| CPC B66C 13/22 (2013.01) [B66C 23/42 (2013.01); B66C 13/46 (2013.01); B66C 2700/0357 (2013.01); B66C 2700/08 (2013.01)] | 9 Claims |
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1. A crane, comprising:
a boom;
an actuator that drives the boom;
a generation part that generates a first control signal of the actuator;
a filter part that filters the first control signal to generate a second control signal;
a control part that controls the actuator based on the second control signal; and
a computation part that calculates, in a case where a stop signal is input to the actuator at a present position of the boom, information regarding a flow quantity estimated when the boom moves from after the stop signal is input to the actuator until an operation of the boom stops,
wherein, in the control based on the second control signal, the control part
acquires information regarding a present position of the boom, information regarding a target stop position, and information regarding the flow quantity,
outputs the stop signal to the actuator in a case where a difference between a limit movement quantity and a first movement quantity is equal to or less than a first flow quantity, and
stops the boom at the target stop position based on the stop signal,
wherein the information regarding the present position is a first operation quantity of the actuator corresponding to a movement quantity of the boom moved from a first reference position,
wherein the information regarding the target stop position is a limit operation quantity of the actuator corresponding to the limit movement quantity in which the boom can move from the first reference position,
wherein the first flow quantity is the flow quantity in which the boom moves from when the stop signal is input to the actuator until the boom stops,
wherein the first movement quantity is the movement quantity of the boom moved from a first reference position,
wherein the information regarding the flow quantity is a second operation quantity of the actuator corresponding to the estimated flow quantity,
wherein, in the control based on the second control signal, the control part outputs the stop signal to the actuator in a case where a difference between the limit operation quantity and the first operation quantity is equal to or less than the second operation quantity, and
wherein the generation part, the filter part, the control part, and the computation part are each implemented via at least one processor.
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