Title of invention: Crane and crane control method
Technical field
[0001]
　The present invention relates to a crane and a method for controlling a crane.
Background technology
[0002]
　Conventionally, in mobile cranes and the like, cranes in which each actuator is remotely controlled have been proposed. In such a crane, the relative positional relationship between the crane and the remote control terminal changes according to the work situation. Therefore, the operator needs to operate the operating tool of the remote control terminal while always considering the relative positional relationship with the crane. Therefore, regardless of the relative positional relationship between the crane and the remote control terminal, the operation direction of the operation tool of the remote control terminal and the operation direction of the crane can be matched to easily and easily operate the crane. Remote control terminals and cranes are known. For example, as in Patent Document 1.
[0003]
　The remote control device (remote control terminal) described in Patent Document 1 transmits a laser beam or the like having high straightness as a reference signal to the crane as a reference signal. The control device 31 on the crane side identifies the direction of the remote control device by receiving the reference signal from the remote control device, and matches the coordinate system of the crane with the coordinate system of the remote control device. As a result, the crane is operated by an operation command signal based on the load from the remote control device. That is, since each actuator of the crane is controlled based on commands related to the moving direction and moving speed of the load, the crane can be operated intuitively without being conscious of the operating speed, operating amount, operating timing, etc. of each actuator. ..
[0004]
　The remote control device transmits a speed signal regarding the operation speed and a direction signal regarding the operation direction to the crane based on the operation command signal of the operation unit. For this reason, the crane may sway due to discontinuous acceleration at the start or stop of movement in which the speed signal from the remote control device is input in the form of a process function. In addition, the crane controls the speed signal and the direction signal from the remote control device as the speed signal and the direction signal of the tip of the boom assuming that the tip of the boom is always vertically above the load, so that it is caused by the influence of the wire rope. It is not possible to suppress the occurrence of misalignment and shaking of luggage.
Prior art literature
Patent documents
[0005]
Patent Document 1: Japanese Unexamined Patent Publication No. 2010-228905
Outline of the invention
Problems to be solved by the invention
[0006]
　An object of the present invention is to provide a crane and a crane control method capable of moving an actuator along a target trajectory while suppressing the shaking of the load when controlling the actuator with reference to the load.
Means to solve problems
[0007]
　The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.
[0008]
　That is, the crane of the present invention is a crane that controls the actuator of the boom based on a target speed signal regarding the moving direction and speed of the load suspended from the boom by a wire rope, and the turning angle of the boom. A detection means, a boom undulation angle detecting means, an expansion / contraction length detecting means of the boom, and a luggage position detecting means for detecting the current position of the luggage with respect to a reference position are provided, and the target speed signal is set to the reference position. The boom with respect to the reference position is calculated from the turning angle detected by the turning angle detecting means, the undulating angle detected by the undulating angle detecting means, and the stretching length detected by the stretching length detecting means. The current position of the tip is calculated, and the feeding amount of the wire rope is calculated from the current position of the baggage detected by the baggage position detecting means and the current position of the boom tip, and the current position of the baggage and the baggage The direction vector of the wire rope is calculated from the target position, the target position of the boom tip at the target position of the luggage is calculated from the feeding amount of the wire rope and the direction vector, and the target position of the boom tip is calculated. It is preferable to generate an operation signal of the actuator based on the above.
[0009]
　In the crane of the present invention, the target position of the load is converted by integrating the target speed signal and attenuating the frequency component in a predetermined frequency range.
[0010]
　In the crane of the present invention, the relationship between the target position of the boom tip and the target position of the luggage is expressed by the equation (1) from the target position of the luggage, the weight of the luggage, and the spring constant of the wire rope. , The target position of the boom tip is calculated by the equation (2) which is a function of the time of the luggage.
[ 　Equation 1]

[

Equation 2] f: Wire rope tension, kf: Spring constant, m: Luggage mass, q: Current position or target position of boom tip, p: Current position or target position of luggage, l: Wire rope extension amount, g: Gravitational acceleration
[0011]
　The crane control method of the present invention is a crane control method for controlling an actuator of the boom based on a target speed signal regarding a moving direction and speed of a load suspended from a boom by a wire rope. The wire rope feeding amount is calculated from the target trajectory calculation process for converting the target speed signal into the target position of the load, the current position of the load with respect to the reference position, and the current position of the boom tip, and the current position of the load A boom position calculation step of calculating the direction vector of the wire rope from the target position of the luggage and calculating the target position of the boom tip at the target position of the luggage from the feeding amount of the wire rope and the direction vector. This is a control method including an operation signal generation step of generating an operation signal of the actuator based on a target position of the boom tip.
Effect of the invention
[0012]
　The present invention has the following effects.
[0013]
　In the crane and the crane control method of the present invention, the direction vector of the wire rope is calculated from the current position and target position of the load and the current position of the boom tip, and the target position of the boom tip is calculated from the feeding length and direction vector of the wire rope. Since the calculation is performed, the boom is controlled so that the load moves along the target trajectory while operating the crane based on the load. As a result, when the actuator is controlled with the load as a reference, the load can be moved along the target trajectory while suppressing the shaking of the load.
[0014]
　In the crane of the present invention, the frequency component including the singular point generated by the differential operation when calculating the target position of the boom is attenuated, so that the control of the boom is stable. As a result, when the actuator is controlled with the load as a reference, the load can be moved along the target trajectory while suppressing the shaking of the load.
[0015]
　In the crane of the present invention, a reverse dynamics model based on the load is constructed, the direction vector of the wire rope is calculated from the current position of the load and the current position of the boom tip, and the wire rope extension length and the direction vector are used. Since the target position of the boom at the target position of the luggage is calculated, there is no error in the transient state due to acceleration / deceleration or the like. As a result, when the actuator is controlled with the load as a reference, the load can be moved along the target trajectory while suppressing the shaking of the load.
A brief description of the drawing
[0016]
[Fig. 1] A side view showing the overall configuration of a crane.
[Fig. 2] A block diagram showing a control configuration of a crane.
FIG. 3 is a plan view showing a schematic configuration of a remote control terminal.
[Fig. 4] A block diagram showing a control configuration of a remote control terminal.
[Fig. 5] (A) A diagram showing the orientation of the operation direction when the orientation of the remote control terminal is changed, and (B) A diagram showing the orientation of the load when the suspended load moving operation tool is operated. ..
FIG. 6 is a schematic view showing a remote control terminal on which a suspended load moving operation tool is operated and an operating state of a crane by the operation.
FIG. 7 is a block diagram showing a control configuration of a crane control device.
