Method for generating cargo handling transport path, cargo handling transport crane, and cargo handling transport method

1 . A cargo handling transport crane transporting suspended cargo from a cargo handling initial position to a cargo handling target position, the cargo handling transport crane comprising:

a crane arm configured to be able to perform swinging movement and have an arm tip portion from which a suspended cargo is suspended;

an arm swinging mechanism configured to swing the crane arm;

an arm luffing mechanism configured to adjust a luffing angle of the crane arm; and

a control device configured to

calculate a cargo handling transport path and a cargo handling transport velocity for transporting the suspended cargo in a first transport path which is a straight line track or a second transport path which is a multi-line track with a break point as one relay point set outside an arm minimum swinging circle of the crane arm, as viewed from at least a vertical direction, based on the cargo handling initial position, the cargo handling target position, a range of the arm minimum swinging circle, an upper limit swinging angular velocity of the crane arm, an upper limit swinging angular acceleration of the crane arm, an upper limit luffing velocity of the crane arm, and an upper limit luffing acceleration of the crane arm, and

transport the suspended cargo based on the cargo handling transport path by controlling the arm swinging mechanism and the arm luffing mechanism, wherein

the control device, when calculating the cargo handling transport path,

determines whether a number of intersection points between the arm minimum swinging circle and the first transport path is two or more,

if the number of intersection points is two or more, sets the relay point outside the arm minimum swinging circle, calculates the second transport path to transfer the cargo from the cargo handling initial position to the cargo handling target position passing through the relay point, and then determines the second transport path as the cargo handling transport path, and

if the number of intersection points is less than two, determines the first transport path as the cargo handling transport path.

2 . The cargo handling transport crane according to claim 1 , wherein

the relay point is set at a position where a cargo handling transport time required for cargo handling from the cargo handling initial position to the cargo handling target position is the shortest by a particle swarm optimization method using the cargo handling transport time as an objective function.

3 . The cargo handling transport crane according to claim 2 , wherein

the control device is configured to

calculate the cargo handling transport time using a maximum velocity of the arm tip portion satisfying conditions that maximum values of the swinging angular velocity of the crane arm, the swinging angular acceleration of the crane arm, the luffing velocity of the crane arm, and the luffing acceleration of the crane arm are less than the respective upper limits, and

control the arm swinging mechanism and the arm luffing mechanism such that the first transport path is the straight line track in at least a part of the cargo handling transport path.

4 . A cargo handling transport method comprising:

transporting a suspended cargo using the cargo handling transport crane according to claim 1 .

5 . A cargo handling transport method comprising:

transporting a suspended cargo using the cargo handling transport crane according to claim 2 .

6 . A cargo handling transport method comprising:

transporting a suspended cargo using the cargo handling transport crane according to claim 3 .

7 . The cargo handling transport crane according to claim 1 , wherein

the second transport path has a single relay point connecting two straight line tracks.