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1. 发明公开

EP3868699A1 CRANE DEVICE 有权
公开(公告)号：EP3868699A1
公开(公告)日：2021-08-25
申请号：EP19872638.2
申请日：2019-10-16
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa
IPC分类号： B66C13/00
摘要： Provided is a crane device which is capable of performing highly accurate installation work without being influenced by a shape of baggage and an installation condition of the baggage.
The crane device, which actuates a carrying element including a boom and a hook suspended from the boom and carries the baggage to a carrying destination, includes: a camera provided on the hook; a camera control unit which controls an image-capturing operation of the camera on the basis of control information for operating the carrying element; and an image processing unit which processes a captured image that has been captured with the camera. The camera captures an image of the carrying destination of the baggage. The image processing unit takes, as a reference area, an arbitrary area in the image captured with the camera, generates a correction image obtained by projecting the captured image onto a plane that is parallel to the reference area and is perpendicular to an arbitrary direction with the baggage used as a viewpoint, calculates a current position of the baggage in the correction image, and displays the current position in a visually recognizable mode.

2. 发明公开

EP4234472A1 CRANE, CRANE CHARACTERISTIC CHANGE DETERMINATION DEVICE, AND CRANE CHARACTERISTIC CHANGE DETERMINATION SYSTEM 审中-实审
公开(公告)号：EP4234472A1
公开(公告)日：2023-08-30
申请号：EP21882816.8
申请日：2021-10-19
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa
IPC分类号： B66C15/06 , B66C13/00 , B66C23/06
摘要： This crane is capable of transporting cargo and comprises: a feedback control unit for feedback control of the crane or an object to be controlled that is a component of the crane; a learning model that has a weighting factor and learns the characteristics of the object to be controlled in real time by adjusting the weighting factor on the basis of a teacher signal including a first signal generated by the feedback control unit; and a communication control unit that transmits the weighting factor to an external device that is communicatively connected to the crane.

3. 发明公开

EP4043967A1 CONTROL SYSTEM, AND CRANE 审中-实审
公开(公告)号：EP4043967A1
公开(公告)日：2022-08-17
申请号：EP20873427.7
申请日：2020-10-12
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa
IPC分类号： G05B11/32 , B66C13/22 , G05B13/02 , G05B13/04
摘要： This control system for controlling an actuator of a crane is provided with a signal processing unit for generating a signal related to a target operating amount of the actuator, a feedback control unit for controlling the actuator on the basis of the difference between the signal relating to the target operating amount, and a fed-back signal relating to the operating amount of the actuator, and a feed-forward control unit which controls the actuator on the basis of the signal relating to the target operating amount, in cooperation with the feedback control unit, and learns the characteristics of the actuator by adjusting a weighting factor on the basis of a teaching signal, wherein the signal processing unit converts an input signal into the signal relating to the target operating amount by removing a pulse-shaped component from the input signal.

4. 发明公开

EP4036045A1 CONTROL SYSTEM AND WORK MACHINE 无效
公开(公告)号：EP4036045A1
公开(公告)日：2022-08-03
申请号：EP20869233.5
申请日：2020-09-25
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa
IPC分类号： B66C13/46 , B66C23/00
摘要： The present invention pertains to a control system incorporated in a work machine having an arm section including a boom that is freely raised and lowered, the control system including: an image-capturing unit that is provided at a distal end of the arm section and captures an image of an area below; a display unit that displays an image captured by the image-capturing unit; and a control unit that causes the display unit to display position-related information regarding a position directly below the distal end of the arm section so as to be superimposed on the image.

5. 发明公开

EP3925918A1 DYNAMIC LIFT-OFF CONTROL DEVICE, AND CRANE 审中-公开
公开(公告)号：EP3925918A1
公开(公告)日：2021-12-22
申请号：EP20755056.7
申请日：2020-02-14
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa , YAMAUCHI, Hiroshi , NAKAOKA, Shohei
IPC分类号： B66C13/46
摘要： The present invention provides a dynamic lift-off control device and a crane with which it is possible to quickly perform dynamic lift-off of a suspended load while suppressing vibration of the load. This dynamic lift-off control device D comprises: a boom (14); a winch (13); a load weight measurement means (22); and a controller (40) serving as a control unit, the controller (40) controlling operations of the boom (14) and the winch (13), deriving, when performing dynamic lift-off of the suspended load by hoisting the winch (13), an amount of change in a derricking angle of the boom (14) on the basis of the time change in the measured load weight, and raising the boom (14) so as to compensate for the amount of change.