[Fig. 8] A diagram showing a reverse dynamics model of a crane.
FIG. 9 is a diagram showing a flowchart showing a control process of a crane control method.
FIG. 10 is a diagram showing a flowchart showing a target trajectory calculation process.
FIG. 11 is a diagram showing a flowchart showing a boom position calculation process according to the first embodiment.
FIG. 12 is a diagram showing a flowchart showing an operation signal generation process.
FIG. 13 is a diagram showing a flowchart showing a boom position calculation process according to the second embodiment.
Mode for carrying out the invention
[0017]
　Hereinafter, a crane 1 which is a mobile crane (rough terrain crane) will be described as a work vehicle according to an embodiment of the present invention with reference to FIGS. 1 and 2. In the present embodiment, a crane (rough terrain crane) will be described as a work vehicle, but an all-terrain crane, a truck crane, a loaded truck crane, an aerial work platform, or the like may be used.
[0018]
　As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2, a crane device 6 which is a working device, and a remote control terminal 32 (see FIG. 2) capable of remotely controlling the crane device 6.
[0019]
　The vehicle 2 conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and runs on the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 is composed of an overhang beam that can be extended by flood control on both sides of the vehicle 2 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can expand the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.
[0020]
　The crane device 6 lifts the luggage W with a wire rope. The crane device 6 includes a swivel 7, boom 9, jib 9a, main hook block 10, sub hook block 11, undulating hydraulic cylinder 12, main winch 13, main wire rope 14, sub winch 15, sub wire rope 16, and cabin. It is equipped with 17 and the like.
[0021]
　The swivel base 7 is configured to allow the crane device 6 to swivel. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The swivel base 7 is rotatably configured with the center of the annular bearing as the center of rotation. The swivel base 7 is provided with a hydraulic swivel motor 8 which is an actuator. The swivel base 7 is configured to be swivelable in one direction and the other direction by a swivel hydraulic motor 8.
[0022]
　The swivel camera 7b, which is a monitoring device, captures obstacles, people, and the like around the swivel 7. The swivel camera 7b is provided on both the left and right sides in front of the swivel 7 and on the left and right sides behind the swivel 7. Each swivel camera 7b covers the entire circumference of the swivel 7 as a monitoring range by photographing the periphery of each installation location. Further, the swivel camera 7b arranged on the left and right sides in front of the swivel 7 is configured to be usable as a set of stereo cameras. That is, the swivel camera 7b in front of the swivel 7 can be configured as a luggage position detecting means for detecting the position information of the suspended luggage W by using it as a set of stereo cameras. The baggage position detecting means may also be configured by the boom camera 9b described later. Further, the luggage position detecting means may be any one capable of detecting the position information of the luggage W such as a millimeter wave radar and a GNSS device.
[0023]
　The swivel hydraulic motor 8 which is an actuator is rotated by a swivel valve 23 (see FIG. 2) which is an electromagnetic proportional switching valve. The swivel valve 23 can control the flow rate of the hydraulic oil supplied to the swivel hydraulic motor 8 to an arbitrary flow rate. That is, the swivel base 7 is configured to be controllable to an arbitrary swivel speed via the swivel hydraulic motor 8 that is rotationally operated by the swivel valve 23. The swivel base 7 is provided with a swivel sensor 27 (see FIG. 2) that detects the swivel angle θz (angle) and the swivel speed of the swivel base 7.
[0024]
　The boom 9, which is a boom, supports the wire rope so that the luggage W can be lifted. The boom 9 is composed of a plurality of boom members. The boom 9 is provided so that the base end of the base boom member can swing at substantially the center of the swivel base 7. The boom 9 is configured to be expandable and contractible in the axial direction by moving each boom member by an expansion / contraction hydraulic cylinder (not shown) which is an actuator. Further, the boom 9 is provided with a jib 9a.
[0025]
　The expansion / contraction hydraulic cylinder (not shown), which is an actuator, is expanded / contracted by the expansion / contraction valve 24 (see FIG. 2) which is an electromagnetic proportional switching valve. The expansion / contraction valve 24 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate. The boom 9 is provided with a telescopic sensor 28 for detecting the length of the boom 9 and a vehicle side orientation sensor 29 for detecting the orientation centered on the tip of the boom 9.
[0026]
　The boom camera 9b (see FIG. 2), which is a detection device, photographs the luggage W and the features around the luggage W. The boom camera 9b is provided at the tip of the boom 9. The boom camera 9b is configured to be capable of photographing the features and terrain around the luggage W and the crane 1 from vertically above the luggage W.
[0027]
　The main hook block 10 and the sub hook block 11 hang the luggage W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook 10a for suspending the luggage W. The sub-hook block 11 is provided with a sub-hook 11a for suspending the luggage W.
[0028]
　The undulating hydraulic cylinder 12 which is an actuator raises and lays down the boom 9 and holds the posture of the boom 9. In the undulating hydraulic cylinder 12, the end of the cylinder portion is swingably connected to the swivel base 7, and the end of the rod portion is swingably connected to the base boom member of the boom 9. The undulating hydraulic cylinder 12 is expanded and contracted by the undulating valve 25 (see FIG. 2), which is an electromagnetic proportional switching valve. The undulation valve 25 can control the flow rate of the hydraulic oil supplied to the undulation hydraulic cylinder 12 to an arbitrary flow rate. The boom 9 is provided with an undulation sensor 30 (see FIG. 2) that detects the undulation angle θx.
[0029]
　The main winch 13 and the sub winch 15 perform feeding (winding) and feeding (rolling down) of the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor (not shown) in which the main drum around which the main wire rope 14 is wound is an actuator, and the sub winch 15 is a sub (not shown) in which the sub drum around which the sub wire rope 16 is wound is an actuator. It is configured to be rotated by a hydraulic motor.
[0030]
　The main hydraulic motor is rotated by a main valve 26 m (see FIG. 2), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor by a main valve 26 m so that it can be operated at an arbitrary feeding and feeding speed. Similarly, the sub winch 15 is configured to control the sub hydraulic motor by the sub valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at an arbitrary feeding and feeding speed. The main winch 13 and the sub winch 15 are provided with a winding sensor 43 (see FIG. 2) for detecting the feeding amount l of the main wire rope 14 and the sub wire rope 16, respectively.
