JP2012131586A - Control device of crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device of a crane hardly influenced by an error of a load detector and capable of further surely suppressing a load swing.SOLUTION: This control device 2 of a crane includes a freely derricking boom, a hook hung by a wire from the tip of the boom. The control device 2 of a crane includes a movement control means 20 to increase flexure of the boom by winding up the wire when dynamically lifting off a lifted load, calculate a required raising amount of the boom for negating displacement of the boom tip based on the increase of the flexure, based on only the attitude of the boom tip, and raise the boom by the required raising amount.

Description

  The present invention relates to a crane control apparatus.

  Conventionally, in a crane equipped with a boom and a jib, there is a problem that when the suspended load is wound up, if the tip of the boom is not located on the vertical line passing through the center of gravity of the suspended load, the swinging of the load occurs when the ground is cut.

  In order to prevent such a load swing at the time of earth cutting, for example, in Patent Document 1, a lateral vibration detection device for detecting the lateral vibration of the hook is provided, and the boom is expanded and retracted and swung to control the suspension load. A boom attitude control device that moves upward has been proposed.

  However, even if the tip of the boom is moved directly above the suspended load, if the wire is wound up, the boom or jib will bend and the tip of the boom will be displaced. Swing occurred.

  In order to solve this problem, for example, in Patent Document 2, the boom deflection is calculated based on the boom undulation state and the signal from the load detector, and the boom is automatically raised so as to cancel the calculated deflection. Is disclosed.

  According to this configuration, the boom is automatically lifted by the amount of bending calculated based on the load when the operator performs the hoisting operation of the hook, so that the suspended load can be ground without swinging the load. .

Japanese Utility Model Publication No. 55-54710 Japanese Patent Laid-Open No. 1-256496

  However, since the configuration of Patent Document 2 uses the detection value of the load detector, if there is an error in the detection value, the calculation of bending and the determination of ground cutting may be mistaken, and the suspended load may shake. was there.

  Accordingly, an object of the present invention is to provide a crane control device that is less susceptible to the influence of an error of a load detector and that can more reliably suppress load fluctuations.

  In order to achieve the above object, a crane control device according to the present invention is a crane control device comprising a boom that can be raised and lowered, and a hook that is suspended from a tip of the boom by a wire. When cutting the wire, the wire is wound up to increase the deflection of the boom, and the required amount of elevation of the boom for canceling the misalignment of the boom tip based on the increase in the deflection is based only on the posture of the boom tip. It comprises a movement control means for calculating and raising the boom by the required raising amount.

  The crane control device of the present invention is a crane control device comprising a boom that can be raised and lowered, and a hook that is suspended by a wire from the tip of the boom, and when unloading a suspended load, The necessary collapse amount of the boom is calculated based on only the posture of the boom tip to reduce the deflection of the boom by lowering the wire, and cancel the positional deviation of the boom tip based on the reduction of the deflection, and the necessary A movement control means is provided to fall the boom by a fall amount.

  As described above, the crane control apparatus according to the present invention increases the bending of the boom by winding the wire when the suspended load is grounded, and the boom for canceling the positional deviation of the boom tip based on the increase of the bending. There is provided a movement control means for calculating the necessary raising amount based only on the posture of the boom tip and raising the boom by the necessary raising amount.

  Thus, by calculating the required amount of elevation of the boom based only on the actual posture of the boom tip, it is possible to more reliably suppress the swinging of the load without being affected by the error of the load detector.

  Further, the crane control device of the present invention requires a boom for unwinding the suspended load to reduce the bending of the boom by unwinding the wire and to cancel the misalignment of the boom tip based on the reduction of the bending. There is provided a movement control means for calculating the amount of fall based only on the attitude of the tip of the boom, and falling the boom by the required amount of fall.

  In this way, by calculating the necessary amount of collapse of the boom based only on the actual attitude of the boom tip, it is possible to more reliably suppress the hook swing without being affected by the error of the load detector.

