Abstract: A controller calculates a theoretical payout length X1(?) of a wire in a posture in which a hook block is raised, a theoretical payout length X2(?) of the wire in a posture in which the hook block is lying, dX1(?)/dt, and dX2(?)/dt, using a length L of the boom, A and B (first specified values) indicating coordinates of a hook hardware, a length K (second specified value) being a sum of a length of the hook block and a length of a hook hardware, and a derricking angle ? of the boom. The controller makes the boom stand and lie at a constant speed of F=d?/dt, and makes a winch drive at a wind-up speed of J×{dX1(?)/dt+dX2(?)/dt}/2 taking J×{X1(?)+X2(?)}/2 as a target value.

Abstract: Provided is a crane including: an operable function part; an actuator; a generation part; a filter part filtering a first control signal and generating a second control signal; a control part controlling the actuator based on the second control signal; and a computation part computing information relating to a flow quantity estimated as the operable function part moving, if a stop signal has been inputted into the actuator at the present position of the operable function part, from when the stop signal has been inputted into the actuator to when the operation of the operable function part stops. The control part outputs the stop signal to the actuator if information relating to the present position of the operable function part, information relating to a target stop position whereat the operable function part is to be stopped, and the information relating to the flow quantity satisfy prescribed conditions.

Abstract: This work machine includes: a telescoping actuator that moves a first boom in the telescoping direction with respect to a second boom; an electrical drive source that is disposed in a movable portion of the telescoping actuator; a first connection mechanism that switches a connection state between the telescoping actuator and the first boom on the basis of the power of the electrical drive source; a second connection mechanism that switches a connection state between the first boom and the second boom on the basis of the power of the electrical drive source; and a control device that controls operation of the electrical drive source. The control device executes motor assist processing of operating the electrical drive source when the first fixing pin and/or the second fixing pin is restored by biasing force.

Abstract: A lightweight and high-rigidity telescopic boom in which strain during manufacturing is suppressed is disclosed. In a telescopic boom, a plurality of booms forms a telescope structure, and the telescopic boom includes a boom fixing mechanism that fixes a top boom disposed relatively inside at a predetermined position with respect to a first intermediate boom disposed relatively outside. The boom fixing mechanism includes a boom fixing pin that is provided to the top boom and advances and retreats with respect to the first intermediate boom, a fixing boss that is provided to the first intermediate boom and into which the boom fixing pin is inserted and extracted, and a gap maintaining member that is provided to the fixing boss and protrudes outward to maintain a gap between the first intermediate boom and a second intermediate boom disposed further outside.

Abstract: The work machine includes: a telescoping actuator that moves a first boom in the telescoping direction with respect to a second boom; an electrical drive source that is disposed in a movable portion of the telescoping actuator; a first connection mechanism that switches a connection state between the telescoping actuator and the first boom on the basis of the power of the electrical drive source; a second connection mechanism that switches a connection state between the first boom and the second boom on the basis of the power of the electrical drive source; and a torque limiter that is disposed between the electrical drive source and the first connection mechanism or the second connection mechanism, the torque limiter maintaining, at a predetermined value or less, a load acting on a mechanical element constituting a power transmission path from the electrical drive source.

Abstract: A performance information server comprises: a request acquisition unit that acquires a request including machine-type information for a work machine, and a performance information request to indicate performance information for the work machine; a storage unit that stores specification data for the work machine in association with the type of the work machine; a control unit that acquires the machine type information included in the request and the performance information for the work machine, on the basis of the specification data corresponding to the machine type information; and a response presentation unit that presents a response including the performance information acquired by the control unit.

Abstract: 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.

Abstract: An operation assistance module operates in coordination with an operation control unit that controls the actions of a work machine, or with an operation control unit of an image generation application that controls the actions of an image of the work machine displayed on a display unit, wherein the operation assistance module has: a request issuance unit that transmits, to a performance information server, a request including machine type information for a work machine and a performance information request to indicate performance information for the work machine; a response acquisition unit that receives from the performance information server a response including the requested performance information; and an operation assistance unit that reflects the acquired performance information in the control of the operation control unit.

Abstract: This work machine comprises: a plurality of booms that extend and retract with the power of an actuator; a first pin that is moved by a first spring to connect adjacent booms and is moved by power of a motor to release a connection of the adjacent booms; a second pin that is moved by a second spring to connect the boom and the actuator and is moved by power of the motor to release a connection of the boom and the actuator; and a circuit that is configured so that when the first pin is moved by the first spring or when the second pin is moved by the second spring, a current based on motor idling caused by the movement of the first pin or second pin is not generated.