[0031]
　The cabin 17 covers the cockpit. The cabin 17 is mounted on the swivel base 7. A cockpit (not shown) is provided. In the driver's seat, an operation tool for operating the vehicle 2 and a turning operation tool 18 for operating the crane device 6, an undulation operation tool 19, a telescopic operation tool 20, a main drum operation tool 21m, a sub-drum operation tool 21s, etc. Is provided (see FIG. 2). The swivel operating tool 18 can operate the swivel hydraulic motor 8. The undulation operation tool 19 can operate the undulation hydraulic cylinder 12. The telescopic operating tool 20 can operate the telescopic hydraulic cylinder. The main drum operating tool 21m can operate the main hydraulic motor. The sub drum operating tool 21s can operate the sub hydraulic motor.
[0032]
　The communication device 22 (see FIG. 2) receives a control signal from the remote control terminal 32 and transmits control information and the like from the crane device 6. The communication device 22 is provided in the cabin 17. When the communication device 22 receives a control signal or the like from the remote control terminal 32, it is configured to transfer the control signal or the like to the control device 31 via a communication line (not shown). Further, the communication device 22 is configured to transfer the control information from the control device 31, the image i1 from the swivel camera 7b, and the image i2 from the boom camera 9b to the remote control terminal 32 via a communication line (not shown). ing. Here, the control signal is a signal including at least one of an operation signal for controlling the crane 1, a target speed signal Vd, a target trajectory signal Td, an operation signal Md, and the like.
[0033]
　The vehicle-side orientation sensor 29, which is an orientation detecting means, detects an orientation centered on the tip of the boom 9 of the crane device 6. The vehicle side directional sensor 29 is composed of a 3-axis type directional sensor. The vehicle side orientation sensor 29 detects the geomagnetism and calculates the absolute orientation. The vehicle side orientation sensor 29 is provided at the tip of the boom 9.
[0034]
　As shown in FIG. 2, the control device 31 controls the actuator of the crane 1 via each operating valve. The control device 31 is provided in the cabin 17. The control device 31 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.
[0035]
　The control device 31 is connected to the swivel camera 7b, the boom camera 9b, the swivel operation tool 18, the undulation operation tool 19, the telescopic operation tool 20, the main drum operation tool 21m, and the sub-drum operation tool 21s, and the image from the swivel camera 7b. The i1 and the image i2 from the boom camera 9b can be acquired, and the operating amounts of the turning operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s can be acquired.
[0036]
　The control device 31 is connected to the communication device 22 and acquires a control signal from the remote control terminal 32 to obtain control information from the crane device 6, image i1 from the swivel camera 7b, image i2 from the boom camera 9b, and the like. Can be sent.
[0037]
　The control device 31 is connected to the swivel valve 23, the telescopic valve 24, the undulation valve 25, the main valve 26m and the sub valve 26s, and is connected to the swivel valve 23, the undulation valve 25, the main valve 26m and the sub valve. The operation signal Md can be transmitted to the valve 26s.
[0038]
　The control device 31 is connected to the swivel sensor 27, the telescopic sensor 28, the vehicle side orientation sensor 29, and the undulation sensor 30, and has the swivel angle θz, the telescopic length Lb, the undulation angle θx, and the tip of the boom 9. You can get the orientation centered on.
[0039]
　The control device 31 generates an operation signal Md corresponding to each operation tool based on the operation amounts of the turning operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s.
[0040]
　The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, the crane 1 erects the boom 9 at an arbitrary undulation angle θx by the undulating hydraulic cylinder 12 by operating the undulating operation tool 19, and extends the boom 9 to an arbitrary boom 9 length by operating the expansion / contraction operation tool 20. The lift and working radius of the crane device 6 can be expanded by making the crane device 6 work. Further, the crane 1 can convey the luggage W by lifting the luggage W by the sub-drum operating tool 21s or the like and turning the swivel base 7 by operating the swivel operating tool 18.
[0041]
　Next, the remote control terminal 32 will be described with reference to FIGS. 3 to 5A and 5B.
　As shown in FIG. 3, the remote control terminal 32 is used when the crane 1 is remotely controlled. The remote operation terminal 32 includes a housing 33, a terminal-side orientation sensor 34 (see FIG. 4), a suspended load moving operation tool 35 provided on the operation surface of the housing 33, a terminal-side turning operation tool 36, and a terminal-side expansion / contraction operation tool 37. , Terminal side main drum operation tool 38m, terminal side sub drum operation tool 38s, terminal side undulation operation tool 39, terminal side display device 40, terminal side communication device 41, terminal side control device 42 (see FIGS. 2 and 4), etc. Equipped. The remote control terminal 32 transmits the target speed signal Vd of the load W generated by the operation of the suspended load moving operation tool 35 or various operation tools to the crane device 6.
[0042]
　The housing 33 is a main component of the remote control terminal 32. The housing 33 is configured to have a size that can be held by the operator by hand. The housing 33 has a suspended load moving operation tool 35, a terminal side turning operation tool 36, a terminal side expansion / contraction operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, and a terminal side undulation operation tool on the operation surface. 39, a terminal-side display device 40 and a terminal-side communication device 41 (see FIGS. 2 and 4) are provided.
[0043]
　The terminal-side orientation sensor 34, which is an orientation detecting means, detects an orientation with reference to an upward direction (hereinafter, simply referred to as "upward direction") toward the operation surface of the remote control terminal 32. The terminal side directional sensor 34 is composed of a 3-axis type directional sensor. The terminal side orientation sensor 34 detects the geomagnetism and calculates the absolute orientation. The terminal side orientation sensor 34 is provided inside the housing 33.
[0044]
　The suspended load moving operation tool 35 is for inputting an instruction to move the load W in an arbitrary direction at an arbitrary speed on an arbitrary horizontal plane. The suspended load moving operation tool 35 includes an operation stick that stands substantially vertically from the operation surface of the housing 33, and a sensor (not shown) that detects the tilt direction and tilt amount of the operation stick. The suspended load moving operating tool 35 is configured so that the operating stick can be tilted in any direction. The suspended load moving operating tool 35 is configured to transmit an operation signal regarding the tilting direction of the operating stick and the tilting amount detected by a sensor (not shown) to the terminal side control device 42.
[0045]
　The terminal-side turning operation tool 36 receives an instruction to turn the crane device 6 in an arbitrary moving direction at an arbitrary moving speed. The terminal-side turning operation tool 36 includes an operation stick that stands substantially vertically from the operation surface of the housing 33, and a sensor (not shown) that detects the tilt direction and tilt amount of the operation stick. The terminal-side turning operation tool 36 is configured to be tiltable in a direction instructing a left turn and a direction instructing a right turn.