It is a side view explaining the whole structure of a rough terrain crane. It is explanatory drawing explaining the structure of a posture angle reference | standard apparatus. (A) is a side view, (b) is a front view. It is a block diagram of the control apparatus of the crane of Example 1. FIG. It is a flowchart explaining the flow of the ground cutting process of the control apparatus of the crane of Example 1. FIG. It is an operation | movement figure explaining an effect | action of the control apparatus of the crane of Example 1. FIG. (A) is at the time of winding, and (b) is at the time of raising. It is a flowchart explaining the flow of the unloading process of the control apparatus of the crane of Example 2. FIG. It is an operation | movement figure explaining an effect | action of the control apparatus of the crane of Example 2. FIG. (A) is at the time of lowering, and (b) is at the time of lodging.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Machine configuration)
First, the mechanical structure of the rough terrain crane 1 as a crane provided with the crane control apparatus 2 of Example 1 is demonstrated using the side view of FIG. In the following Examples 1 and 2, the rough terrain crane 1 will be described as an example. However, the present invention is not limited to this, and the present invention can be widely applied to a mobile crane such as an all terrain crane.

  As shown in FIG. 1, the rough terrain crane 1 of the present embodiment includes a vehicle body 10 that is a main body portion of a vehicle having a traveling function, outriggers 11,... Provided at four corners of the vehicle body 10, and the vehicle body 10. A swivel base 12 is mounted so as to be horizontally swivelable, and a boom 14 is mounted on a bracket 13 erected on the swivel base 12.

  The swivel base 12 has a pinion gear to which the power of the turning motor is transmitted. The pinion gear meshes with a circular gear provided on the vehicle body 10 to rotate around the turning axis.

  The boom 14 is configured to be nested by a proximal boom 141, an intermediate boom 142, and a distal boom 143, and can be expanded and contracted by an expansion cylinder (not shown).

  The base end boom 141 is swingably attached to a support shaft that is horizontally installed on the bracket 13 so that the base end boom 141 can be raised and lowered up and down around the support shaft.

  Further, a hoisting cylinder 15 is stretched between the bracket 13 and the base end boom 141, and the entire boom 14 can be hoisted by extending and retracting the hoisting cylinder 15.

  Further, a sheave (not shown) is disposed on the most advanced boom head 144 of the tip boom 143, and a wire 17 is wound around the sheave to hang a hook 17.

  In addition, as shown in the enlarged view of FIG. 2, the camera 70 and the attitude angle reference device 3 are installed on the bracket 145 installed on the side of the boom head 144 of this embodiment.

  The camera 70 is installed for recognizing the relative position of the suspended load 90 and is a movie camera that is attached downward to the boom head 144 and shoots the lower part. The direction is controlled to face.

  In this embodiment, as shown in FIG. 2, a posture angle reference device 3 that detects an angle of the tip of the boom 14 with respect to a horizontal plane (hereinafter referred to as a posture angle) on a bracket 145 installed on the side of the boom head 144. Is installed. Here, the attitude angle refers to an angle that the axis of the tip boom 143 makes with a horizontal plane at the position of the boom head 144.

  This attitude angle reference device 3 includes an accelerometer 31 that detects acceleration in the gravitational direction, a gyro 32 that detects angular velocity in the undulation direction, and a signal obtained by removing drift components included in the signal of the gyro 32 using the acceleration in the gravitational direction. And a calculator (not shown) that integrates and calculates the tilt angle.

  Note that the calculator is not essential, and may not be required when the inclination angle is calculated by the controller 20 (see FIG. 3) described later. The posture angle reference device 3 may be any device that can detect the posture angle even while the crane is in operation, and does not necessarily include the accelerometer 31 and the gyro 32.

  The accelerometer 31 detects the acceleration of the boom head 144 affected by the gravitational acceleration, and is a mechanical type using a coil spring or a leaf spring, an optical type detecting a change in wavelength due to tension on an optical fiber, and an electrostatic type. Any type such as a capacitance type, a piezoresistive type, a semiconductor type such as a gas temperature distribution type, etc. may be used.

  The gyro 32 is an angular velocity detector that detects the rotational angular velocity of the boom head 144 in the undulation direction, and may be any system such as a vibrating gyro that uses Coriolis force or an optical gyro that uses the Sagnac effect.

