Abstract: The present invention addresses the problem of providing: a crane control method whereby, during automatic transportation of a load along a preset transport route using a crane, it is possible to reliably transport the load along the route; and a crane that can be controlled by the crane control method. A control device (32) calculates target speed signals (VU), (VW), (VR) for designating the target hoisting speed and the target rotational speed of a boom (9) and the target winding/unwinding speed of main wire rope (14) or sub wire rope (16), calculates the maximum speeds (VUmax), (VWmax), (VRmax) of the hoisting and rotation of the boom (9) and winding/unwinding of the main wire rope (14) or the sub wire rope (16), and, if a target speed exceeds the corresponding maximum speed, controls the crane (1) by multiplying the target speed signal (VU), (VW), (VR) by a coefficient and restricting the target speed signal (VU), (VW), (VR) to be less than the corresponding maximum speed.

Abstract: The present invention addresses the problem of providing a crane capable of detecting a suspension location of a payload, in order to enable accurate positioning of a hook at the suspension location of the payload. This crane comprises: a freely derricking boom provided to a swivel; and a sub-hook block and a sub-hook suspendedly provided from the boom. The crane also comprises: a boom camera capable of imaging a payload that is to be carried by the crane; hook cameras capable of imaging the payload from different viewpoints than the boom camera; and a control device for controlling the crane. The control device acquires images obtained by imaging the payload with the boom camera and the hook cameras, runs image processing on the images, and calculates a suspension location of the payload.

Abstract: The crane device includes: a camera provided on a hook; a camera control unit which controls an image-capturing operation of the camera on the basis of control information for operating a 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 a 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.

Abstract: A crane that controls an actuator on the basis of a target speed signal Vd of cargo W includes: a control device having a feedback control unit that calculates a target path signal Pd? of the cargo from the target speed signal Vd by integration to correct the target path signal Pd? on the basis of the differential of current position coordinates p(n) of the cargo W corresponding to the target path signal Pd?; and a feedforward control unit that adjusts a weight coefficient of a transfer function G(s) expressing the characteristics of the crane on the basis of a target path signal Pd1? that has been corrected. The target path signal Pd1? corrected by the feedback control unit is corrected using the transfer function G(s) for which the weight coefficient has been adjusted by the feedforward control unit.

Abstract: A crane is provided. The crane includes an acceleration sensor that detects the acceleration of a load, wherein a target velocity signal is converted into target location coordinates of the load, current location coordinates of a boom are calculated from a slewing angle, a luffing angle, and an expansion/contraction length, the spring constant of a wire rope is calculated from the previously calculated location of the load from a unit time earlier, the current location coordinates of the boom, and the current accelerations of the load as detected by the acceleration sensor, target location coordinates of the boom are calculated from the accelerations, the spring constant, and the target location coordinates of the load, and an actuator operation signal is generated.

Abstract: A target trajectory signal is calculated by integrating a target speed signal inputted from a suspended-load moving operation tool and passing the integrated signal through a lowpass filter. Target position coordinates of a load are calculated from the target trajectory signal. The current position coordinates of a leading end of a boom are calculated from the attitude of a crane device. An unwinding amount of a wire rope is calculated from the current position coordinates of the load and the current position coordinates of the boom. A direction vector of the wire rope is calculated from the current position coordinates of the load and the target position coordinates of the load. Target position coordinates of the boom are calculated from the unwinding amount and the direction vector. An actuation signal of an actuator is generated from the target position coordinates of the boom.

Abstract: A crane is provided. A slewing base camera detects a load W that is suspended by a wire rope, the current coordinate location of the load is calculated from the location of the detected load, the current coordinate location of a tip end of a boom is calculated from the position of a crane, a target velocity signal that was inputted from a manipulation tool is converted into a target coordinate location of the load, a wire rope direction vector is calculated from the current coordinate location of the load and the target coordinate location of the load, a target location of the tip end of the boom for the target coordinate location of the load is calculated from a wire rope reel-out amount and the wire rope direction vector, and an actuator operation signal is generated.

Abstract: The invention addresses the problem of providing a crane and a crane control method that can suppress load swaying when controlling an actuator on the basis of the load.