A lifting unit for a vehicle can include a mounting assembly configured to pivotally couple to a lifting boom of the vehicle, a coupler assembly configured to releasably couple with equipment positionable by the lifting unit, and a rotary actuator assembly coupled between the mounting assembly and the coupler assembly. The mounting assembly includes a mount, a travelling frame coupled to the mount, and an extension actuator configured to displace the travelling frame along an extension axis relative to the mount. The rotary actuator assembly is configured to rotate the coupler assembly about a rotational axis.

A lifting unit for a vehicle can include a mounting assembly configured to pivotally couple to a lifting boom of the vehicle, a coupler assembly configured to releasably couple with equipment positionable by the lifting unit, and a rotary actuator assembly coupled between the mounting assembly and the coupler assembly. The mounting assembly includes a mount, a travelling frame coupled to the mount, and an extension actuator configured to displace the travelling frame along an extension axis relative to the mount. The rotary actuator assembly is configured to rotate the coupler assembly about a rotational axis.

A limited rotation slewing ring crane may include a pedestal, a column rotatively coupled, about a first rotation axis, to the pedestal by a slewing ring rotative coupling, and stops for limiting the relative rotation of the column with respect to the pedestal. The crane may also include a rotative sensor adapted to measure a rotation angle of the column with respect to the pedestal. The rotation sensor may include a tubular body axially extending from the base of the column, a stationary body connected to the pedestal and a wheel. A second rotation axis of the wheel may be offset with respect to a first rotation axis of the column with respect to the pedestal.

To provide a crane capable of stably traveling a transporter capable of supporting a counterweight in cooperation with slewing of an upper slewing body. The crane has a connecting body connecting the self-propelled transporter and the upper traveling body, a transporter angle detecting unit, and a steering angle setting unit. A transporter connecting portion of the connecting body is rotatably connected to the self-propelled transporter about a rotation center axis, and moves relative to a slewing body connecting portion whereby the relative distance between the self-propelled transporter and the upper slewing body is variable. The steering angle setting unit sets the steering angle of the wheels of the self-propelled transporter according to the transporter angle detected by the transporter angle detecting unit so that the transporter angle approaches 90 degrees.

To provide a crane capable of stably traveling a transporter capable of supporting a counterweight in cooperation with slewing of an upper slewing body. The crane has a connecting body connecting the self-propelled transporter and the upper traveling body, a transporter angle detecting unit, and a steering angle setting unit. A transporter connecting portion of the connecting body is rotatably connected to the self-propelled transporter about a rotation center axis, and moves relative to a slewing body connecting portion whereby the relative distance between the self-propelled transporter and the upper slewing body is variable. The steering angle setting unit sets the steering angle of the wheels of the self-propelled transporter according to the transporter angle detected by the transporter angle detecting unit so that the transporter angle approaches 90 degrees.

The present invention addresses the problem of providing a crane that can ascertain the state of an area surrounding a hook or a cargo suspended on the hook and that can simultaneously ascertain a braking distance during stopping operations. The invention comprises: drive devices 31-34 that move a boom 7; a control apparatus 20 that controls the operation state of the drive devices 31-34; a camera 41 that photographs, from the distal end portion of the boom 7, an area below said portion; and image display devices 43 and 65 that display the image photographed by the camera 41. For the purpose of stopping the movement of the boom 7, the control apparatus 20 filters basic control signals S for the drive devices 31-34 to create filtered control signals Sf, controls the drive devices 31-34 on the basis of the filtered control signals Sf, estimates the braking distance for the boom 7, and displays the same on the image display devices 43 and 65.

This crane is provided with: a operable function unit; an operation unit; an actuator; a generation unit which generates a first control signal for the actuator on the basis of an operation input; a plurality of wire ropes; a plurality of hooks suspended from a leading end section of a boom by the plurality of wire ropes, respectively; a hook detection unit which detects, from among the plurality of hooks, an unused hook suspending no load; a calculation unit which calculates a resonance frequency for a wire rope, among the plurality of wire ropes, that suspends the detected unused hook; a filter unit which generates a filter on the basis of the resonance frequency and generates a second control signal by filtering the first control signal using the filter; and a control unit which controls the actuator on the basis of the second control signal.

This crane is provided with: a operable function unit; an operation unit; an actuator; a generation unit which generates a first control signal for the actuator on the basis of an operation input; a plurality of wire ropes; a plurality of hooks suspended from a leading end section of a boom by the plurality of wire ropes, respectively; a hook detection unit which detects, from among the plurality of hooks, an unused hook suspending no load; a calculation unit which calculates a resonance frequency for a wire rope, among the plurality of wire ropes, that suspends the detected unused hook; a filter unit which generates a filter on the basis of the resonance frequency and generates a second control signal by filtering the first control signal using the filter; and a control unit which controls the actuator on the basis of the second control signal.

A system for performing interactions within a physical environment including: a robot base that undergoes movement relative to the environment; a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a first tracking system that measures a robot base position; a second tracking system that measures movement of the robot base; and, a control system that uses a robot base position to at least partially control the robot arm to move the end effector along an end effector path, wherein the control system: determines the robot base position at least in part using signals from the first tracking system; and, in the event of failure of the first tracking system: determines a robot base position using signals from the second tracking system; and, controls the robot arm to move the end effector along the end effector path at a reduced end effector speed.

A mobile crane includes an undercarriage, a superstructure having a crane boom and a crane cable, and a plurality of support carriers for stabilizing the undercarriage in a correct operating state. In order to set-up the mobile crane, a support carrier is disposed in a disassembled state separately from the mobile crane in a waiting position. The support carrier is connected to the crane cable of the crane boom and is shifted between the waiting position and a receiving position which is disposed on the undercarriage. The support carrier is moved by the crane boom between the receiving position and a coupling position in a support box of the undercarriage in such a manner that the support carrier is guided in the support box at least in a substantially tension-free manner. A controller is configured to carry out the set-up method.