls the rotation position of the load 42 around the wire 41. In that case, the control program 74 calculates the shortest load length R (FIG. 12(A)) instead of the maximum load length Q in step S41. FIG. 12 is a horizontal cross-sectional view of the boom 22 cut by a horizontal plane passing through the upper surface of the load 42. As shown in FIG. 12(A), the shortest load length R is the shortest length among the lengths from the center of the load 42 to the end of the load 42. The control program 74 drives the rotation control device to control the rotation position of the load 42 so that the end of the load 42 that is the shortest load length R faces the boom 22. The control program 74 then calculates the contact angle β using the shortest load length R calculated in step S41 (S43). When the contact angle β is calculated using the shortest suspended load length R, the contact angle β is larger than when the contact angle β is calculated using the maximum suspended load length Q. Therefore, the length of the wire 41 that can be wound up before the winch 23 is forcibly stopped (S24) can be increased.

[0098] Also, as shown in FIG. 12(B), when there is an obstacle 44 near the boom 22, the control program 74 drives the rotation control device to rotate the load 42 at a rotation angle at which the load 42 does not come into contact with the obstacle 44 and the distance between the end of the load 42 and the boom 22 is maximized. In step S41, the control program 74 calculates the distance U instead of the maximum load length Q. The distance U is a distance obtained by subtracting the distance T between the contact points of the load 42 and the boom 22 from the length S from the center of the load 42 to the boom 22. For example, the control program 74 obtains information specifying the shape of the load 42 and the shape of the boom 22 from the memory 72 or a Web server, and calculates the distance U based on the obtained information. The control program 74 calculates the contact angle β using the distance U calculated in step S41 (S43).

[0099] [Variation 2]

[0100] In this modified example, an example is described in which the contact angle β and the maximum allowable hoisting length Lmax are calculated further based on the weight of the hook block 32 and the load 42 and the deflection of the boom 22 due to the boom 22's own weight. Note that configurations and processes other than those described below are the same as the configurations and processes described in the embodiment and modified examples. The same configurations and processes as those in the embodiment and modified examples are described with the symbols and step numbers described in the embodiment and modified examples.

[0101] The control program 74 executes the winch drive control process shown in Fig. 6. The control program 74 executes the processes of steps S11 to S17. In step S18, the control program 74 executes the contact angle β calculation process shown in Fig. 7(C) instead of the contact angle β calculation process shown in Fig. 7(A).

[0102] The control program 74 acquires the length of each cylinder of the boom 22 detected by the boom length sensor 61 and the suspension load amount detected by the suspension load amount sensor 64 (S51). In the following, a description will be given on the assumption that the boom 22 has three cylinders and the control program 74 acquires the lengths R1, R2, and R3 of the three cylinders.

[0103] The memory 72 pre-stores a correction table that associates the initial hoisting angle α0 of the boom 22, the lengths R1, R2, R3 of the cylinder body, and the amount of the lifting load with a virtual hoisting angle αA. As shown in Fig. 5(D), the virtual hoisting angle αA is the angle between a straight line connecting the base end and tip of the bent boom 22 and the horizontal line. The virtual hoisting angle αA in the correction table is determined, for example, by actual measurement using a crane truck 10. The virtual hoisting angle αA corresponds to the "value corresponding to the deflection of the boom" recited in the claims.

[0104] As shown in FIG. 7(C), the control program 74 specifies in the correction table the initial boom hoisting angle α0 obtained in step S13 (see FIG. 6), the lengths R1, R2, and R3 of the cylinder obtained in step S51, and the virtual hoisting angle αA corresponding to the lifting load amount obtained in step S51 (S52). The control program 74 calculates the contact angle β=π / 2-αA using the corrected boom hoisting angle αA instead of the initial boom hoisting angle α0 (S53). The control program 74 stores the calculated contact angle β in the memory 72 (S54) and returns to the winch drive control process (see FIG. 6). The control program 74 then calculates the maximum allowable hoisting length Lmax based on the contact angle β (S19). That is, the control program 74 calculates Lmax, which is the hoisting length of the wire 41 when the load 42 contacts the boom 22, based on the deflection of the boom 22 in addition to the sway of the load 42 immediately after the ground cutting operation. The processes in steps S53 and S19 correspond to "processing for specifying the threshold value further based on a value according to the deflection" recited in the claims.