  Here, the features of the attitude angle reference device 3 of this embodiment will be described. Since the gyro 32 has a drift unique to the gyro, there is a disadvantage that an error increases when the gyro 32 is integrated. On the other hand, although the accelerometer 31 can obtain a tilt angle based on the direction of gravity using a trigonometric function from the gravitational acceleration, there is a drawback that a correct tilt angle cannot be detected because a vibration component or an impact component is superimposed on the acceleration. is there.

  Therefore, the drift amount of the gyro 32 is estimated by using the Kalman filter from the information of the accelerometer 31 capable of detecting the tilt angle with respect to the direction of gravity of the earth, and the relative tilt angle obtained by subtracting the drift amount from the detected angular velocity of the gyro 32 and integrating it. By using together, the tilt angle based on the gravity direction of the earth that does not include vibration and impact can be obtained.

(Control configuration)
As shown in the block diagram of FIG. 3, the crane control device 2 according to the present embodiment includes an attitude angle reference device 3 having an accelerometer 31 and a gyro 32 as an input side, and a crane attitude detection unit that detects the attitude of the crane. 4 and load input means 50 for inputting an approximate value of the load of the suspended load. Further, the crane control device 2 includes crane driving means 6 for driving the boom 14 on the output side. And the controller 20 which commands an output value to the output side based on the input value from the input side is provided.

  The crane posture detection means 4 includes a turning angle detector that detects the turning angle of the swivel base 12, a hoisting angle detector that detects the hoisting angle of the boom 14, a boom length detector that detects the length of the boom 14, and a wire 16. It is comprised by the wire length detector etc. which detect the length of this.

  The load input means 50 is an input device for inputting the approximate value of the load when the approximate value of the load of the suspended load 90 is known at the start of the ground cutting operation. Specifically, a numeric keypad, a mouse, a touch panel, a button, a lever or the like can be used as the load input means 50. Here, the approximate value of the load does not need to be an actual measurement value but is a numerical value including a predicted value and the like, for example, may specify a range every 5 (t).

  The crane driving means 6 includes a turning driving means for turning the swivel base 12, a raising / lowering driving means for raising and lowering the boom 14, a boom extension / contraction driving means for extending and retracting the boom 14, a winch driving means for winding and lowering the wire 16 and the like. Composed.

  The controller 20 serving as the movement control means in this embodiment is a general-purpose microcomputer that includes a CPU, memory, HDD, SSD, and the like.

  The controller 20 receives the input from the operation means (not shown), calculates the output to the crane drive means 6 and outputs it, and winds the wire 16 when the suspended load is grounded. The required amount of elevation of the boom 14 for increasing the deflection of the boom 14 and canceling the positional deviation of the boom tip based on the increase of the deflection is calculated based only on the posture of the boom 14. The rising ground cutting process is executed (see FIG. 4).

  In addition, although not shown, the controller 20 controls the camera driving unit 71 based on the input from the attitude angle reference device 3 so that the camera 70 faces vertically downward.

(Ground cutting processing)
Next, with reference to the side view of FIG. 1, the block diagram of FIG. 3, and the flowchart of FIG. 4, the ground cutting process executed by the crane control device 2 of this embodiment will be described.

  First, the operator moves the boom head 144 directly above the suspended load 90 by visual observation (step S1). In addition, you may move using the camera 70 grade | etc., Not visually.

Next, using the accelerometer 31 and the gyroscope 32 of the attitude angle reference device 3, the acceleration of the boom 14 in a state where the load of the suspended load 90 is not acting and the rotational angular velocity in the undulation direction are measured, and the controller 20 performs no load. The initial posture angle θ _t0 is calculated (step S2).

  Next, the slinging operator uses the wire 16 to hang the suspended load 90 on the hook 17 positioned immediately above the suspended load 90 (step S3).

  Then, after the slinging operation is completed, the operator presses the start button 51 to start the ground cutting process (step S4). The operator preferably inputs the approximate load value by the load input means 50 when the operator knows the approximate load value of the suspended load 90 in advance by looking at the work plan or the like.

