| 摘要 |
<p>A method is presented of calculating a trajectory for a crane (50) to move a load (12) from a starting position (11a) to a destination position (11b). The method comprises the steps of: obtaining (60) data representing obstacles (15a-e) restricting a path from the starting position to the destination position of the load; calculating (62) a trajectory (22) for the load to follow. The step of calculating includes the use of a two dimensional geometrical model (5), wherein the model comprises a first set of geometrical figures (30a,30b,30c,30e), wherein each geometrical figure of the first set corresponds in position to a side (17a,17b,17c,17e) of one of the obstacles, and a second geometrical figure (31) representing potential positions of the load in the case of swinging, wherein the trajectory is calculated such that the second geometrical figure avoids intersecting any of the geometrical figures of the first set.</p> |
