A method for automatic control of a crane having a boom operating in a working circular area and at least one collision avoidance system detecting a risk of collision on a right side and a left side of the boom. The automatic control method, during a boom automatic and autonomous orientation step, serves to orient the boom according to an orientation direction, which is opposite to the side of the boom for which the risk of collision is detected, from a starting angular position, where the risk of collision with an obstacle has been detected, up to a first angular position for which the risk of collision is no longer detected, without the crane having need to communicate with an external system.

Tower crane (1) comprising a tower (2) on which a rotating portion (3) is pivotally mounted and configurable between a service configuration in which the rotating portion can be rotatably driven by means of a motorized orientation system (40), and an out of service configuration in which the rotating portion is rotatably released to be able to be oriented in the direction of the wind, where a control/command unit (5) activates a monitoring mode in the out of service configuration to detect, depending on variations in the angle of orientation or the angular speed of the rotating portion, if the rotating portion is in one of the following instability states: an autorotation state corresponding to a rotary movement of the rotating portion in a given direction over at least one complete turn; or an oscillation state corresponding to a back and forth movement of the rotating portion about the orientation axis.

Tower crane (1) comprising a tower (2) on which a rotating portion (3) is pivotally mounted and configurable between a service configuration in which the rotating portion can be rotatably driven by means of a motorized orientation system (40), and an out of service configuration in which the rotating portion is rotatably released to be able to be oriented in the direction of the wind, where a control/command unit (5) activates a monitoring mode in the out of service configuration to detect, depending on variations in the angle of orientation or the angular speed of the rotating portion, if the rotating portion is in one of the following instability states: an autorotation state corresponding to a rotary movement of the rotating portion in a given direction over at least one complete turn; or an oscillation state corresponding to a back and forth movement of the rotating portion about the orientation axis.

A tower crane includes a tower on which a rotating portion is pivotally mounted and configurable between a service configuration in which the rotating portion can be rotatably driven by a motorized orientation system, and an out of service configuration in which the rotating portion is rotatably released to be able to be oriented in the direction of the wind. A control/command unit activates a monitoring mode in the out of service configuration to detect, depending on variations in the angle of orientation or the angular speed of the rotating portion, if the rotating portion is in one of the following movement states: an autorotation state corresponding to a rotary movement of the rotating portion in a given direction over at least one complete turn; or an oscillation state corresponding to a back and forth movement of the rotating portion about the orientation axis.

A tower crane includes a tower on which a rotating portion is pivotally mounted and configurable between a service configuration in which the rotating portion can be rotatably driven by a motorized orientation system, and an out of service configuration in which the rotating portion is rotatably released to be able to be oriented in the direction of the wind. A control/command unit activates a monitoring mode in the out of service configuration to detect, depending on variations in the angle of orientation or the angular speed of the rotating portion, if the rotating portion is in one of the following movement states: an autorotation state corresponding to a rotary movement of the rotating portion in a given direction over at least one complete turn; or an oscillation state corresponding to a back and forth movement of the rotating portion about the orientation axis.

In this boom slewing angle detection device, a slewing angle detecting gear is attached to an end of a shaft of a pinion gear that meshes with a ring gear formed on a slewing bearing rotatably supporting a crane boom, and the amount of rotation of the slewing angle detecting gear is detected by a slewing-angle-detecting proximity sensor. The slewing angle detecting gear is not meshed with the ring gear or the pinion gear, which compose a slewing force transmission mechanism; thus, grease, and the like, do not adhere to the slewing angle detecting gear, and external teeth for detection of the slewing angle detecting gear are not subject to wear, so accurate slewing angle detection is possible.

An obstacle detection device detects an obstacle existing in one or more monitoring areas that are set to correspond to a movable part. A state determination unit determines whether a state of the actuator is a standby state or a suspended state under circumstances where the actuator is at a stop. On determination that the state of the actuator is the standby state, a display control unit executes automatic image output that is processing for causing a display device to display a monitoring image corresponding to a monitoring area in which the obstacle is detected out of the one or more monitoring areas. On determination that the state of the actuator is the suspended state, the display control unit stops the execution of the automatic image output.

An obstacle detection device detects an obstacle existing in one or more monitoring areas that are set to correspond to a movable part. A state determination unit determines whether a state of the actuator is a standby state or a suspended state under circumstances where the actuator is at a stop. On determination that the state of the actuator is the standby state, a display control unit executes automatic image output that is processing for causing a display device to display a monitoring image corresponding to a monitoring area in which the obstacle is detected out of the one or more monitoring areas. On determination that the state of the actuator is the suspended state, the display control unit stops the execution of the automatic image output.

Provided are a crane and a path generation system that can generate a transport path capable of avoiding an obstacle even. if the obstacle moves. The crane (1) includes a boom (7) and a hook (10) suspended from the boom (7) by a wire rope (8) and transports a load (W) in a state in which the load W is suspended from the hook (10), the crane (1) being equipped with a sensor (camera (55)) that detects the position of an obstacle (worker X), and a control device (20) that generates a transport path CR by arranging a plurality of node points P(n) in an area containing a lifting-up point (Ps) and a lifting-down point (Pe) of the load W and connecting the node points P(n). The control device (20) generates a new transport path (CR) after increasing the number of node points P(n) arranged around the obstacle (X) when the sensor (55) detects movement of the obstacle (X).

Provided are a crane and a path generation system that can generate a transport path capable of avoiding an obstacle even. if the obstacle moves. The crane (1) includes a boom (7) and a hook (10) suspended from the boom (7) by a wire rope (8) and transports a load (W) in a state in which the load W is suspended from the hook (10), the crane (1) being equipped with a sensor (camera (55)) that detects the position of an obstacle (worker X), and a control device (20) that generates a transport path CR by arranging a plurality of node points P(n) in an area containing a lifting-up point (Ps) and a lifting-down point (Pe) of the load W and connecting the node points P(n). The control device (20) generates a new transport path (CR) after increasing the number of node points P(n) arranged around the obstacle (X) when the sensor (55) detects movement of the obstacle (X).