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公开(公告)号：US20230128542A1
公开(公告)日：2023-04-27
申请号：US17911288
申请日：2021-03-23
发明人： Iwao ISHIKAWA , Takayuki KOSAKA , Keita MASHIMA , Satoshi KUBOTA , Shigenori TANAKA , Masaya NAKAHARA , Koki NAKAHATA
摘要： Provided is a guide display device that prevents misidentification of the same feature as a plurality of different features or the ground surface even if an occlusion area occurs. A guide display device for a crane includes: a laser scanner that scans a suspended load and a ground surface from above the suspended load; and a data processing unit that calculates a representative point for each grid using the point cloud data acquired by the laser scanner, creates a three-dimensional map based on the representative points, and updates the three-dimensional map if the newly calculated representative point differs from the existing representative point. When an occlusion area, which is a shadow of the suspended load, occurs in the three-dimensional map, the occlusion area is not updated even if the newly calculated representative point and the existing representative point are different.
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公开(公告)号：US20230094743A1
公开(公告)日：2023-03-30
申请号：US17911029
申请日：2021-03-23
发明人： Iwao ISHIKAWA , Takayuki KOSAKA , Keita MASHIMA , Satoshi KUBOTA , Shigenori TANAKA , Masaya NAKAHARA , Koki NAKAHATA
摘要： Provided is a guide display device with which incorrect recognition of a place having small features as a ground surface having no features can be suppressed in generating and updating a three-dimensional map. A data processing unit (70): detects an edge (Eg) of a feature (E) on the basis of a result of subjecting image data captured by a camera (61) to image processing, and recognizes the feature (E) on the basis of the edge (Eg); and accumulates, from a predetermined number of frames from before the time at which the image data was captured, point group data (P) of a nearby range (Ma) of the edge (Eg) of the feature (E) that was recognized as a ground surface (F), and generates, on the basis of the accumulated point group data (P), a three-dimensional map (M) of the feature (E) the edge (Eg) of which has been recognized.
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公开(公告)号：US20230055311A1
公开(公告)日：2023-02-23
申请号：US17911315
申请日：2021-03-23
发明人： Iwao ISHIKAWA , Takayuki KOSAKA , Keita MASHIMA , Satoshi KUBOTA , Shigenori TANAKA , Masaya NAKAHARA , Koki NAKAHATA
摘要： Provided is a guide display device with which it is possible to track a hung load and display guide information. Also provided is a crane including such a guide display device. A guide display device of a crane including a data processing unit that creates a plurality of surfaces using point cloud data, which is acquired by a laser scanner from above a hung load and which includes the hung load, and creates a three-dimensional map according to the plurality of surfaces, the three-dimensional map being created for each prescribed period, wherein the data processing unit is configured to set a reference position at the hung load in the three-dimensional map and also set a current surface present within a prescribed distance from a past reference position as the surface of the hung load, thereby tracking the hung load in the three-dimensional map.
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公开(公告)号：US11542131B2
公开(公告)日：2023-01-03
申请号：US16968580
申请日：2019-02-14
申请人： TADANO LTD.
发明人： Masahide Zushi , Kazu Nagahama
摘要： This crane is configured by being provided with: a telescopic boom having an inside boom element and an outside boom element that overlap each other in an extendable and contractible manner; an extension/contraction actuator that displaces one boom element among the inside boom element and the outside boom element in the extending and contracting directions; at least one electric drive source provided in the extension/contraction actuator; a first coupling mechanism that operates on the basis of power from the electric drive source and that switches between the coupled state and the uncoupled state of the extension/contraction actuator and one of the boom elements; and a second coupling mechanism that operates on the basis of power from the electric drive source and that switches between the coupled state and the uncoupled state of the inside boom element and the outside boom element.
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公开(公告)号：US20220315391A1
公开(公告)日：2022-10-06
申请号：US17615756
申请日：2020-06-19
申请人： TADANO LTD.