Abstract: Provided are a miswinding detection device and a miswinding detection method that make it possible to quickly and accurately detect miswinding. A miswinding detection device (1) has an outline detection unit (12) that detects the outline of a wire rope (3) in the rotation axis direction of a drum (2) in a captured image of the wire rope (3) as wound on the drum (2) and a determination unit (15) that calculates the degree of change in the detected outline in the radial direction of the drum (2) and determines miswinding of the wire rope (3) based on the magnitude of the calculated degree of change.

Abstract: This mobile crane comprises a boom and a traveling vehicle body for supporting the boom, and travels in a state where the boom is brought down forward. The crane has: a distance detection device which has an ultrasonic sensor disposed on the front side of the traveling vehicle body and which detects a distance between the ultrasonic sensor and a detection object; and a shielding member which is disposed between the ultrasonic sensor and the boom in a traveling state and which shields ultrasonic waves emitted from the ultrasonic sensor.

Abstract: A remote operation terminal of a crane provided with a GNSS receiver for calculating the current position of the tip of a boom: acquires attitude information of the crane and the current position of the tip of the boom from a control device of the crane; generates a three-dimensional image of the crane at the current time and planimetric features on the basis of the information acquired from the control device and three-dimensional information acquired by a three-dimensional information acquisition unit; displays, on a display device, the generated three-dimensional image at the position of and in the direction of a viewpoint input to a viewpoint changing operation tool; and generates a control signal for the crane so that the tip of the boom of the three-dimensional image moves in a moving direction input to a suspended load moving operation tool in the three-dimensional image of the crane displayed on the display device.

Abstract: A ground surface estimation method includes: a continuous region recognizing step for recognizing, when a difference in altitude value between a representative point of one grid and a representative point of another adjacent grid out of the plurality of grids is equal to or less than a threshold, the one grid and the other adjacent grid as a continuous region that is a region where the one grid and the other adjacent grid are continuous; and a ground surface estimation step for estimating a continuous region having the largest number of grids among the continuous regions as a ground surface.

Abstract: This work machine includes: an actuator that extends and retracts a telescopic boom; an electric drive source that is provided in the actuator and drives using power supplied from a power source; an operating unit that operates based on power of the electric drive source; an electric circuit capable of switching between a drive state in which a supply of power from the power source to the electric drive source is allowed to drive the electric drive source, and a braking state in which the supply of power from the power source to the electric drive source stops to generate a braking force to be applied to the electric drive source; and a control unit that controls the switching between the drive state and the braking state.

Abstract: The present invention provides a guide display device capable of recognizing a feature in a work area while distinguishing whether the feature is a moving body or not. In a guide display device of a crane, 3D maps are created for continuous frames; an altitude value for each grid in a 3D map that is created at time closest to the current time is obtained as a first altitude value; altitude values for respective corresponding grids in a predetermined number of 3D maps other than the 3D map that is created at time closest to the current time are obtained, and the average of the altitude values is calculated as a second altitude value; and it is determined that the feature is a moving body when the difference between the first altitude value and the second altitude value exceeds a predetermined threshold.

Abstract: An operation assistance module operates in coordination with an operation control unit that controls the actions of a work machine, or with an operation control unit of an image generation application that controls the actions of an image of the work machine displayed on a display unit, wherein the operation assistance module has: a request issuance unit that transmits, to a performance information server, a request including machine type information for a work machine and a performance information request to indicate performance information for the work machine; a response acquisition unit that receives from the performance information server a response including the requested performance information; and an operation assistance unit that reflects the acquired performance information in the control of the operation control unit.

Abstract: A maneuvering assistance system according to the present invention assists maneuvering of a work vehicle including a boom, said maneuvering assistance system comprising: a display that is transparent and that is capable of displaying an image; a generation unit that generates a virtual image indicating a target member including the boom and/or a member that moves together with the boom; and a control unit that displays the virtual image on the display in a superimposed manner on a landscape visible through the display in a mode in which a user of the display is capable of recognizing a position of the target member.

Abstract: 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.

Abstract: This crane is provided with a counterweight which includes an engaging part, a swivel body which is configured to be capable of swiveling, and a fixing unit which is provided on the swivel body, includes an engaged part that can connect with the engaging part, and can adopt a front position and a rear position; in each of the front position and the rear position, the fixing unit and the counterweight are linked by the engaged part being arranged in a position corresponding to that of the engaging part and being connected to the engaging part.

Abstract: Provided is a controller with high versatility that can automatically store or raise a boom and can be commonly used for various boom devices. The controller generates a function based on a length of a boom and a distance from a derrick fulcrum of the boom to an engaging member stored in a memory, and a depression angle of the engaging member with respect to the fulcrum. Then, the controller substitutes a derrick angle of the boom detected by a derrick angle sensor into the generated function to calculate a displacement distance from a distal end of the boom to the engaging member. The controller rotates a winch while raising and lowering the boom between a lowered position and a raised position such that the calculated displacement distance is a distance corresponding to an unwinding length of a wire detected by a length sensor.