[0046]
　The terminal-side expansion / contraction operation tool 37 is for inputting an instruction to expand / contract the boom 9 at an arbitrary speed. The terminal-side telescopic operation tool 37 includes an operation stick that stands up from the operation surface of the housing 33, and a sensor (not shown) that detects the tilt direction and tilt amount thereof. The terminal-side expansion / contraction operating tool 37 is configured to be tiltable in a direction instructing stretching and a direction instructing contraction.
[0047]
　An instruction to rotate the main winch 13 in an arbitrary direction at an arbitrary speed is input to the terminal side main drum operating tool 38m. The terminal-side main drum operating tool 38m is composed of an operation stick that stands up from the operating surface of the housing 33 and a sensor (not shown) that detects the tilting direction and tilting amount thereof. The terminal-side main drum operating tool 38m is configured to be tiltable in a direction instructing winding and lowering of the main wire rope 14. The terminal-side sub-drum operating tool 38s is also configured in the same manner.
[0048]
　The terminal-side undulating operation tool 39 is for inputting an instruction to undulate the boom 9 at an arbitrary speed. The terminal-side undulating operation tool 39 is composed of an operation stick that stands up from the operation surface of the housing 33 and a sensor (not shown) that detects the inclination direction and the inclination amount thereof. The terminal-side undulating operation tool 39 is configured to be tiltable in a direction instructing standing up and a direction instructing undulation.
[0049]
　The terminal side display device 40 displays various information such as the attitude information of the crane 1 and the information of the luggage W. The terminal-side display device 40 is composed of an image display device such as a liquid crystal screen. The terminal-side display device 40 is provided on the operation surface of the housing 33. The terminal side display device 40 displays an orientation with reference to the upward direction of the remote control terminal 32. The orientation display is rotated and displayed in conjunction with the rotation of the remote control terminal 32.
[0050]
　As shown in FIG. 4, the terminal-side communication device 41 receives the control information and the like of the crane device 6 and transmits the control information and the like from the remote control terminal 32. The terminal-side communication device 41 is provided inside the housing 33. The terminal-side communication device 41 is configured to transmit the video i1, the video i2, the control signal, and the like from the crane device 6 to the terminal-side control device 42. Further, the terminal-side communication device 41 is configured to transmit control information, video i1 and video i2 from the terminal-side control device 42 to the control device 31 of the crane 1.
[0051]
　The terminal side control device 42, which is a control unit, controls the remote control terminal 32. The terminal side control device 42 is provided in the housing 33 of the remote control terminal 32. The terminal-side control device 42 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The terminal side control device 42 includes a suspended load moving operation tool 35, a terminal side orientation sensor 34, a terminal side turning operation tool 36, a terminal side expansion / contraction operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, and a terminal. Various programs and data are stored for controlling the operation of the side undulating operation tool 39, the terminal side display device 40, the terminal side communication device 41, and the like.
[0052]
　The terminal-side control device 42 is connected to the terminal-side orientation sensor 34 and can acquire the orientation detected by the terminal-side orientation sensor 34.
[0053]
　The terminal side control device 42 includes a suspended load moving operation tool 35, a terminal side turning operation tool 36, a terminal side expansion / contraction operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, and a terminal side undulation operation tool 39. It is connected, and it is possible to acquire an operation signal consisting of an inclination direction and an inclination amount of the operation stick of each operation tool.
[0054]
　The terminal-side control device 42 is an operation acquired from each sensor of the terminal-side turning operation tool 36, the terminal-side expansion / contraction operation tool 37, the terminal-side main drum operation tool 38m, the terminal-side sub-drum operation tool 38s, and the terminal-side undulation operation tool 39. The target speed signal Vd of the luggage W can be generated from the operation signal of the stick.
[0055]
　The terminal-side control device 42 is connected to the terminal-side display device 40, and the terminal-side display device 40 can display the video i1, the video i2, and various information from the crane device 6. Further, the terminal-side control device 42 can rotate the directional display in conjunction with the directional control acquired from the terminal-side directional sensor 34. The terminal-side control device 42 is connected to the terminal-side communication device 41, and can transmit and receive various information to and from the communication device 22 of the crane device 6 via the terminal-side communication device 41.
[0056]
　As shown in FIG. 5A, the terminal-side control device 42 (see FIG. 4) sets the orientation with reference to the upward direction of the remote control terminal 32 based on the orientation acquired from the terminal-side orientation sensor 34 (see FIG. 4). To do. For example, when the remote control terminal 32 is rotated in the direction of θ1 = 45 ° to the left from the state where the upward direction of the remote control terminal 32 is facing north, the upward direction of the remote control terminal 32 is facing northwest. The terminal side control device 42 sets the upward direction of the remote control terminal 32 to the northwest. That is, the remote control terminal 32 is configured to generate a target speed signal Vd in which the load W moves in the direction in which the suspended load moving operation tool 35 is tilted. At this time, the terminal-side control device 42 changes the display of the direction with respect to the upward direction on the terminal-side display device 40 to "NW" indicating northwest.
[0057]
　As shown in FIG. 5B, the terminal-side control device 42 (see FIG. 4) moves the luggage W in the moving direction and moving speed based on the operation signals for the tilting direction and the tilting amount acquired from the suspended load moving operating tool 35. The target speed signal Vd composed of the above is calculated for each unit time t. For example, when the upward direction of the remote control terminal 32 is set to the north direction and the suspended load moving operation tool 35 is tilted to the left side with respect to the upward direction by 45 ° as the tilt angle θ2, the terminal side control is performed. The device 42 calculates a target speed signal Vd for moving the luggage W from north to west from north to northwest in the direction of θ2 = 45 ° at a moving speed according to the amount of tilt. Here, the unit time t is an arbitrarily set calculation cycle. The terminal-side control device 42 calculates the target speed signal Vd every unit time t when the suspended load moving operation tool 35 is tilted. In the present embodiment, the unit time t corresponding to the nth calculation cycle after the suspended load moving operation tool 35 is tilted is set as the unit time t (n), and the unit time t one cycle after the nth time is set as the unit time t ( n + 1). That is, in the following description, it is assumed that the function of time t is displayed as the function of the calculation cycle n.
[0058]
　Next, the control of the crane device 6 by the remote control terminal 32 will be described with reference to FIG.
