To provide a searching method and a searching program of a moving route, and a crane control system reducing the time required for searching.SOLUTION: A method searches for a movement route where a lifting body 22 is moved from a start position Ps to an arrival position Pg by vertically moving the lifting body 22 suspended by a hanging rope 21 and also horizontally moving a supporting point 23. The method narrows a search range in the range of the ascending movement period or in the range of the horizontal movement period based on a length Ta of the ascending movement period and a length Tb of the horizontal movement period, and searches for a start time tb with the longest time between the finish time (ta + Ta) of the ascending movement period and the start time tb of the horizontal movement period by a search algorithm using the narrowed search range.SELECTED DRAWING: Figure 3
【課題】探索に要する時間を短縮する移動経路探索方法、移動経路探索プログラム、及び、クレーンの制御システムを提供する。【解決手段】吊索21により吊り下げられた吊体22を鉛直移動させるとともに支持点23を水平移動させて吊体22を出発位置Psから到着位置Pgまで移動させるときの移動経路を探索する方法において、上昇移動期間の長さTaと水平移動期間の長さTbとに基づいて、上昇移動期間の範囲内または水平移動期間の範囲内に探索範囲の幅を狭め、狭めたその探索範囲を用いた探索アルゴリズムにより、上昇移動期間の終了時刻(ta+Ta)と水平移動期間の開始時刻tbとの間の時間が最も長くなる開始時刻tbを探索する。【選択図】図3
SEARCHING METHOD OF MOVING ROUTE, SEARCHING PROGRAM OF MOVING ROUTE, AND CRANE CONTROL SYSTEM
移動経路探索方法、移動経路探索プログラム、及び、クレーンの制御システム
2020-11-12
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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