The invention provides a tower crane low-altitude path planning method, device and equipment based on configuration space, and relates to the technical field of path planning. According to the method, a configuration space composed of the variable-amplitude freedom degree of the tower crane, the rotation freedom degree of the tower crane and the self-rotation freedom degree of a hoisted object is constructed, an obstacle bounding box is generated and expanded and mapped to the configuration space, dangerous nodes are identified through quadtree division and collision detection, adjacent plane nodes are connected, and an optimal planning path is obtained through planning by using an A * algorithm. And the tower crane is operated to run according to the optimal planning path. The problems that in traditional path planning, the path is complex, operability is low, and self-rotation of the hoisted object is not considered can be solved, calculation efficiency and path precision are improved, operation cost is reduced, and the method is suitable for hoisting tasks with rotation requirements for the hoisting point and the target point.

    本发明提供的一种基于构形空间的塔吊低空路径规划方法、装置及设备,涉及路径规划技术领域。本发明通过构建由塔吊变幅自由度、回转自由度和被吊物自旋转自由度组成的构形空间,生成与扩展障碍物包围盒并映射至构形空间,通过四叉树划分与碰撞检测识别危险节点,连接相邻平面节点并使用A*算法规划得到最优规划路径,并根据最优规划路径操作塔吊运行。本申请能够解决传统路径规划中路径复杂、操作性低及未考虑被吊物自旋转的问题,提高计算效率与路径精度,降低操作代价,适用于对起吊点和目标点有旋转要求的吊装任务。


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    Title :

    Tower crane low-altitude path planning method, device and equipment based on configuration space


    Additional title:

    一种基于构形空间的塔吊低空路径规划方法、装置及设备


    Contributors:
    LIN HAO (author) / WU ZHIMING (author) / LUO WENTAO (author) / FANG JINGWEN (author) / LI XINWEI (author) / KANG RUNCHI (author) / YANG RONGHUA (author) / LI XIUFANG (author)

    Publication date :

    2025-05-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / B66C Krane , CRANES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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