To provide a crane which, while suppressing a calculation amount when generating a conveying route for a cargo within a three-dimensional space of a workable range, can generate an efficient conveying route.SOLUTION: A crane comprises: a workable range setting part 32a for setting a workable range Ar according to a weight Wg of a cargo W to be conveyed, in which the cargo W can be conveyed; a route generation part 32c for acquiring a lifting position Ps and a suspending position Pe of the cargo W, and generating a plurality of joints P(n) which the cargo W can pass through and a plurality of routes R(n) which connect adjacent joints P(n), in a turning range of the smaller turning angle between turning angles in one direction and in the other direction when the boom 9 is turned from the lifting position PS to the suspending position Pe, and in a limited range based on restrictions on a posture of the boom 9; and a conveying route determination part 32d for determining a conveying route for the cargo W which meets predetermined conditions, on the basis of a priority order in which a plurality of actuators of the crane 1 are actuated due to the plurality of generated joints P(n) and the plurality of generated routes R(n).SELECTED DRAWING: Figure 4

    【課題】作業可能範囲の三次元空間内に荷物の搬送経路を生成する際の計算量を抑制しつつ、効率的な搬送経路を生成することができるクレーンを提供する。【解決手段】搬送する荷物Wの重量Wgから荷物Wを搬送可能な作業可能範囲Arを設定する作業可能範囲設定部32aと、荷物Wの吊り上げ位置Psと吊り下し位置Peとを取得し、吊り上げ位置Psから吊り下し位置Peまでブーム9を旋回させる場合の一方向への旋回角度と他方向への旋回角度のうち小さい方の旋回範囲であって、ブーム9の姿勢の制限に基づいて限定された範囲に荷物Wが通過可能な複数の節点P(n)と、複数の節点P(n)間を結ぶ複数の経路R(n)と、を生成する経路生成部32cと、複数の節点P(n)と複数の経路R(n)から、クレーン1の複数のアクチュエータを作動させる優先順位に基づいて、所定の条件を満たす荷物Wの搬送経路を決定する搬送経路決定部32dと、を備える。【選択図】図4


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    Title :

    CRANE AND ROUTE GENERATION SYSTEM FOR CRANE


    Additional title:

    クレーンおよびクレーンの経路生成システム


    Contributors:

    Publication date :

    2020-08-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES



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