[0059]
　As shown in FIG. 6, when the remote control terminal 32 is rotated in the direction of θ1 = 45 ° to the left from the state where the upward direction is facing north (see FIG. 5A), the remote control terminal 32 is upward. The direction is set to the northwest. When the suspended load moving operation tool 35 of the remote control terminal 32 is tilted from the upper direction to the left in the direction of the tilt angle θ2 = 45 ° by an arbitrary tilt amount, the terminal side control device 42 moves northwest in the upward direction. The operation signal about the tilting direction to the west and the tilting amount, which is the direction of the tilting angle θ2 = 45 °, is acquired from a sensor (not shown) of the suspended load moving operating tool 35. Further, the terminal-side control device 42 calculates, from the acquired operation signal, a target speed signal Vd for moving the luggage W toward the west at a moving speed according to the amount of tilt for each unit time t. The remote control terminal 32 transmits the calculated target speed signal Vd to the control device 31 of the crane 1 every unit time t.
[0060]
　When the control device 31 receives the target speed signal Vd from the remote control terminal 32 every unit time t, the crane 1 has a target trajectory of the luggage W based on the direction of the tip of the boom 9 acquired by the vehicle side direction sensor 29. Calculate the signal Pd. Further, the control device 31 calculates the target position coordinate p (n + 1) of the luggage W, which is the target position of the luggage, from the target trajectory signal Pd. The control device 31 generates an operation signal Md of the turning valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26m, and the sub valve 26s that move the load W to the target position coordinate p (n + 1). The crane 1 moves the load W toward the west, which is the tilt direction of the suspended load moving operation tool 35, at a speed corresponding to the tilt amount. At this time, the crane 1 controls the swivel hydraulic motor 8, the contraction hydraulic cylinder, the undulating hydraulic cylinder 12, the main hydraulic motor, and the like by the operation signal Md.
[0061]
　With this configuration, the crane 1 acquires the target speed signal Vd based on the direction from the remote control terminal 32 every unit time t, and obtains the target position coordinates p (n + 1) of the luggage W based on the direction. Since the determination is made, the operator does not lose the recognition of the operating direction of the crane device 6 with respect to the operating direction of the suspended load moving operating tool 35. That is, the operation direction of the suspended load moving operation tool 35 and the moving direction of the load W are calculated based on the common reference direction. As a result, erroneous operation of the crane device 6 during remote control can be prevented, and remote control of the work device can be easily and easily performed.
[0062]
　Next, using FIGS. 7 to 11, the calculation of the target trajectory signal Pd of the luggage W for generating the operation signal Md in the control device 31 of the crane 1 and the target position coordinates q (n + 1) of the tip of the boom 9 The first embodiment of the calculation control process will be described. The control device 31 has a target trajectory calculation unit 31a, a boom position calculation unit 31b, and an operation signal generation unit 31c.
[0063]
　As shown in FIG. 7, the target trajectory calculation unit 31a is a part of the control device 31 and converts the target speed signal Vd of the luggage W into the target trajectory signal Pd of the luggage W. The target trajectory calculation unit 31a can acquire the target speed signal Vd of the luggage W, which is composed of the movement direction and the movement speed of the luggage W, from the remote control terminal 32 via the communication device 22 every unit time t. Further, the target trajectory calculation unit 31a is configured to apply a low-pass filter Lp to the acquired target speed signal Vd and convert it into a target trajectory signal Pd which is position information of the luggage W every unit time t.
[0064]
　The low-pass filter Lp attenuates frequencies above a predetermined frequency. The target trajectory calculation unit 31a prevents the occurrence of a singular point (rapid position change) due to the differential operation by applying the low-pass filter Lp to the target trajectory signal Pd. In the present embodiment, the low-pass filter Lp uses a fourth-order low-pass filter Lp in order to correspond to the fourth derivative at the time of calculating the spring constant kf, but a low-pass filter Lp of a degree matching the desired characteristics is applied. be able to. A and b in the formula (3) are coefficients.
[0065]
[Number 3]

[0066]
　As shown in FIG. 8, a reverse dynamics model of the crane 1 is defined. The inverse dynamics model is defined in the XYZ coordinate system, with the origin O as the turning center of the crane 1. q indicates, for example, the current position coordinate q (n), and p indicates, for example, the current position coordinate p (n) of the luggage W. lb indicates, for example, the expansion / contraction length lb (n) of the boom 9, θx indicates, for example, the undulation angle θx (n), and θz indicates, for example, the turning angle θz (n). l indicates, for example, the wire rope feeding amount l (n), f indicates the wire rope tension f, and e indicates, for example, the wire rope direction vector e (n).
[0067]
　As shown in FIGS. 7 and 8, the boom position calculation unit 31b is a part of the control device 31 and calculates the position coordinates of the tip of the boom from the attitude information of the boom 9 and the target trajectory signal Pd of the luggage W. Is. The boom position calculation unit 31b can acquire the target trajectory signal Pd from the target trajectory calculation unit 31a. The boom position calculation unit 31b acquires the turning angle θz (n) of the turning table 7 from the turning sensor 27, obtains the expansion / contraction length lb (n) from the expansion / contraction sensor 28, and the undulation angle θx from the undulation sensor 30. (N) is acquired, the feeding amount l (n) of the main wire rope 14 or the sub wire rope 16 (hereinafter, simply referred to as “wire rope”) is acquired from the winding sensor 43, and the luggage is loaded from the swivel camera 7b. The current position information of W can be acquired (see FIG. 2).
[0068]
　The boom position calculation unit 31b calculates the current position coordinates p (n) of the luggage W from the acquired current position information of the luggage W, and obtains the swivel angle θz (n), the expansion / contraction length lb (n), and the undulation angle θx. From (n), the current position coordinate q (n) of the tip of the boom 9 (the feeding position of the wire rope), which is the current position of the boom tip (hereinafter, simply referred to as “current position coordinate q (n) of the boom 9”). Can be calculated. Further, the boom position calculation unit 31b can calculate the wire rope feeding amount l (n) from the current position coordinates p (n) of the luggage W and the current position coordinates Q of the boom 9. Further, the boom position calculation unit 31b suspends the luggage W from the current position coordinates p (n) of the luggage W and the target position coordinates p (n + 1) of the luggage W, which is the target position of the luggage W after the lapse of the unit time t. It is possible to calculate the direction vector e (n + 1) of the wire rope. The boom position calculation unit 31b uses inverse dynamics to determine the boom tip, which is the target position of the boom tip after a unit time t has elapsed from the target position coordinates p (n + 1) of the luggage W and the direction vector e (n + 1) of the wire rope. It is configured to calculate the target position coordinates q (n + 1) of 9.
[0069]
　The wire rope feeding amount l (n) is calculated from the following equation (4).
　The wire rope feeding amount l (n) is defined by the distance between the current position coordinate Q of the boom 9 which is the tip position of the boom 9 and the current position coordinate p (n) of the luggage W which is the position of the luggage W.