[0105] [Effects of Modification Example 2]

[0106] In this modified example, the contact angle β and the maximum allowable hoisting length Lmax are calculated further based on the deflection of the boom 22, so that the accuracy of determining contact between the load 42 and the boom 22 can be further improved.

[0107] In this modified example, the contact angle β may be determined based on the size of the suspended load 42 in addition to the deflection of the boom 22. Specifically, in step S53, the contact angle β may be determined to be (π / 2-αA-δ).

[0108] [Variation 3]

[0109] In the above embodiment, a case has been described in which the winch drive control process is performed in which the winch 23 is manually driven by an operator's instruction in a fixed state in which the swivel base 21 is not rotated and the boom 22 is not raised or retracted. In this modified example, a case will be described in which the swivel base 21, the boom 22, and the winch 23 are automatically driven to move (transport) the load 42, without being operated by an operator. The boom 22 is rotated, raised or retracted at an acceleration that does not affect the swing of the load 42. In short, the swivel base 21 and the boom 22 are driven slowly. In addition, in this modified example, a case will be described in which the hook block 32 and the load 42 are mass points and the boom 22 does not bend, as in the embodiment.

[0110] Configurations and processes other than those described below are the same as those described in the embodiment and the modified examples. The same configurations and processes as those in the embodiment and the modified examples will be described with the same reference numerals and step numbers as those in the embodiment and the modified examples.

[0111] The memory 72 stores a sequence of drive signals for driving the swivel base 21, the boom 22, and the winch 23. The control program 74 sequentially inputs the drive signal sequence to the swivel motor 51, the hoisting cylinder 52, the telescopic cylinder 53, and the hydraulic motor 54 over time, thereby rotating the swivel base 21, hoisting and telescopically extending the boom 22, and rotating the drum 56 of the winch 23 to move (transport) the load 42. The control program 74 acquires a drive signal sequence stored in a portable memory such as a USB memory (registered trademark) and stores it in the memory 72. Alternatively, the control program 74 may transmit a request for returning the drive signal sequence to the management server via the Internet and acquire the drive signal sequence contained in the response returned by the management server. The management server generates a drive signal sequence based on the movement start position and movement end position of the building material (load) in the construction work in which the crane vehicle 10 is engaged, and returns the drive signal sequence in response to a request from the crane vehicle 10. Alternatively, the control program 74 stores in the memory 72, as a sequence of drive signals, the drive signals being generated sequentially when the operator manually drives the swivel base 21, the boom 22, and the winch 23.

[0112] After attaching the load 42 to the hook 39, the operator inputs an automatic control command to the control device 70 via the operation device 29 to instruct the control device 70 to automatically transport the load 42.

[0113] The control program 74 executes the winch drive control process shown in Fig. 8 instead of the winch drive control process shown in Fig. 6. The control program 74 judges whether or not an automatic control command has been input from the operating device 29 (S61), and waits until the automatic control command is input (S61: No). When the control program 74 judges that an automatic control command has been input (S61: Yes), it reads and acquires the drive signal sequence from the memory 72 (S62). Next, the control program 74 executes the processes of steps S12 to S17 described in the embodiment.

[0114] After executing step S17, the control program 74 calculates the maximum swing angle θnmax (n = natural number) for each virtual winding length Ln (n = natural number) using the above formula 2 derived from the law of conservation of mechanical energy (S63). That is, the control program 74 calculates the maximum winding length θ1max at the virtual winding length L1, the maximum winding length θ2max at the virtual winding length L2, etc., using the above formula 2, as in the embodiment. The virtual winding length Ln (n = natural number) is stored in advance in the memory 72. Note that the virtual winding length L(n+1)-Ln is a unit length and is constant.

[0115] Next, the control program 74 executes steps S64, S65, and S66 as a contact angle β calculation process. Specifically, first, the control program 74 specifies the planned hoisting angle αn (n = natural number) for each virtual winding length Ln (n = natural number) based on the drive signal sequence stored in the memory 72 (S64). Then, the control program 74 calculates the contact angle βn for each Ln as contact angle βn = π / 2 - αn (n is a natural number) (S65). That is, the contact angle βn = π / 2 - αn for the virtual winding length Ln is calculated, such as the contact angle β1 = π / 2 - α1 for the virtual winding length L1, the contact angle β2 = π / 2 - α2 for the virtual winding length L2, etc. The control program 74 associates the virtual winding length Ln with the contact angle βn and stores them in the memory 72 (S66). The process of step S64 for acquiring the planned hoisting angle αn, or the process of step S62 for acquiring a drive signal sequence for identifying the planned hoisting angle αn, and the processes of steps S16 and S17 for identifying the sway detection values ​​L0 and θ0max correspond to the "first acquisition process" described in the claims. The contact angle βn corresponds to the "threshold value" described in the claims. The process of step S65 for calculating the contact angle βn corresponds to the "threshold value identification process" described in the claims.

