US 11,702,325 B2
Method for controlling crane, and crane
Shinsuke Kanda, Kagawa (JP); Shoji Nishimoto, Kagawa (JP); and Kazuma Mizuki, Kagawa (JP)
Assigned to TADANO LTD., Kagawa (JP)
Appl. No. 16/650,666
Filed by TADANO LTD., Kagawa (JP)
PCT Filed Oct. 3, 2018, PCT No. PCT/JP2018/037072
§ 371(c)(1), (2) Date Mar. 25, 2020,
PCT Pub. No. WO2019/069991, PCT Pub. Date Apr. 11, 2019.
Claims priority of application No. 2017-194454 (JP), filed on Oct. 4, 2017.
Prior Publication US 2020/0247647 A1, Aug. 6, 2020
Int. Cl. B66C 23/58 (2006.01); B66C 13/18 (2006.01); B66C 23/42 (2006.01); B66C 23/88 (2006.01); B66C 13/46 (2006.01)
CPC B66C 23/585 (2013.01) [B66C 13/18 (2013.01); B66C 13/46 (2013.01); B66C 23/42 (2013.01); B66C 23/88 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A method of controlling a working machine that raises or lowers a load using a plurality of sling wires suspended by a hook at an end of a wire rope suspended on a telescopic boom or jib, detects a tension of the wire rope using a detection section, and determines plane coordinates of the hook from an image capturing in a vertically-downward direction at predetermined intervals by a camera provided on the leading end of the telescopic boom or the leading end of the jib, the method comprising:
pulling in the wire rope until determining that the wire rope has reached a tensioned state in a state where the load is suspended by the plurality of sling wires, and before lift-off of the load;
moving a leading end of the telescopic boom or jib to same plane coordinates as those of the hook at a time of determining the tensioned state, wherein the plane coordinates are calculated by analyzing the image captured by the camera; and
repeating the determining and the moving.