US 12,172,872 B2
Crane, and path generation system for crane
Hiroshi Yamauchi, Kagawa (JP)
Assigned to TADANO LTD., Kagawa (JP)
Appl. No. 17/428,875
Filed by TADANO LTD., Kagawa (JP)
PCT Filed Feb. 5, 2020, PCT No. PCT/JP2020/004393
§ 371(c)(1), (2) Date Aug. 5, 2021,
PCT Pub. No. WO2020/166454, PCT Pub. Date Aug. 20, 2020.
Claims priority of application No. 2019-024951 (JP), filed on Feb. 14, 2019.
Prior Publication US 2022/0106168 A1, Apr. 7, 2022
Int. Cl. B66C 13/48 (2006.01); B66C 13/46 (2006.01); G05D 1/00 (2006.01)
CPC B66C 13/48 (2013.01) [B66C 13/46 (2013.01); G05D 1/10 (2013.01)] 2 Claims
OG exemplary drawing
 
1. A crane comprising:
a swiveling base;
a boom provided at the swiveling base and capable of derricking and extending/retracting;
a plurality of actuators which swivel, derrick and extend/retract the boom; and
a computer programmed to:
set an operable range in which a load to be transported is capable of being transported, based on a weight of the load;
generate a plurality of nodes through which the load is able to pass and a plurality of paths connecting the nodes adjacent to each node within the set operable range; and
determine a transport path of the load from the plurality of generated nodes and the plurality of generated paths, the transport path including a combination of paths each made by a combined actuation of two or more actuators selected from among the plurality of actuators or an independent actuation of each actuator selected from among the plurality of actuators,
wherein the computer is further programmed to set a weight for each of the plurality of generated paths regarding speed or fuel consumption of transport, and select, from candidates for the transport path, a candidate having a total weight indicating a shortest transport time or a smallest fuel consumption.