  In the ground cutting process, first, the winch driving means is instructed to wind the wire 16 by the winch by a unit hoisting amount for a very short unit time Δt seconds (step S5). Here, the unit time Δt seconds is determined to such an extent that the unit hoisting amount becomes excessive and the position deviation of the boom head 144 does not increase. In addition, when the approximate value of the load is input to the controller 20, the time required for the winding to cause the deflection corresponding to the load can be predicted. Therefore, the initial unit time Δt seconds is increased, and the final unit is obtained. It is preferable to reduce the time Δt seconds.

Then, after detecting the attitude angle θ _tn of the boom 14 in a state where the load is applied to cause bending (step S6), the unit elevation D1 = ((θ _tn −θ _{t (n−1)} ) × K ) (Equation (1)) is calculated (step S7). θ _tn is a posture angle at a certain time tn, θ _{t (n−1)} is a posture angle at a time t (n−1) one before tn, and K is a conversion coefficient. The conversion coefficient K is a constant for converting the amount of increase in posture angle (θ _tn −θ _{t (n−1)} ) into the unit elevation D1, and can be obtained by calculation in advance, but is determined by experiment. You can also.

  Next, it is determined whether or not the calculated unit elevation D1 = 0 (step S8). If the unit raising amount D1 = 0 (YES in step S8), it is determined that the ground cutting is completed without increasing the bending, so the winch is wound up as it is, the suspended load is lifted to a predetermined position, and the process is terminated. (Step S9).

  On the other hand, if the unit elevation D1 = 0 but not D1> 0 (NO in step S8), it is determined that the grounding has not been completed because the flexure has increased, so the hoisting cylinder 15 is driven by the hoisting driving means. Then, the boom 14 is raised by the unit raising amount D1 (step S10).

  At the time of raising, the posture angle θ is also detected at the same time (step S11), and it is determined whether vertical vibration has occurred due to raising based on the time series of the detected values (step S12). . If vertical vibration has occurred (YES in step S12), it is determined that the ground cutting has been completed. Therefore, the winch is wound up as it is, the suspended load is lifted up to a predetermined position, and the process is terminated (step S9). On the other hand, if vertical vibration has not occurred (NO in step S12), it is determined that ground cutting has not been completed, so the process returns to step S5 and the winch is wound up again for Δt seconds (step S5).

  As described above, by repeating the unit hoisting and the unit hoisting executed in steps S5 to S12 a plurality of times, the suspended load 90 is automatically ground without swinging.

  That is, as shown in FIG. 5A, when the winch is wound up for Δt seconds (step S5), the load of the suspended load 90 acts on the boom 14 to bend, and the boom head 144 is moved from the point A. Move to point B.

  Then, as shown in FIG. 5B, by raising the boom 14 by the unit elevation D1 (step S10), the boom head 144 moves from the point B to the point C. The amount of horizontal movement of the boom head 144 is canceled, and the boom head 144 moves again directly above the suspended load 90.

  In this manner, the unit winding for Δt seconds (from point A to point B), the unit raising by the unit raising amount D1 corresponding to equation (1) and (from point B to point C) are repeated, and finally When the deflection corresponding to the load of the suspended load 90 occurs during winding or raising, the suspended load 90 is grounded without swinging.

(effect)
Next, effects of the crane control device 2 of this embodiment will be listed and described.

  (1) The crane control apparatus 2 of this embodiment is a crane control apparatus 2 including a boom 14 that can be raised and lowered and a hook 17 that is suspended from a boom head 144 at the tip of the boom 14 by a wire 16.

  Then, when the suspended load 90 is grounded, the wire 16 is wound up to increase the bending of the boom 14, and the necessary lifting amount of the boom for canceling the positional deviation of the boom head 144 at the tip of the boom based on the increase in the bending. Is calculated based only on the posture of the tip of the boom 14, and a controller 20 is provided as a movement control means for raising the boom 14 by the required amount of elevation.

  Thus, by calculating the required amount of elevation of the boom 14 based only on the actual posture of the boom 14 tip, it is possible to more reliably suppress the swinging of the load without being affected by the error of the load detector.

