To provide a crane which, while suppressing a calculation amount, can generate a conveying route on which a cargo surely passes through a designated spatial position within a three-dimensional space of a workable range.SOLUTION: A crane comprises: a workable range setting part 32a for setting a workable range Ar; a joint generation part 32b for generating a plurality of joints P(n) which a cargo W can pass through; a route generation part 32c for generating a plurality of routes R(n) which connect adjacent joints P(n) by each joint P(n) generated by the joint generation part 32b; and a conveying route determination part 32d for determining a conveying route CR for the cargo W which meets predetermined conditions due to the plurality of generated joints P(n) and the plurality of generated routes R(n). The joint generation part 32b generates a passing joint Pp(n) at a specific position set within the workable range Ar, and generates a plurality of joints P(n) within the workable range Ar on the basis of the passing joint Pp(n), and the conveying route determination part 32d determines a conveying route CR that passes through the passing joint Pp(n).SELECTED DRAWING: Figure 8
【課題】作業可能範囲の三次元空間内に、計算量を抑制しつつ、指定した空間位置を荷物が確実に通過する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】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が通過可能な複数の節点P(n)を生成する節点生成部32bと、節点生成部32bで生成された節点P(n)毎に隣り合う節点P(n)間を結ぶ複数の経路R(n)、を生成する経路生成部32cと、生成された複数の節点P(n)と複数の経路R(n)から、所定の条件を満たす荷物Wの搬送経路CRを決定する搬送経路決定部32dと、を備え、節点生成部32bが、作業可能範囲Ar内に設定された特定位置に通過節点Pp(n)を生成し、通過節点Pp(n)を基準として作業可能範囲Ar内に複数の節点P(n)を生成し、搬送経路決定部32dが、通過節点Pp(n)を経由する搬送経路CRを決定する。【選択図】図8
CRANE AND ROUTE GENERATION SYSTEM FOR CRANE
クレーンおよびクレーンの経路生成システム
2020-08-31
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |