The invention relates to the technical field of path planning, in particular to a tower crane track planning method, electronic equipment and a storage medium, the method comprises the steps that the position and first motion parameter of a target tower crane at a current point are obtained, the current point is an end point of path planning of the target tower crane in a grid map last time, and the grid map is a map of a to-be-planned area; the first motion parameter comprises speed and gear information of a preset mechanism; based on the first motion parameter and gear shifting information of a preset mechanism, performing path planning in a grid map from a current point, and determining a current selectable path between grids of a preset number; screening the current selectable paths based on obstacle information in the grid map, and determining a current target path; and performing path planning based on the terminal point of the current target path, and determining a target path of the target tower crane from the target starting point to the target terminal point. Each path point obtained by the method comprises position information and speed information, so that the target path conforms to dynamic constraints.

    本发明涉及路径规划技术领域,具体涉及塔吊轨迹规划方法、电子设备及存储介质,该方法包括获取目标塔吊在当前点的位置以及第一运动参数,当前点为目标塔吊上一次在栅格地图中进行路径规划的终点,栅格地图为待规划区域的地图,第一运动参数包括速度以及预设机构的档位信息;基于第一运动参数以及预设机构的变档信息,从当前点开始在栅格地图中进行路径规划,确定预设数量的栅格之间的当前可选路径;基于栅格地图中的障碍物信息对当前可选路径进行筛选,确定当前目标路径;基于当前目标路径的终点进行路径规划,确定目标塔吊从目标起点到目标终点之间的目标路径。该方法得到的各个路径点包括位置信息以及速度信息,使得目标路径符合动力学约束。


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    Title :

    Tower crane track planning method, electronic equipment and storage medium


    Additional title:

    塔吊轨迹规划方法、电子设备及存储介质


    Contributors:
    BAI LIANG (author)

    Publication date :

    2022-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B66C Krane , CRANES




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