[0070]
[Number 4]

[0071]
　The direction vector e (n) of the wire rope is calculated from the following equation (5).
　The wire rope direction vector e (n) is a vector of the unit length of the wire rope tension f (see equation (1)). The tension f of the wire rope is obtained by subtracting the gravitational acceleration from the acceleration of the luggage W calculated from the current position coordinates p (n) of the luggage W and the target position coordinates p (n + 1) of the luggage W after the lapse of the unit time t. is there.
[0072]
[Number 5]

[0073]
　The target position coordinate q (n + 1) of the boom 9, which is the target position of the boom tip after the lapse of the unit time t, is calculated from the following equation (1) expressed by the function of n (6). Here, α indicates the turning angle θz (n) of the boom 9.
　The target position coordinate q (n + 1) of the boom 9 is calculated from the wire rope feeding amount l (n), the target position coordinate p (n + 1) of the luggage W, and the direction vector e (n + 1) using inverse dynamics. ..
[0074]
[Number 6]

[0075]
　The operation signal generation unit 31c is a part of the control device 31 and generates an operation signal Md of each actuator from the target position coordinates q (n + 1) of the boom 9 after the lapse of a unit time t. The operation signal generation unit 31c can acquire the target position coordinates q (n + 1) of the boom 9 after the lapse of the unit time t from the boom position calculation unit 31b. The operation signal generation unit 31c is configured to generate an operation signal Md of the swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26 m, or the sub valve 26s.
[0076]
　As shown in FIG. 9, in step S100, the control device 31 starts the target trajectory calculation step A in the control method of the crane 1 and shifts the step to step S110 (see FIG. 10). Then, when the target trajectory calculation step A is completed, the step is shifted to step S200 (see FIG. 9).
[0077]
　In step 200, the control device 31 starts the boom position calculation step B in the control method of the crane 1 and shifts the step to step S210 (see FIG. 11). Then, when the boom position calculation step B is completed, the step is shifted to step S300 (see FIG. 9).
[0078]
　In step 300, the control device 31 starts the operation signal generation step C in the control method of the crane 1 and shifts the step to step S310 (see FIG. 12). Then, when the operation signal generation step C is completed, the step is shifted to step S100 (see FIG. 9).
[0079]
　As shown in FIG. 10, in step S110, the target trajectory calculation unit 31a of the control device 31 acquires the target speed signal Vd of the luggage W input in the mode of the process function from the remote control terminal 32, and steps S120. Migrate to.
[0080]
　In step S120, the target trajectory calculation unit 31a integrates the acquired target speed signal Vd of the luggage W to calculate the position information of the luggage W, and shifts the step to step S130.
[0081]
　In step S130, the target trajectory calculation unit 31a applies the low-pass filter Lp represented by the transfer function G (s) of the equation (3) to the calculated position information of the luggage W, and sets the target trajectory signal Pd every unit time t. The calculation is performed, the target trajectory calculation step A is completed, and the step is shifted to step S200 (see FIG. 8).
[0082]
　As shown in FIG. 11, in step S210, the boom position calculation unit 31b of the control device 31 has acquired the current position information of the luggage W with the arbitrarily determined reference position O (for example, the turning center of the boom 9) as the origin. The current position coordinate p (n) of the luggage W, which is the current position of the luggage, is calculated from the above, and the step is shifted to step S220.
[0083]
　In step S220, the boom position calculation unit 31b determines the current position coordinates q (n) of the boom 9 from the acquired swivel angle θz (n) of the swivel table 7, the expansion / contraction length lb (n), and the undulation angle θx (n) of the boom 9. n) is calculated and the step is shifted to step S230.
[0084]
　In step S230, the boom position calculation unit 31b uses the above equation (4) from the current position coordinates p (n) of the luggage W and the current position coordinates q (n) of the boom 9 to extend the wire rope l (n). ) Is calculated, and the step is shifted to step S240.
[0085]
　In step S240, the boom position calculation unit 31b refers to the target position coordinate p (n) of the luggage W, which is the target position of the luggage after the lapse of a unit time t, from the target trajectory signal Pd with reference to the current position coordinate p (n) of the luggage W. n + 1) is calculated, and the step is shifted to step S250.
[0086]
　In step S250, the boom position calculation unit 31b calculates the acceleration of the luggage W from the current position coordinates p (n) of the luggage W and the target position coordinates p (n + 1) of the luggage W, and uses the gravitational acceleration to calculate the acceleration of the luggage W. The direction vector e (n + 1) of the wire rope is calculated using (5), and the step is shifted to step S260.
[0087]
　In step S260, the boom position calculation unit 31b uses the above equation (6) from the calculated wire rope feeding amount l (n) and the wire rope direction vector e (n + 1) to obtain the target position coordinates q of the boom 9. (N + 1) is calculated, the boom position calculation step B is completed, and the step is shifted to step S300 (see FIG. 9).
[0088]
　As shown in FIG. 12, in step S310, the operation signal generation unit 31c of the control device 31 has a turning angle θz (n + 1) of the swivel table 7 after a unit time t has elapsed from the target position coordinate q (n + 1) of the boom 9. The expansion / contraction length Lb (n + 1), the undulation angle θx (n + 1), and the wire rope extension amount l (n + 1) are calculated, and the step is shifted to step S320.
[0089]
　In step S320, the operation signal generation unit 31c turns from the calculated turning angle θz (n + 1) of the turning table 7, the expansion / contraction length Lb (n + 1), the undulation angle θx (n + 1), and the wire rope feeding amount l (n + 1). The operation signal Md of the valve 23 for expansion, the valve for expansion / contraction 24, the valve for undulation 25, the valve for main 26 m or the valve for sub 26s is generated, respectively, and the operation signal generation step C is completed to shift the step to step S100 (FIG. 9).
[0090]
　The control device 31 calculates the target position coordinates q (n + 1) of the boom 9 by repeating the target trajectory calculation step A, the boom position calculation step B, and the operation signal generation step C, and after the unit time t elapses, the wire rope The wire rope direction vector e (n + 2) is calculated from the wire rope feeding amount l (n + 1), the current position coordinate p (n + 1) of the luggage W, and the target position coordinate p (n + 2) of the luggage W, and the wire rope feeding amount l ( From n + 1) and the direction vector e (n + 2) of the wire rope, the target position coordinate q (n + 2) of the boom 9 after the lapse of the unit time t is further calculated. That is, the control device 31 calculates the direction vector e (n) of the wire rope, and uses the inverse kinematics to obtain the current position coordinate p (n + 1) of the luggage W, the target position coordinate p (n + 1) of the luggage W, and the wire rope. The target position coordinates q (n + 1) of the boom 9 after the unit time t are sequentially calculated from the direction vector e (n) of. The control device 31 controls each actuator by feedforward control that generates an operation signal Md based on the target position coordinate q (n + 1) of the boom 9.