[0116] After executing step S66, the control program 74 acquires the actual winding length LA detected by the drum sensor 63 (S21) while driving the swivel base 21, the boom 22, and the winch 23 based on the drive signal sequence (S67). The control program 74 identifies the virtual winding length Ln corresponding to the acquired actual winding length LA (S68). For example, if the acquired actual winding length LA is longer than the virtual winding length L3 and shorter than L4, the control program 74 identifies L5, which is next to the virtual winding length L4, as the virtual winding length Ln corresponding to the actual winding length LA. The process of step S67 corresponds to the "driving process" described in the claims. The process of step S21 corresponds to the "second acquisition process" described in the claims.

[0117] The control program 74 identifies the maximum swing angle θnmax corresponding to the identified virtual hoisting length Ln among the contact angle βn associated with the identified virtual hoisting length Ln and the maximum swing angle θnmax calculated in step S63 (S69). The control program 74 judges whether the identified contact angle βn>the maximum swing angle θnmax (S70). That is, in step S70, it is judged whether the load 42 will contact the boom 22 when the wire 41 is next hoisted by the unit length. The θnmax identified in step S69 corresponds to the "value according to the hoisting detection value" described in the claims. The processing in step S70 corresponds to the "determination processing" described in the claims.

[0118] When the control program 74 determines that the contact angle βn is not greater than the maximum swing angle θnmax (S70: No), that is, when it determines that the load 42 will come into contact with the boom 22 if the wire 41 is continued to be wound up, it forcibly stops the driving of the swivel base 21, the boom 22, and the winch 23 (S71), and ends the winch drive control processing (END). The processing of step S71 corresponds to the "stop processing" recited in the claims.

[0119] When the control program 74 determines that the contact angle βn is greater than the maximum swing angle θnmax (S70: Yes), that is, when it determines that the load 42 is not in contact with the boom 22, it determines whether the swivel base 21, the boom 22, and the winch 23 have been stopped based on the drive signal sequence acquired in step S62 (S72).

[0120] When the control program 74 determines that the drive of the swivel base 21, the boom 22, and the winch 23 has not been stopped (S72: No), it executes the processes from step S21 onwards again. For example, the processes from step S21 and S68 to S72 are repeatedly executed at a predetermined time interval of several tens of milliseconds to several hundreds of milliseconds until it is determined that the drive of the winch 23, etc. is to be stopped (S72: Yes). In response to determining that the drive of the winch 23, etc. is to be stopped (S72: Yes), the control program 74 ends the winch drive control process (END).

[0121] [Effects of Modification 3]

[0122] Even when the swivel base 21, the boom 22, and the winch 23 are automatically driven, it is possible to prevent the load 42 from coming into contact with the boom 22 due to swinging. As a result, work can be safely carried out in accordance with the swinging of the load 42 while preventing contact between the load 42 and the boom 22.

[0123] [Variation 4]

[0124] In the above-mentioned modified example 3, a case where the boom 22 does not bend is described. In this modified example, a case where the boom 22 bends in modified example 3 is described. Note that configurations and processes other than those described below are the same as the configurations and processes described in the embodiment and modified examples. Configurations and processes that are the same as those in the embodiment and modified examples are described with the reference numerals and step numbers described in the embodiment and modified examples.

[0125] The control program 74 executes the winch drive control process shown in Fig. 9 instead of the winch drive control process shown in Fig. 8. The control program 74 executes the processes of steps S61, S62, S12 to S17, and S63. Next, the control program 74 acquires the suspension load detected by the suspension load sensor 64 (S81). The control program 74 also determines the planned hoisting angle αn (n is a natural number) based on the drive signal sequence acquired in step S62 (S81). The control program 74 also determines the planned lengths Rn1, Rn2, and Rn3 (n is a natural number) of the cylinders of the boom 22 for each virtual hoisting length Ln (n is a natural number) based on the drive signal sequence acquired in step S62 (S81).

