To provide a crane moving route generation device capable of generating a crane moving route taking into account even a situation where there is an invasion prohibited space, and a method and program thereof.SOLUTION: A crane moving route generation device D according to the present invention is configured to: divide a remaining space obtained after removing an invasion prohibited space from a predetermined target space into a first and a second divided spaces at a dividing plane that includes the boundary surface of the invasion prohibited space; set a predetermined dividing point on the dividing plane at the boundary between the first and second divided spaces; consider the dividing point as a destination point and generate a first moving route in the first divided space from a predetermined starting point; consider the dividing point as the starting point and generate a second moving route in the second divided space to a scheduled destination point; and generate a moving route in the remaining space by connecting these first and second moving routes at the dividing point.SELECTED DRAWING: Figure 1
【課題】本発明は、侵入禁止空間がある場合でも、これを考慮してクレーンの移動経路を生成できるクレーン用移動経路生成装置、該方法および該プログラムを提供する。【解決手段】本発明のクレーン用移動経路生成装置Dは、所定の対象空間から進入禁止空間を除いた残余空間を、前記進入禁止空間の境界面を含む分割面で第1および第2分割空間に分割し、前記第1および第2分割空間の境界での分割面上に所定の分割地点を設定し、前記分割地点を前記目的地点と見なして所定の開始地点から第1分割空間での第1移動経路を生成し、前記分割地点を前記開始地点と見なして予定の目的地点まで第2分割空間での第2移動経路を生成し、これら第1および第2移動経路を前記分割地点で連結することによって、前記残余空間での移動経路を生成する。【選択図】図1
CRANE MOVING ROUTE GENERATION DEVICE, METHOD AND PROGRAM THEREOF
クレーン用移動経路生成装置、該方法および該プログラム
2024-01-18
Patent
Electronic Resource
Japanese
IPC: | B66C Krane , CRANES |
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