[0091]
　With this configuration, the crane 1 calculates the target trajectory signal Pd based on the target speed signal Vd of the luggage W arbitrarily input from the remote control terminal 32, and is not limited to the specified speed pattern. .. Further, the crane 1 is applied with feedforward control in which a control signal of the boom 9 is generated with reference to the luggage W and a control signal of the boom 9 is generated based on a target trajectory intended by the operator. Therefore, the crane 1 has a small response delay to the operation signal, and suppresses the swing of the load W due to the response delay. Further, a reverse dynamics model is constructed, and the target position coordinates q of the boom 9 are obtained from the direction vector e (n) of the wire rope, the current position coordinates p (n + 1) of the luggage W, and the target position coordinates p (n + 1) of the luggage W. Since (n + 1) is calculated, there is no error in the transient state due to acceleration / deceleration or the like. Further, since the frequency component including the singular point generated by the differential operation when calculating the target position coordinate q (n + 1) of the boom 9 is attenuated, the control of the boom 9 is stable. As a result, when the actuator is controlled with the load W as a reference, the load W can be moved along the target trajectory while suppressing the shaking of the load W.
[0092]
　Next, using FIGS. 7, 8 and 9, the calculation of the target trajectory signal Pd of the luggage W for generating the operation signal Md in the control device 31 of the crane 1 and the target position coordinates q of the tip of the boom 9 The second embodiment of the control step of the calculation of (n + 1) will be described. In the second embodiment, the control device 31 calculates the target position coordinate q (n + 1) of the boom 9 by using the spring constant kf of the wire rope. It should be noted that the control steps according to the following embodiments are applied in place of the vibration damping control of the unused hooks in the control steps shown in FIGS. 1 to 8, and the names, drawing numbers, and reference numerals used in the description thereof. By using the above, the same thing is referred to, and in the following embodiments, the same points as those of the embodiments already described will be omitted, and the differences will be mainly described.
[0093]
　As shown in FIG. 7, the control device 31 has a target trajectory calculation unit 31a, a boom position calculation unit 31b, and an operation signal generation unit 31c.
[0094]
　As shown in FIGS. 7 and 8, the boom position calculation unit 31b is a part of the control device 31 and calculates the position coordinates of the tip of the boom from the attitude information of the boom 9 and the target trajectory signal Pd of the luggage W. Is. The boom position calculation unit 31b can acquire the target trajectory signal Pd from the target trajectory calculation unit 31a. The boom position calculation unit 31b acquires the turning angle θz (n) of the turning table 7 from the turning sensor 27, obtains the expansion / contraction length lb (n) from the expansion / contraction sensor 28, and the undulation angle θx from the undulation sensor 30. (N) is acquired, the feeding amount l (n) of the main wire rope 14 or the sub wire rope 16 (hereinafter, simply referred to as “wire rope”) is acquired from the winding sensor 43, and the luggage is loaded from the swivel camera 7b. The current position information of W can be acquired (see FIG. 2). The boom position calculation unit 31b uses inverse dynamics to suspend the target position coordinates p (n + 1) of the luggage W, which is the target position of the luggage after the lapse of the unit time t based on the target trajectory signal Pd, and the luggage W. It is configured to calculate the target position coordinate q (n + 1) of the boom 9, which is the target position of the boom tip after the lapse of a unit time t, from the spring constant kf of the wire rope.
[0095]
　The spring constant kf of the wire rope is calculated from the following equation (1), and the target position coordinate q (n + 1) of the boom 9 is calculated from the following equation (2).
　A force due to gravitational acceleration and a force from the crane 1 are applied to the moving luggage W. When the characteristics of the wire rope are expressed by the spring constant kf, the equation of motion shown by the following equation (7) holds for the luggage W.
[0096]
[Number 7]

[0097]
　The wire rope feeding amount l can be expressed by the following equation (8). The following equation (9) is obtained by second-order differentiation of the wire rope feeding amount l. In equations (8) and (9), p is the position coordinate of the luggage W, q is the position coordinate of the boom 9, and l is the wire rope feeding amount.
[0098]
[Number 8]

[0099]
[Number 9]

[0100]
　Multiplying the equation (7) representing the equation of motion of the luggage W by (qp) T gives the following equation (10). From the equation (10), the following equation (11) representing the spring constant kf is obtained. In equation (10), g is the gravitational acceleration, m is the mass of the load W, and kf is the spring constant of the wire rope.
[0101]
[Number 10]

[0102]
[Number 11]

[0103]
　The operation signal generation unit 31c is a part of the control device 31 and generates an operation signal Md of each actuator from the target position coordinates q (n + 1) of the boom 9 after the lapse of a unit time t. The operation signal generation unit 31c can acquire the target position coordinates q (n + 1) of the boom 9 after the lapse of the unit time t from the boom position calculation unit 31b. The operation signal generation unit 31c is configured to generate an operation signal Md of the swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26 m, or the sub valve 26s.
[0104]
　As shown in FIG. 9, in step S100, the control device 31 starts the target trajectory calculation step A in the control method of the crane 1 and shifts the step to step S110 (see FIG. 10). Then, when the target trajectory calculation step A is completed, the step is shifted to step S200 (see FIG. 9).
[0105]
　In step 200, the control device 31 starts the boom position calculation step B in the control method of the crane 1 and shifts the step to step S210 (see FIG. 13). Then, when the boom position calculation step B is completed, the step is shifted to step S300 (see FIG. 9).
[0106]
　In step 300, the control device 31 starts the operation signal generation step C in the control method of the crane 1 and shifts the step to step S310 (see FIG. 12). Then, when the operation signal generation step C is completed, the step is shifted to step S100 (see FIG. 9).
[0107]
　As shown in FIG. 13, in step S21, the boom position calculation unit 31b of the control device 31 uses the arbitrarily determined reference position O as the origin, and the baggage W which is the current position of the baggage from the acquired current position information of the baggage W. The current position coordinate p (n) of is calculated, and the step is shifted to step S221.
