The present application relates to the technical field of code spraying path planning, and discloses a path
planning method, device, equipment and medium for log
pile code spraying, which comprises the following steps: collecting position information of the end face of each log in the log
pile to be sprayed and corresponding
diameter grade information; modeling the log
pile to be sprayed into a dynamic layered
network model; traversing the log nodes in the dynamic layered
network model to generate a code spraying path; performing
collision detection on the code spraying path, and optimizing the code spraying path according to the
collision detection result; inputting the log code spraying sequence
list corresponding to the optimized code spraying path to a code spraying device, and spraying codes according to the log code spraying sequence. The present application converts the log pile into a layered
network model by combining the physical constraints of the log pile, traverses the log nodes, plans the code spraying path, embeds the
collision detection logic, and dynamically optimizes the code spraying path, thereby replacing manual code spraying, reducing the
time complexity of finding the optimal path, and improving the code spraying efficiency.