[0126] The memory 72 stores in advance the correction table in which the boom hoisting angle αn of the boom 22, the planned lengths Rn1, Rn2, Rn3 of the cylinder, and the amount of the suspended load correspond to the virtual boom hoisting angle αA.

[0127] The control program 74 identifies the virtual boom hoisting angle αnA corresponding to the acquired boom hoisting angle αn, planned cylinder lengths Rn1, Rn2, Rn3, and lifting load in the correction table (S82). The control program 74 calculates the contact angle βn=π / 2-αnA using the corrected boom hoisting angle αnA (S83). The control program 74 stores the calculated contact angle βn in the memory 72 in association with the virtual hoisting length Ln (S66). Thereafter, the control program 74 executes the processes of steps S67, S21, S68 to S72, and ends the winch drive control process (END).

[0128] [Effects of Modification Example 4]

[0129] In this modified example, since the contact angle βn is calculated further based on the deflection of the boom 22, the accuracy of determining contact between the load 42 and the boom 22 can be further improved.

[0130] In this modified example, the contact angle βn may be determined based on the size of the suspended load 42 in addition to the deflection of the boom 22. Specifically, in step S83, the contact angle βn may be determined to be (π / 2-αnA-δ).

[0131] [Variation 5]

[0132] In this modified example, the swivel base 21, boom 22, and winch 23 are automatically driven by the control program 74, and an example is described in which, if there is a risk that the load 42 will come into contact with the boom 22 before the winch 23 is driven, a warning is issued without driving the winch 23. The boom 22 rotates, rises and falls, and expands and contracts with an acceleration that does not affect the swaying of the load 42. In short, the swivel base 21 and boom 22 are driven slowly. Also, in this modified example, as in the embodiment, a case is described in which the hook block 32 and the load 42 are mass points, and the boom 22 does not bend.

[0133] Configurations and processes other than those described below are the same as those described in the embodiment and the modified examples. The same configurations and processes as those in the embodiment and the modified examples will be described with the same reference numerals and step numbers as those in the embodiment and the modified examples.

[0134] The control program 74 executes a winch drive control process shown in FIG. 10 instead of the winch drive control process shown in FIG.

[0135] The control program 74 executes the processes of steps S61, S62, S12 to S17, and S63 to S66. Next, the control program 74 judges whether or not the load 42 will come into contact with the boom 22 while the load 42 is being transported to the scheduled position (S91). Specifically, the control program 74 judges whether or not βn≦θnmax is satisfied for all n (natural number). When the control program 74 judges that the load 42 will come into contact with the boom 22 by the time the load 42 reaches the scheduled position (S91: Yes), that is, when it judges that there exists an n for which βn≦θnmax is satisfied, it issues a warning (S92). For example, the control program 74 causes the display 67 of the operation device 29 to display a warning screen (S92). Alternatively, the control program 74 causes the speaker of the operation device 29 to output a warning sound. The warning screen and warning sound indicate that automatic transport of the load 42 will cause contact between the load 42 and the boom 22, or that the swaying of the load 42 needs to be suppressed. The process of step S91 corresponds to the "determination process" described in the claims. The process of step S92 corresponds to the "notification process" described in the claims.

[0136] The operator or worker who recognizes the warning notification performs work to suppress the swaying of the suspended load 42. For example, the operator performs the ground cutting work again, or applies force to the suspended load 42 using a tool or the like. After performing the work to suppress the swaying of the suspended load 42, the operator inputs an instruction to re-execute the automatic transportation of the suspended load 42 to the control device 70 via the operation device 29.

[0137] The control program 74 continues to issue a warning until a command to retry is input (S93: No). If the control program 74 determines that a command to retry has been input (S93: Yes), it re-executes the processes from step S14 onwards. However, the control program 74 may re-acquire the drive signal train, the number of wire hooks W and the initial boom hoisting angle α0. In other words, the control program 74 may execute the processes from step S62 onwards after determining that a command to re-execute has been input (S93: Yes).