  Here, the required raising amount includes a unit raising amount D1, which will be described later. However, not only when the unit hoisting and unit hoisting are repeated a plurality of times, the raising amount corresponding to the load of the suspended load 90 is obtained by one hoisting. It also includes the amount of elevation when generating elevation.

  (2) The controller 20 as the movement control means causes the boom 14 to bend corresponding to the weight of the suspended load 90 by repeating the unit winding of the wire 16 and the unit elevation of the boom 14 a plurality of times. By excavating the suspended load 90, the run-out at the time of excavating can be reduced.

  That is, by reducing the unit hoisting amount each time, the movement amount of the boom head 144 based on the bending of the boom 14 each time is also reduced. Can be small.

  Furthermore, by repeating the unit hoisting and the unit hoisting, the ground cutting process can be fully automated while suppressing the swing of the load, so that the ground cutting process can be executed very quickly.

  (3) Further, the controller 20 as the movement control means calculates the required amount of elevation of the boom 14 based on the attitude angle θ measured by the attitude angle reference device 3 attached to the boom head 144 at the tip of the boom 14. Thus, the earth cutting process can be executed easily and reliably.

  That is, the required elevation amount and the unit elevation amount D1 can be calculated using an extremely simple calculation formula based on only the attitude angle θ accurately detected by the attitude angle reference device 3, and therefore, it is reliably suspended. The load 90 can be grounded.

  (4) Then, the controller 20 as the movement control means determines whether the suspended load 90 is grounded correctly based on the change in the attitude angle θ of the boom 14 while the wire 16 is being wound up, so that a load detector or the like is obtained. Without using a special detection device, it is possible to easily and surely capture the timing of ground cutting.

  That is, when the suspended load 90 is grounded while the wire 16 is being wound, the bending of the boom 14 does not change, so that it can be determined that the ground has been grounded by the change in the posture angle θ.

  (5) In addition, the controller 20 as the movement control means determines whether the suspended load 90 is ground-cut based on the vibration of the boom 14 while the boom 14 is raised, and thus a special detector such as a load detector is used. Without using a detection device, it is possible to easily and reliably capture the timing of ground cutting.

  That is, when the suspended load 90 is grounded while the boom 14 is raised, the boom 14 is vibrated with the grounded momentum, and the attitude angle θ is also vibrated accordingly.

  (6) Furthermore, when the controller 20 as the movement control means knows the approximate value of the load of the suspended load 90, the unit 20 of the wire 16 is wound each time in accordance with the size of the approximate value. And the frequency | count of a repetition process can be decreased by adjusting the unit raising amount of the boom 14. FIG.

  That is, by increasing the initial unit time Δt seconds and decreasing the final unit time Δt seconds, the number of repetitions of the entire process can be reduced and the ground can be quickly cut off. In addition, by reducing the final unit time Δt seconds, the final unit hoisting amount is reduced, so that the load swing at the time of ground cutting can be reduced.

  Hereinafter, the unloading process will be described using FIGS. 1, 3, 6, and 7, unlike the ground cutting process of the first embodiment. In addition, the description which attaches | subjects the same code | symbol about the description of the same thru | or equivalent part as the content demonstrated in Example 1, and demonstrates.

(Constitution)
First, the configuration will be described. Since the configuration of the machine and the configuration of the control are the same as those in the first embodiment, the description thereof will be omitted.

(Unloading process)
Next, the unloading process executed by the crane control apparatus 2 of this embodiment will be described with reference to the side view of FIG. 1, the block diagram of FIG. 3, and the flowchart of FIG.

  First, the operator moves the suspended load 90 to the landing point, and gradually lowers the wire 16 to land the suspended load 90 (step S21).

Next, using the accelerometer 31 and the gyro 32 of the attitude angle reference device 3, the acceleration of the boom 14 in the state where the load of the suspended load 90 corresponding to the bending is acting and the rotational angular velocity in the undulation direction are measured, and the controller In 20, an initial posture angle θ _t0 at no load is calculated (step S22).

  Then, the operator presses the start button 51 to start the unloading process (step S23). In addition, it is preferable to input the approximate load value by the load input means 50 as in the first embodiment. Or you may give the suspended load of the suspended state obtained with the overload prevention apparatus with which the crane is equipped.

  In the unloading process, first, the winch driving means is instructed to wind the wire 16 by the winch by a unit unwinding amount for a very short unit time Δt seconds (step S24).

Then, after detecting the posture angle θ _tn of the boom 14 in a state where the load is removed and the bending is returned by the amount of the wire 16 being wound (step S25), the unit fall amount D2 = ((θ _{t (n−1) )} −θ _tn ) × K) (Expression (2)) is calculated (step S26).

  Next, it is determined whether or not the calculated unit lodging amount D2 = 0 (step S27). If the unit fall amount D2 = 0 (YES in step S27), it is determined that the unloading has been completed since the deflection has not decreased, so that the slinging operator removes the wire 16 from the hook 17 and the process ends ( Step S28).

  On the other hand, if the unit collapse amount D2 = 0 but not D2> 0 (NO in step S27), the deflection is reduced and it is determined that the unloading has not been completed. Then, the boom 14 is fallen by the unit fall amount D2 (step S29), and the process returns to step S24 to wind down the winch again for Δt seconds (step S24). In the unloading process, as with the ground cutting process, the attitude angle θ is detected to determine the presence or absence of vibration (steps S30 and 31), but no vibration occurs in the unloading process (NO in step S31). .

  As described above, the suspended load 90 can be unloaded without bending the boom 14 by repeating the unit lowering and unit falling executed in steps S24 to S29 a plurality of times.

  That is, as shown in FIG. 7A, when the winch is unwound for Δt seconds (step S24), the load of the suspended load 90 acting on the boom 14 is reduced and the deflection is also reduced. Move from point A to point B.

  Then, as shown in FIG. 7B, the boom head 144 moves from the point B to the point C by causing the boom 14 to fall down by the unit fall amount D2 (step S29). The amount of horizontal movement of the boom head 144 is canceled, and the boom head 144 moves again directly above the suspended load 90.

  In this way, the unit 14 is bent down for Δt seconds (from point A to point B), the unit collapse by the unit fall amount D2 corresponding to equation (2), and the bending of the boom 14 is repeated (from point B to point C). By removing the ball after the ball has been removed, the hook 17 can be prevented from shaking.

(effect)
Next, effects of the crane control device 2 of this embodiment will be listed and described.

  (1) The crane control apparatus 2 according to the present embodiment is a crane control apparatus 2 including a boom 14 that can be raised and lowered, and a hook 17 that is suspended from a tip of the boom 14 by a wire 16.

  Then, when unloading the suspended load 90, the wire 16 is unwound to reduce the bending of the boom 14, and the necessary collapse of the boom 14 to cancel the positional deviation of the boom head 144 at the tip of the boom based on the decrease in the bending. A controller 20 is provided as a movement control means for calculating the amount based only on the posture of the tip of the boom 14 and falling the boom 14 by the required amount of fall.

  Thus, by calculating the necessary amount of collapse of the boom 14 based only on the actual posture of the boom 14 tip, the shake of the hook 17 can be more reliably suppressed without being affected by the error of the load detector.

  (2) Moreover, the controller 20 as a movement control means recovers the bending of the boom 14 corresponding to the weight of the suspended load 90 by repeating the unit lowering of the wire 16 and the unit collapse of the boom 14 a plurality of times. By unloading the suspended load 90, the swing of the hook 17 when unloaded can be reduced.

  Further, the controller 20 stores a load estimated value estimated based on the number of times of repeated processing or the amount of bending in the ground cutting process, and performs the repeated processing based on the load estimated value stored in the unloading process. By executing, unloading can be performed quickly and the swing of the hook 17 can be suppressed to be small.

  That is, in the unloading process, the number of repeated processes can be reduced by adjusting the unit lowering amount of the wire 16 and the unit collapse amount of the boom 14 in accordance with the magnitude of the estimated load value.