发明人： Hiroyuki HAYASHI
摘要： An image system is for a crane in which a boom that can be raised and lowered is provided to a vehicle with a rotating base therebetween, and said image system is provided with a plurality of vehicle body cameras provided to the vehicle, an upper camera provided to the boom, a display device, and an image processing device. The image processing device acquires vicinity images of the crane captured by the vehicle body cameras and an upper image of the crane captured by the upper camera, converts the vicinity images into images looking downward from an overhead virtual viewpoint, connects the results, generates a bird's-eye-view image, and uses the display device to display a composite image in which a supplementary image of the upper image corresponding to a missing part in the bird's-eye-view image is superimposed on the missing part,
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公开(公告)号：US11434111B2
公开(公告)日：2022-09-06
申请号：US16603732
申请日：2018-06-13
申请人： TADANO LTD.
摘要： A crane calculates the resonance frequency of the fluctuation of a suspended load determined from the hanging length of a main wire rope or a sub wire rope, generates a control signal for actuators, in accordance with the operation of a turning operation tool, a hoisting operation tool and the like, and generates a filtering control signal for the actuators in which a frequency component in any frequency range has been attenuated from the control signal at any ratio in reference to the resonance frequency. When the actuators are controlled by the operation of the respective operation tool and when the actuators are controlled regardless of the operation of the respective operation tool, the frequency range to be attenuated and the attenuation ratio are switched to different settings.
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公开(公告)号：US20220169484A1
公开(公告)日：2022-06-02
申请号：US17600287
申请日：2020-04-03
申请人： TADANO LTD.
IPC分类号： B66C23/70
摘要： 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.
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公开(公告)号：US11267681B2
公开(公告)日：2022-03-08
申请号：US16976275
申请日：2019-02-28
申请人： TADANO LTD.
发明人： Tomokazu Goto , Shinsuke Kanda , Kazuma Mizuki
摘要： This crane is provided with: a operable functional unit; an operation unit for receiving an operation input for operating the operable functional unit; an actuator that drives the operable functional unit; a first generation unit that generates a first control signal for the actuator on the basis of the operation input; a switch unit that can be switched between a first state and a second state; a first filter unit that filters the first control signal to generate a second control signal when the switch unit is in the second state; and a control unit that controls the actuator on the basis of the first control signal when the switch unit is in the first state, and controls the actuator on the basis of the second control signal when the switch unit is in the second state.
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公开(公告)号：US20220055872A1
公开(公告)日：2022-02-24
申请号：US17434136
申请日：2020-02-21
IPC分类号： B66C13/20 , B66C23/00 , B66C23/86 , F15B15/20 , F15B11/05 , F15B11/042 , F15B11/044
摘要： A work vehicle includes: an operation tool that is operated by an operator; and a controller that determines a target flow rate for hydraulic oil fed to a hydraulic device on a basis of the amount of operation of the operation tool. The controller calculates a bleed-off target flow rate on a basis of the flow rate of hydraulic oil fed from a hydraulic oil pump and the target flow rate for hydraulic oil fed to the hydraulic device, calculates a bleed-off throttle differential pressure on a basis of a pressure of hydraulic oil fed from the hydraulic oil pump and a pressure of hydraulic oil in a hydraulic oil tank, calculates a bleed-off target opening area on a basis of the bleed-off target flow rate and the bleed-off throttle differential pressure, and controls a hydraulic oil control valve such that the bleed-off target opening area is achieved.
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公开(公告)号：US11155448B2
公开(公告)日：2021-10-26
申请号：US16977376
申请日：2019-03-08
申请人： TADANO LTD.
发明人： Hiroyuki Hayashi
摘要： There is provided a crane for enabling easily carrying out an operation of a boom such as raising and lowering, telescoping, or turning, by displaying a range wherein a hook may be moved or may not be moved in a direction approaching a vehicle part of the crane. The crane includes: a vehicle; a boom positioned upon the vehicle; a wire rope being suspended from a base end side of the boom toward a leading end side thereof; a hook being hung from the leading end side of the boom and raised and lowered by winding and unwinding the wire rope; a camera for photographing an image including the hook; a display device for displaying the image; and a control device connected to the camera and the display device, the control device being for processing information. On the basis of the length of the boom or the height of the hook, the control device computes an inner boundary which is a boundary between a range where the hook may move, and a range where the hook may not move, in a direction approaching the vehicle. The display device displays an image wherein images indicating the inner boundary are superimposed on the image photographed with the camera.
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