[0138] When the control program 74 determines that the load 42 will not come into contact with the boom 22 by the time it reaches the scheduled position (S91: No), that is, when it determines that βn>θnmax for all n (natural numbers), it drives the swivel base 21, the boom 22, and the winch 23 based on the drive signal sequence (S67). The control program 74 determines whether the load 42 has been transported to the scheduled position based on the drive signal sequence (S94). The control program 74 continues to drive the swivel base 21, the boom 22, and the winch 23 until the load 42 has been transported to the scheduled position (S94: No). When the control program 74 determines that the load 42 has been transported to the scheduled position (S94: Yes), it stops driving the swivel base 21, the boom 22, and the winch 23 (S95), and ends the winch drive control process (END).

[0139] [Effects of Modification 5]

[0140] If it is determined that the load 42 may come into contact with the boom 22 while being automatically transported (S91: Yes), a warning is issued (S92) before the swivel base 21, the boom 22, and the winch 23 are automatically driven. This prevents interruption of the transport work of the load 42. As a result, the work can be safely carried out in accordance with the swinging of the load 42 while preventing contact between the load 42 and the boom 22.

[0141] [Variation 6]

[0142] In the above embodiment, a case has been described in which the winch 23 is manually operated in a fixed state with the drive of the swivel base 21 and the boom 22 restricted. In this modified example, a case will be described in which the swivel base 21 and the boom 22 are manually operated in addition to the winch 23. The rotation, elevation, and extension of the boom 22 are restricted to an acceleration level that does not affect the swaying of the load 42. In short, the swivel base 21 and the boom 22 are driven slowly. Also, in this modified example, a case will be described in which the hook block 32 and the load 42 are mass points and the boom 22 is deflected, as in the embodiment.

[0143] Configurations and processes other than those described below are the same as those described in the embodiment and the modified examples. Configurations and processes that are the same as those in the embodiment and the modified examples will be described with the same reference numerals and step numbers as those in the embodiment and the modified examples.

[0144] The control program 74 executes a winch drive control process shown in Fig. 11 instead of the winch drive control process shown in Fig. 6. In the winch drive control process shown in Fig. 11, the control program 74 judges (estimates) whether the load 42 will come into contact with the boom 22 when the wire 41 is wound up by the virtual unit hoisting length LB (S107), and if it judges that there will be no contact (S107: Yes), it drives the winch 23 to wind up the wire 41 by the virtual unit hoisting length LB. That is, the control program 74 continues to judge contact between the load 42 and the boom 22 for each virtual unit hoisting length LB, as long as the operator does not stop operating the winch 23 (S111: No), and prevents contact between the load 42 and the boom 22. This will be described in detail below.

[0145] The control program 74 executes the processes of steps S11, S12, S14 to S17. Next, the control program 74 calculates the maximum swing angle θmax when the wire 41 is wound up by the virtual unit winding length LB, using the formula 2 as in the embodiment (S101). The virtual unit winding length LB is stored in advance in the memory 72. The virtual unit winding length LB is, for example, several centimeters or several tens of centimeters.

[0146] Next, the control program 74 acquires the boom hoisting angle α of the boom 22 detected by the boom hoisting angle sensor 62 (S102). The control program 74 also acquires the lengths R1, R2, and R3 of the cylinders of the boom 22 detected by the boom length sensor 61 and the suspension load detected by the suspension load sensor 64 (S103). The control program 74 determines the virtual boom hoisting angle αA in the same manner as in the second modification based on the acquired boom hoisting angle α, the lengths R1, R2, and R3 of the cylinders, and the suspension load (S104). The control program 74 then uses the determined virtual boom hoisting angle αA to calculate the contact angle β=π / 2-αA (S105). The control program 74 stores the calculated contact angle β in the memory 72 (S106). The process in step S102 corresponds to the "second acquisition process" described in the claims.

[0147] Next, the control program 74 judges whether θmax calculated in step S101 is smaller than β-C (S107). C is a constant that is stored in advance in the memory 72. To explain in detail, the hoisting angle of the boom 22 and the length of each cylinder of the boom 22 when the wire 41 is wound up by the virtual unit hoisting length LB have changed from the hoisting angle α and the lengths R1, R2, R3 of each cylinder obtained in steps S102 and S103. The constant C is determined based on the change in the hoisting angle α and the lengths R1, R2, R3 of each cylinder. For example, the constant C is determined on the assumption that the hoisting angle α and the lengths R1, R2, R3 of each cylinder have changed to their maximum. The process in step S107 corresponds to the "determination process" described in the claims.

