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 a conveying route with high accuracy.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 within the workable range Ar; 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, on the basis of a priority order in which the crane 1 is actuated due to the plurality of generated joints P(n) and the plurality of generated routes R(n). The joint generation part 32b generates joints P(n) in such a manner that a joint density D1 of joints P(n) in a specific area As set within the workable range Ar is higher than a joint density D0 of joints P(n) around the specific area As.SELECTED DRAWING: Figure 8
【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、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】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内において、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、節点生成部32bで生成された節点P(n)毎に隣接する節点P(n)間を結ぶ複数の経路R(n)、を生成する経路生成部32cと、生成された複数の節点P(n)と複数の経路R(n)から、クレーン1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CRを決定する搬送経路決定部32dと、を備え、節点生成部32bは、作業可能範囲Ar内に設定された特定領域Asにおける節点P(n)の節点密度D1が特定領域Asの周囲の節点P(n)の節点密度D0よりも高くなるように節点P(n)を生成する。【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 |