[0108]
　In step S221, the boom position calculation unit 31b has acquired the swivel angle θz (n), the expansion / contraction length lb (n), the undulation angle θx (n) of the boom 9, and the wire rope extension amount l (n). ), The current position coordinate q (n) of the tip of the boom 9 (the feeding position of the wire rope), which is the current position of the boom tip (hereinafter, simply referred to as “current position coordinate q (n) of the boom 9”) is calculated. , The step is shifted to step S231.
[0109]
　In step S231, the boom position calculation unit 31b described above from the current position coordinates p (n) of the luggage W, the current position coordinates q (n) of the boom 9, the wire rope feeding amount l (n), and the mass m of the luggage W. The spring constant kf of the wire rope is calculated using the equation (11) of the above, and the step is shifted to step S241.
[0110]
　In step S241, the boom position calculation unit 31b uses the current position coordinate p (n) of the luggage W as a reference from the target trajectory signal Pd to indicate the target position coordinate p of the luggage W, which is the target position of the luggage after the lapse of a unit time t. n + 1) is calculated, and the step is shifted to step S251.
[0111]
　In step S251, the boom position calculation unit 31b uses the equation (7) from the target position coordinates p (n + 1) of the luggage W and the spring constant kf to target the boom 9 which is the target position of the boom tip after the elapse of the unit time t. The position coordinate q (n + 1) is calculated, the boom position calculation step B is completed, and the step is shifted to step S300 (see FIG. 9).
[0112]
　The control device 31 calculates the target position coordinates q (n + 1) of the boom 9 by repeating the target trajectory calculation step A, the boom position calculation step B, and the operation signal generation step C, and after the unit time t elapses, the wire rope The spring constant kf is calculated from the feeding amount l (n + 1), the current position coordinate p (n + 1) of the luggage W, and the current position coordinate q (n + 1) of the boom 9, and the spring constant kf and the unit time t have elapsed. From the target position coordinate p (n + 2) of the luggage W, the target position coordinate q (n + 2) of the boom 9 after the lapse of the unit time t is further calculated. That is, the control device 31 expresses the characteristic of the wire rope as a spring constant kf, and uses inverse dynamics to obtain a unit time from the target position coordinate p (n + 1) of the luggage W and the current position coordinate q (n) of the boom 9. The target position coordinates q (n + 1) of the boom 9 after t are sequentially calculated. The control device 31 controls each actuator by feedforward control that generates an operation signal Md based on the target position coordinate q (n + 1) of the boom 9.
[0113]
　With this configuration, the crane 1 calculates the target trajectory signal Pd based on the target speed signal Vd of the luggage W arbitrarily input from the remote control terminal 32, and is not limited to the specified speed pattern. .. Further, the crane 1 is applied with feedforward control in which a control signal of the boom 9 is generated with reference to the luggage W and a control signal of the boom 9 is generated based on a target trajectory intended by the operator. Therefore, the crane 1 has a small response delay to the operation signal, and suppresses the swing of the load W due to the response delay. Further, a reverse dynamics model considering the characteristics of the wire rope is constructed, and the target position coordinate q (n + 1) of the boom 9 is calculated from the spring constant kf of the wire rope and the target position coordinate p (n + 1) of the luggage W. Therefore, there is no transient error due to acceleration / deceleration. Further, since the frequency component including the singular point generated by the differential operation when calculating the target position coordinate q (n + 1) of the boom 9 is attenuated, the control of the boom 9 is stable. As a result, when the actuator is controlled with the load W as a reference, the load W can be moved along the target trajectory while suppressing the shaking of the load W.
[0114]
　The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented without departing from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the claims, and further, the equal meaning described in the claims, and all within the scope. Including changes.
Industrial applicability
[0115]
　The present invention can be used for cranes and crane control methods.
Description of the sign
[0116]
　　　　1 Crane
　　　　6 Crane device
　　　　7b Swivel camera
　　　　9 Boom
　　　27 Swivel sensor
　　　28 Telescopic sensor
　　　30 Undulation sensor
　　　43 Winding sensor
　　　　O Reference position
　　　　Vd Target speed signal
　p (n) Current position coordinates of luggage
　p (n + 1) Target position coordinates
　q (n) Boom current position coordinates
　q (n + 1) Boom target position coordinates
The scope of the claims
[Claim 1]
　A crane that controls an actuator of the boom based on a target speed signal regarding the moving direction and speed of a load suspended from the boom by a wire rope,
　wherein the boom turning angle detecting means and
　the undulation angle of the boom. A detection means,
　an expansion / contraction length detecting means of the boom, and
　a luggage position detecting means for detecting the current position of the load with respect to the reference position are provided, and the
　target speed signal is converted into the target position of the load with respect to the reference position.
　the turning angle detecting turning angle unit detects, from the derricking angle and the extendable length detection means stretchable length was detected the derricking angle detection unit detects, calculates the current position of the boom tip with respect to the reference position,
　the The feeding amount of the wire rope is calculated from the current position of the baggage detected by the baggage position detecting means and the current position of the boom tip, and the wire rope is fed from
　the current position of the baggage and the target position of the baggage. The direction vector is calculated,
　the target position of the boom tip at the target position of the load is calculated from the feeding amount of the wire rope and the direction vector of the wire rope, and the
　actuator of the actuator is calculated based on the target position of the boom tip. A crane that produces an operating signal.
[Claim 2]
　The crane according to claim 1, wherein the target position of the load is converted by integrating the target speed signal and attenuating a frequency component in a predetermined frequency range.
[Claim 3]
　The relationship between the target position of the boom tip and the target position of the luggage is expressed by the equation (1) from the target position of the luggage, the weight of the luggage, and the spring constant of the wire rope, and
　the target position of the boom tip. However, the crane according to claim 1 or 2, which is calculated by the equation (2) which is a function of the time of the luggage.
f: wire rope tension, kf: spring constant, m: load mass, q: current position or target position of boom tip, p: current position or target position of load, l: wire rope extension amount, α: Turning angle, g: Gravitational acceleration
[Equation 1]

[Equation 2]

[Claim 4]
　It is a control method of a crane that controls an actuator of the boom based on a target speed signal regarding the moving direction and speed of a load suspended from a boom by a wire rope,
　and converts the target speed signal into a target position of the load.
　The feeding amount of the wire rope is calculated from the target trajectory calculation process, the current position of the load with respect to the reference position, and the current position of the boom tip, and the wire rope is fed from the current position of the load and the target position of the load. A boom position calculation step of calculating a direction vector and calculating a target position of a boom tip at a target position of the load from the wire rope feeding amount and the direction vector, and the
　actuator based on the target position of the boom tip. A crane control method consisting of an operation signal generation process for generating an operation signal of.