[0148] When the control program 74 determines that θmax≧β-C (S107: No), that is, when the control program 74 determines that there is a risk of contact between the load 42 and the boom 22 if the wire 41 is wound up by the virtual unit hoisting length LB, it forcibly stops the drive of the winch 23 (S108) and ends the winch drive control process (END). The process of step S108 corresponds to the "stop process" recited in the claims.

[0149] When the control program 74 determines that θmax<β-C (S107: Yes), that is, when the control program 74 determines that the load 42 and the boom 22 do not come into contact even if the wire 41 is wound up by the virtual unit winding length LB, the control program 74 drives or continues to drive the swivel base 21, the boom 22, and the winch 23 (S109). Then, the control program 74 determines whether the wire 41 has been wound up by the winch 23 by LB-F (S110). Specifically, the control program 74 repeatedly acquires the actual winding length LA of the wire 41 detected by the drum sensor 63 at a predetermined time interval such as tens of mm or hundreds of mm per second (S110: No), and determines whether the acquired actual winding length LA has reached LB-F. F is a constant that is stored in advance in the memory 72. The constant F is, for example, the time required for the control program 74 to execute the processes from step S102 to S107. That is, the processes from steps S102 to S107 can be repeatedly executed without intermittently stopping the driving of the winch 23. The process of step S109 corresponds to the "driving process" and the "permission process" described in the claims.

[0150] When the control program 74 determines that the wire 41 has been wound up by the winch 23 by LB-F (S110: Yes), it determines whether the operation of the winch 23 by the operator has been stopped (S111). Specifically, the control program 74 determines whether the input of an instruction to drive the winch 23 from the operating device 29 has been stopped. When the control program 74 determines that the operation of the winch 23 by the operator has not been stopped (S111: No), it executes the processing from step S102 onwards again. When the control program 74 determines that the operation of the winch 23 by the operator has been stopped (S111: Yes), it ends the winch drive control processing (END).

[0151] [Effects of Modification Example 6]

[0152] Even when the swivel base 21, the boom 22, and the winch 23 are manually driven, it is possible to prevent the load 42 from coming into contact with the boom 22 due to swinging. As a result, work can be safely carried out in accordance with the swinging of the load 42 while preventing contact between the load 42 and the boom 22.

[0153] [Other variations]

[0154] In the above-described embodiment, an example has been described in which the control program 74 calculates the initial wire length L0 and the initial maximum swing angle θ0max from the image data output by the camera 65, and calculates the mechanical energy E0 of the load 42 immediately after the load is cut from the ground based on the calculated L0 and θ0max. However, the control program 74 may calculate the speed V0max at the lowest point of the load 42 from the image data instead of the initial wire length L0 and the maximum swing angle θ0max. In this case, the mechanical energy E0=1 / 2·m·V0max·V0max. Based on E0 using this V0max, the maximum allowable hoisting length Lmax may be calculated in the same manner as in the embodiment. V0max corresponds to the "load speed at the lowest point of the load" described in the claims.

[0155] In the above-mentioned modified example 1, an example has been described in which the control program 74 calculates the maximum load length Q based on the image captured by the camera 65 (S41). However, instead of the process of step S41, the control program 74 may acquire the maximum load length Q input by the operator or the maximum load length Q stored in a portable memory such as a USB memory (registered trademark). Alternatively, the control program 74 may transmit a request for a reply of the maximum load length Q to a management server via the Internet and acquire the maximum load length Q included in the response returned by the management server. The management server is a server that manages the material, shape, and weight of the building material (suspended load) used in the construction work in which the crane vehicle 10 is engaged. The process executed by the control program 74 instead of the process of step S41, which is the process of acquiring the maximum load length Q input by the operator or the maximum load length Q stored in a portable memory such as a USB memory (registered trademark), or the process of acquiring the maximum load length Q from the management server, corresponds to the "suspended load information acquisition process" described in the claims. The maximum suspended load length Q corresponds to the "suspended load information" described in the claims.

[0156] In the above embodiment, an example has been described in which the camera 65 is used to detect the swaying period T and the swing width D of the suspended load 42. However, a laser distance measuring sensor, a Doppler sensor, a radar, or the like may be used as long as it is possible to detect a physical quantity for calculating the initial maximum swing angle θmax.

[0157] In the above-mentioned modification 2, an example has been described in which the virtual hoisting angle αA is determined based on the lengths R1, R2, R3 of each cylindrical body. However, the virtual hoisting angle αA may also be determined based on the overall length of the boom 22 instead of the lengths R1, R2, R3 of each cylindrical body. Specifically, the correction table stored in memory 72 associates the virtual hoisting angle αA with the boom 22 hoisting angle α0, the overall length of the boom 22, and the amount of the lifting load.

