To provide a crane which, while suppressing a calculation amount when generating a conveying route for a cargo, can generate a conveying route with high accuracy.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; a joint generation part 32b for generating a plurality of joints P(n) which the cargo W can pass through within the workable range Ar; a joint adding part 32d for adding a plurality of joints P(n) which the cargo W can pass through in a specific area As in the workable range Ar; a route generation part 32e for generating a plurality of routes R(n) which connect adjacent joints P(n) in the plurality of joints P(n); and a conveying route determination part 32f for determining a conveying route CR for the cargo W, on the basis of a priority order in which a plurality of actuators of the crane 1 are actuated. The joint adding part 32d adds a joint Pa(n) to the specific area As after the joint generation part 32b generates joints P(n) by a reference setting.SELECTED DRAWING: Figure 9
【課題】荷物の搬送経路を生成する際の計算量を抑制しつつ、高精度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】荷物Wの重量Wgから作業可能範囲Arを設定する作業可能範囲設定部32aと、作業可能範囲Arにおいて荷物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、作業可能範囲Arの特定領域Asにおいて荷物Wが通過可能な複数の節点Pa(n)を追加する節点追加部32dと、複数の節点P(n)において隣接する節点P(n)間を結ぶ複数の経路R(n)を生成する経路生成部32e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、荷物Wの搬送経路CRを決定する搬送経路決定部32fと、を備え、節点追加部32dは、節点生成部32bが基準の設定で節点P(n)を生成した後に特定領域Asに節点Pa(n)を追加する。【選択図】図9
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 |