6. 发明公开

EP4163244A1 DYNAMIC LIFT-OFF CONTROL DEVICE, AND CRANE 审中-实审
公开(公告)号：EP4163244A1
公开(公告)日：2023-04-12
申请号：EP21816832.6
申请日：2021-06-03
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa
IPC分类号： B66C13/46 , B66C23/00
摘要： This dynamic lift-off control device is mounted in a crane including a boom and a winch that winds a wire rope, the dynamic lift-off control device controlling dynamic lift-off of a suspended load, wherein the dynamic lift-off device comprises a rotation detection unit that detects the rotation speed of the winch, a pressure detection unit that detects a pressure value of a derricking cylinder that raises/lowers the boom, an estimation unit that estimates the derricking angular velocity of the boom on the basis of the respective detection values from the rotation detection unit and the pressure detection unit, and a control unit that controls the derricking operation of the boom on the basis of the estimated value estimated by the estimation unit and a target derricking angular velocity of the boom that is calculated on the basis of the detection value from the pressure detection unit.

7. 发明公开

EP4082957A1 WORK MACHINE CONTROL SYSTEM AND CRANE 审中-实审
公开(公告)号：EP4082957A1
公开(公告)日：2022-11-02
申请号：EP20906711.5
申请日：2020-12-24
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa
IPC分类号： B66C13/22 , B66C23/00
摘要： This control system comprises: a signal processing unit generating a signal related to the target operating amount of an actuator; a feedback control unit that controls the actuator based on the difference between the signal related to the target operating amount and a signal related to the fed-back operating amount; a feed-forward control unit that controls the actuator based on the signal related to the target operating amount in cooperation with the feedback control unit, and learns the characteristics of the actuator by adjusting a weighting factor based on a teacher signal; and a calculation unit that calculates information related to the deflection of the work machine. The signal processing unit corrects intermediate information, which is generated in the process of generating the signal related to the target operating amount, based on the information related to the deflection, and generates the signal related to the target operating amount.

8. 发明公开

EP3828120A1 CRANE AND CONTROL SYSTEM FOR CRANE 有权
公开(公告)号：EP3828120A1
公开(公告)日：2021-06-02
申请号：EP19839926.3
申请日：2019-07-18
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa
IPC分类号： B66C13/22
摘要： The present invention addresses the problem of providing a crane that, when controlling an actuator with cargo as a reference, can move the cargo in accordance with the intention of the operator while suppressing vibration of the cargo by learning the dynamic characteristics of the crane from the movement of the cargo. A crane (1) that controls an actuator on the basis of a target speed signal Vd of cargo W comprises: a control device (31) having a feedback control unit (42a) that calculates a target path signal Pdα of the cargo from the target speed signal Vd by integration to correct the target path signal Pdα on the basis of the differential of current position coordinates p(n) of the cargo W corresponding to the target path signal Pdα; and a feedforward control unit (42b) that adjusts a weight coefficient of a transfer function G(s) expressing the characteristics of the crane (1) on the basis of a target path signal Pd1α that has been corrected. The target path signal Pd1α corrected by the feedback control unit (42a) is corrected using the transfer function G(s) for which the weight coefficient has been adjusted by the feedforward control unit (42b).

9. 发明公开

EP4219383A1 CONTROL SYSTEM FOR CRANE 有权
公开(公告)号：EP4219383A1
公开(公告)日：2023-08-02
申请号：EP23166434.3
申请日：2019-07-18
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa
IPC分类号： B66C13/22 , B66C13/06 , B66C23/88 , B66C13/46 , B66C13/48 , B66C23/42
摘要： A crane (1) that controls an actuator on the basis of a target speed signal Vd of cargo W comprises: a control device (31) having a feedback control unit (42a) that calculates a target path signal Pdα of the cargo from the target speed signal Vd by integration to correct the target path signal Pdα on the basis of the differential of current position coordinates p(n) of the cargo W corresponding to the target path signal Pdα; and a feedforward control unit (42b) that adjusts a weight coefficient of a transfer function G(s) expressing the characteristics of the crane (1) on the basis of a target path signal Pd1α that has been corrected. The target path signal Pd1α corrected by the feedback control unit (42a) is corrected using the transfer function G(s) for which the weight coefficient has been adjusted by the feedforward control unit (42b).

10. 发明公开

EP4163245A1 DYNAMIC LIFT-OFF CONTROL DEVICE, AND CRANE 审中-实审
公开(公告)号：EP4163245A1
公开(公告)日：2023-04-12
申请号：EP21817598.2
申请日：2021-06-03
申请人： TADANO LTD.
发明人： MINAMI, Yoshimasa
IPC分类号： B66C13/46 , B66C23/00
摘要： A dynamic lift-off control device that is mounted on a crane including a boom and a winch for winding a wire rope and that controls dynamic lift-off of a suspended load, wherein: the dynamic lift-off control device comprises a load detection unit that detects a load acting on the boom, and a control unit that controls a winding action of the winch and a hoisting action of the boom; and the control unit controls the hoisting of the boom by using a control signal, which is generated on the basis of the change over time in the value detected by the load detection unit and to which a filter for attenuating a frequency component in a prescribed range, to suppress swaying of the suspended load is applied.

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