[0158] In the above-mentioned modified example 2, an example was described in which the virtual hoisting angle αA is the "value corresponding to the deflection" recited in the claims. However, the "value corresponding to the deflection" may be something other than the virtual hoisting angle αA. For example, instead of the above-mentioned correction table, the memory 72 stores in advance an arithmetic formula showing the deflection of the boom 22. The hoisting angle α0 of the boom 22, the lengths R1, R2, R3 of each cylinder of the boom 22, the lifting load, and the virtual hoisting length L are input into this arithmetic formula to calculate the maximum allowable hoisting length Lmax.

[0159] In the above-mentioned second modification, an example has been described in which the memory 72 stores in advance a correction table that associates the hoisting angle α0 of the boom 22, the lengths R1, R2, and R3 of the cylinder, and the amount of the lifting load with the virtual hoisting angle αA. Instead of this correction table, a GNSS antenna may be attached to the tip of the boom 22 and the traveling body 11. The control program 74 specifies the position of the tip of the boom 22 relative to the base end of the boom 22 based on the position information received by the GNSS antenna. The control program 74 specifies the virtual hoisting angle αA or a function that indicates the deflection of the boom 22 based on the specified tip position of the boom 22, the hoisting angle α0 of the boom 22, and the lengths R1, R2, and R3 of the cylinder. The control program 74 calculates the maximum allowable hoisting length Lmax using this virtual hoisting angle αA or the function.

[0160] In the above embodiment, an example has been described in which the hook 39 is a so-called main hook and the number of wire threads W is changeable. However, the hook 39 may be a so-called sub-hook and the number of wire threads W may not be changeable. In that case, the control program 74 executes the winch drive control process with the number of wire threads W=1.

[0161] In the above embodiment, an example has been described in which the crane apparatus 12 is mounted on the traveling body 11 and used as the crane vehicle 10. However, the crane apparatus 12 may be an apparatus that is not mounted on the traveling body 11 and is installed and used at a work site, such as a tower crane.

[0162] In the above embodiment, an example has been described in which the initial wire length L0 is calculated from the period T of the simple pendulum model. However, the initial wire length L0 may also be calculated based on the boom length detected by the boom length sensor 61, the hoisting angle detected by the hoisting angle sensor 62, the payout length of the wire 41 detected by the drum sensor 63, and the number of wire hooks W. For example, the memory 72 pre-stores an arithmetic expression for calculating the initial wire length L0 by inputting the boom length, the hoisting angle, the payout length, and the number of wire hooks W. The control program 74 calculates the initial wire length L0 using this arithmetic expression. [Explanation of symbols]

[0163] 10. Crane truck 11...Running body 12. Crane equipment 13. Cab 21... Swivel table 22. Boom 23. Winch 29...Operating device 32 Hook block 39. Hook 41. Suspension wire rope (wire) 42...hanging load 51... Swing motor 52. Raising and lowering cylinder 53 Telescopic cylinder 54 Hydraulic motor 56 Drums 61 Boom length sensor 62...Downward angle sensor 63 Drum sensor 64... Suspended load sensor 65. Camera 67. Display 70...Control device 71 CPU 72. Memory 74 Control program

Claims

1. A boom that can be extended and lowered; a hook attached to a wire extending from the tip of the boom; a winch for winding up and paying out the wire; a first sensor that detects a winding detection value indicating a winding length of the wire by the winch; A second sensor for detecting a sway detection value indicating the sway of a load attached to the hook; a third sensor for detecting a boom hoisting angle detection value corresponding to the boom hoisting angle; An operation device that receives a drive instruction for the winch; A control device, The control device includes: a first acquisition process for acquiring the elevation angle detection value and the sway detection value in response to receiving the drive command; a threshold value specification process for specifying a threshold value based on the elevation angle detection value and the sway detection value; A driving process for driving the winch; A second acquisition process for acquiring the winding detection value; a determination process for determining whether or not a value corresponding to the winding detection value has reached the threshold value; and executing a stop process for stopping the drive of the winch based on the determination that a value corresponding to the hoisting detection value has reached the threshold value.