  Specifically, by increasing the initial unit time Δt seconds and decreasing the final unit time Δt seconds, the number of repetitions of the entire process can be reduced and the unloading can be performed quickly. In addition, by reducing the final unit time Δt seconds, the final unit lowering amount is reduced, so that the swing of the hook 17 during unloading can be reduced.

  In addition, since it is as substantially the same as Example 1 about another structure and an effect, description is abbreviate | omitted.

  The embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes that do not depart from the gist of the present invention are not limited to the present invention. included.

  For example, in the first and second embodiments, the case where the crane control device 2 includes the load input unit 50 has been described. However, the present invention is not limited to this, and the load input unit 50 may be omitted.

  Further, in the first embodiment, the case where the ground cutting is determined by the vibration of the boom 14 has been described. However, the present invention is not limited to this, and when the unit elevation is sufficiently small, the ground cutting determination by the vibration is executed. You don't have to.

  Further, in the first and second embodiments, the case where the required amount of elevation of the boom 14 is calculated based on the posture angle θ of the boom 14 measured by the posture angle reference device 3 is not limited to this. Any measuring device may be used as long as the required elevation can be calculated based on the posture of the boom 14.

  In the first and second embodiments, it has been described that the ground cutting process or the unloading process is executed after the start button 51 is pressed. However, the ground cutting process is performed using the hoisting or lowering operation signal and the change in the attitude angle. It is also possible to execute processing or unloading processing, and the start button 51 may not be provided.

  In addition, K in the expressions of the unit elevation D1 and the unit collapse amount D2 of the first and second embodiments is not limited to a constant value, but may be a variable value according to the crane posture obtained by the crane posture detection means 4.

D1 Unit lifting amount D2 Unit falling amount 1 Rough terrain crane 14 Boom 144 Boom head 15 Lifting cylinder 16 Wire 17 Hook 2 Crane control device 20 Controller (movement control means)
3 Attitude angle reference device 31 Accelerometer 32 Gyro 4 Crane attitude detection means 50 Load input means 51 Start button 6 Crane drive means 90 Suspended load

Claims (8)

A crane control device comprising a hoistable boom and a hook suspended by a wire from the tip of the boom,
When cutting a suspended load,
Winding the wire to increase the deflection of the boom, calculating the required amount of elevation of the boom for canceling the misalignment of the boom tip based on the increase of the deflection, based only on the attitude of the boom tip, and A crane control device comprising a movement control means for raising the boom by an elevation amount.   The movement control means repeats the unit winding of the wire and the unit elevation of the boom a plurality of times, thereby causing the boom to bend corresponding to the weight of the suspended load and cutting the suspended load. The crane control device according to claim 1.   The said movement control means calculates the required raising amount of the said boom based on the attitude angle measured with the attitude angle reference | standard apparatus attached to the front-end | tip of the said boom. Crane control device.   The crane control device according to claim 3, wherein the movement control means determines whether the suspended load is ground-cut based on a change in a posture angle of the boom during winding of the wire.   The said movement control means determines the right or wrong of the earthing of the said suspended load based on the vibration of the said boom during the raising of the said boom, The Claim 1 thru | or 4 characterized by the above-mentioned. The crane control device described.   When the movement control means knows the approximate value of the load of the suspended load, the unit hoisting amount of the wire and the unit hoisting amount of the boom are adjusted in accordance with the size of the approximate value. The crane control device according to any one of claims 2 to 5, wherein the control device is adjusted. A crane control device comprising a hoistable boom and a hook suspended by a wire from the tip of the boom,
When unloading suspended loads,
The necessary collapse amount of the boom is calculated based on only the posture of the boom tip to reduce the deflection of the boom by lowering the wire, and cancel the positional deviation of the boom tip based on the reduction of the deflection, and the necessary A crane control apparatus comprising movement control means for falling the boom by a fall amount. The movement control means includes
By unwinding the suspended load by recovering the bending of the boom corresponding to the weight of the suspended load by repeating the unit lowering of the wire and the unit collapse of the boom a plurality of times,
The load estimated value estimated in the ground cutting process according to any one of claims 1 to 6 is stored, and the iterative process is performed based on the load estimated value stored in the unloading process. The crane control device according to claim 7, wherein the crane control device is executed.