2. Further provided with a fourth sensor for detecting a load detection value indicating the size of the load, The control device further executes a third acquisition process to acquire the suspended load detection value in response to receiving the drive instruction, The crane apparatus according to claim 1 , wherein the threshold value specifying process specifies the threshold value further based on the suspended load detection value.

3. The control device includes: Further executing a load information acquisition process for acquiring load information indicating the size of the load; The crane apparatus according to claim 1 , wherein the threshold value specification process specifies the threshold value further based on the suspended load information.

4. A fifth sensor that detects a lifting load detection value indicating the weight of the lifting load; A sixth sensor that detects a length detection value according to the length of the boom, The above threshold value determination process is 4. A crane apparatus as described in claim 1, wherein a value corresponding to the deflection of the boom is determined from the detected hoisting angle value, the detected length value, and the detected lifting load weight value, and the threshold value is determined based on the value corresponding to the deflection.

5. The sway detection value is a value indicating the mechanical energy of the suspended load before the winch is driven, The above threshold value determination process is A process of determining a contact angle based on the undulation angle detection value; The crane apparatus according to claim 1 , further comprising: a calculation process for calculating a maximum allowable hoisting length as the threshold value based on the contact angle and a value indicating the mechanical energy of the suspended load.

6. The second sensor is a camera attached to a tip portion of the boom for capturing an image of the suspended load, 6. The crane apparatus according to claim 5, wherein the sway detection value is a load speed at a lowest point of the load or a maximum lift value of the load, which is identified from an image of the load captured by the camera.

7. A boom that can be extended and lowered; a hook attached to a wire extending from the tip of the boom; a winch for winding up and paying out the wire; a first sensor that detects a winding detection value indicating a winding length of the wire by the winch; A second sensor for detecting a sway detection value indicating the sway of a load attached to the hook; an operation device that receives an automatic control instruction for the winch and the boom; A control device, The control device includes: a first acquisition process for acquiring a value indicating a planned boom hoisting angle indicated by the automatic control instruction and the sway detection value in response to receiving the automatic control instruction; a threshold value specification process for specifying a threshold value based on the value indicating the expected elevation angle and the sway detection value; A drive process for driving the winch and the boom; A second acquisition process for acquiring the winding detection value; a determination process for determining whether or not a value corresponding to the winding detection value has reached the threshold value; and executing a stop process for stopping the drive of the winch based on the determination that a value corresponding to the hoisting detection value has reached the threshold value.

8. A boom that can be extended and lowered; a hook attached to a wire extending from the tip of the boom; a winch for winding up and paying out the wire; a first sensor that detects a winding detection value indicating a winding length of the wire by the winch; A second sensor for detecting a sway detection value indicating the sway of a load attached to the hook; an operation device that receives an automatic control instruction for the winch and the boom; An alarm device; A control device, The control device includes: a first acquisition process for acquiring a value indicating a planned boom hoisting angle indicated by the automatic control instruction and the sway detection value in response to receiving the automatic control instruction; a determination process for determining whether or not the load and the boom will come into contact with each other under automatic control based on the value indicating the planned hoisting angle and the sway detection value; a drive process for driving the winch and the boom based on the determination that the load and the boom are not in contact with each other; and based on the determination that the load will come into contact with the boom, executes an alarm process which causes the alarm device to notify that the load will come into contact with the boom or that the swaying of the load will be suppressed.

9. A boom that can be extended and lowered; a hook attached to a wire extending from the tip of the boom; a winch for winding up and paying out the wire; a first sensor that detects a winding detection value indicating a winding length of the wire by the winch; A second sensor for detecting a sway detection value indicating the sway of a load attached to the hook; a third sensor for detecting a boom hoisting angle detection value corresponding to the boom hoisting angle; an operation device that receives an instruction to drive the winch and the boom; A control device, The control device includes: a first acquisition process for acquiring the shaking detection value in response to receiving the drive instruction; A driving process for driving the winch; A second acquisition process for acquiring the elevation angle detection value; a determination process for determining whether or not the load will come into contact with the boom when the wire is wound up by the virtual unit hoisting length based on the virtual unit hoisting length stored in a memory, the sway detection value, and the hoisting angle detection value; a stop process for stopping the drive of the winch based on the determination that the load contacts the boom; and executing an authorization process for authorizing driving of the winch up to the virtual unit hoisting length based on the determination that the suspended load will not come into contact with the boom.

Images