Obstacle avoidance path determination method and device, engineering equipment and machine readable storage medium

Abstract

The invention discloses an obstacle avoidance path determination method and device, engineering equipment and a machine readable storage medium, and relates to the technical field of engineering equipment. The method comprises the following steps: when an obstacle is detected, determining whether an obstacle avoidance control condition is satisfied based on obtained distance detection information; under the condition that the obstacle avoidance control condition is met, the size parameter of the obstacle is determined based on the distance detection information; acquiring position information of each joint of the cantilever crane; and determining an obstacle avoidance control path based on the size parameters and the position information. The distance detection of the obstacle is realized through the simple distance detection device so as to determine whether the obstacle exists or not, and the size parameter of the obstacle is determined based on the distance detection information when the obstacle exists, so that an effective data reference is provided for avoiding the obstacle. The difficulty of obstacle avoidance planning is reduced, and through automatic obstacle avoidance control, the experience requirements on operators are reduced, the labor cost is reduced, and the obstacle avoidance efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering equipment, and specifically to a method and device for determining an obstacle avoidance path, engineering equipment, and a machine-readable storage medium. Background Art

[0002] Aerial work vehicles assist workers through the spatial movement of aerial work platforms or carry different equipment to complete different work tasks at high altitudes. At present, aerial work vehicles are widely used in municipal administration, wind power, airports, equipment installation and maintenance, cleaning and other occasions. Among them, the application occasions of aerial cleaning work vehicles are becoming more and more extensive, and they will also face problems such as complex working environment and high working difficulty. For example, when an aerial cleaning work vehicle is equipped with cleaning equipment to clean the facade wall, since the facade wall is a wall perpendicular to the horizontal ground, for facade walls with bumps, windows, etc., it is necessary to control the aerial cleaning work vehicle to perform obstacle avoidance operations during the cleaning operation to bypass the bumps or windows, etc.

[0003] Traditionally, obstacle avoidance operations for aerial cleaning vehicles are usually achieved through manual intervention. Specifically, based on the on-site conditions and operating experience, the staff manipulates the boom of the aerial cleaning vehicle to perform actions such as extension and rotation to achieve obstacle avoidance. The manual intervention method requires the operator to effectively analyze the on-site conditions and has high requirements for the operator's operating experience, and the obstacle avoidance efficiency is not high. At present, the intelligent control of the obstacle avoidance operation of aerial cleaning vehicles needs to be improved. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, an object of the embodiments of the present invention is to provide a method, device, engineering equipment and machine-readable storage medium for determining an obstacle avoidance path.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides an obstacle avoidance path determination method, which is applied to engineering equipment, the engineering equipment includes a chassis, a boom and an aerial work platform, the aerial work platform is connected to the chassis through the boom, and the boom includes multiple joints. The obstacle avoidance path determination method includes:

[0006] In the case where an obstacle is detected, determining whether an obstacle avoidance control condition is met based on the acquired distance detection information;

[0007] When the obstacle avoidance control conditions are met, the size parameters of the obstacle are determined based on the distance detection information;

[0008] Get the position information of each joint of the arm;

[0009] The obstacle avoidance control path is determined based on the size parameters and position information.

[0010] In the embodiment of the present application, the size parameter includes a first size parameter and a second size parameter, the first size parameter is a size parameter corresponding to a first target area of ​​the obstacle, the first target area is an area perpendicular to the working direction of the aerial work platform, the second size parameter is a size parameter corresponding to a second target area of ​​the obstacle, the second target area is an area parallel to the working direction of the aerial work platform, the obstacle avoidance control path includes a first obstacle avoidance control path, a second obstacle avoidance control path and a third obstacle avoidance control path executed in sequence, and the obstacle avoidance control path is determined based on the size parameter and the position information, including:

[0011] determining a first obstacle avoidance control path based on the first size parameter and the position information;

[0012] The second size parameter and the position information are updated based on the end point of the first obstacle avoidance control path to obtain a size update parameter and the first position information;

[0013] determining a second obstacle avoidance control path based on the size update parameter and the first position information;

[0014] The first position information is updated based on the end point of the second obstacle avoidance control path to obtain second position information;

[0015] A third obstacle avoidance control path is determined based on the second position information.

[0016] In the embodiment of the present application, the second size parameter and the position information are updated based on the end point of the first obstacle avoidance control path to obtain the size update parameter and the first position information, including:

[0017] The position information is updated based on the end point of the first obstacle avoidance control path to obtain first position information;

[0018] updating the distance detection information based on the end point of the first obstacle avoidance control path, and determining whether there is an obstacle based on the updated distance detection information;

[0019] In the absence of an obstacle, the second size parameter is updated based on the updated distance detection information to obtain a size update parameter.

[0020] In an embodiment of the present application, the joint includes a turntable, the position information includes a first turntable rotation angle, the first obstacle avoidance control path is used to control the aerial work platform away from the work wall, and the first obstacle avoidance control path is determined based on the first size parameter and the position information, including:

[0021] Obtain the movement speed of the aerial work platform in the working direction;

[0022] Determining the movement speed of the first platform based on the rotation angle and movement speed of the first turntable;

[0023] Determine a first movement distance based on a first size parameter, a preset length error, and a first turntable rotation angle;

[0024] A first obstacle avoidance control path is determined based on the first platform movement speed and the first movement distance.

[0025] In the embodiment of the present application, the joint includes a main arm, the first position information includes a rotation angle of the first main arm, the second obstacle avoidance control path is used to control the aerial work platform to move along the working direction, and the second obstacle avoidance control path is determined based on the size update parameter and the first position information, including:

[0026] Obtain the movement speed of the aerial work platform in the working direction;

[0027] When the working direction is the ascending direction, determining the second movement distance based on the size update parameter, the preset height error and the rotation angle of the first main arm;

[0028] A second obstacle avoidance control path is determined based on the movement speed and the second movement distance.

[0029] In the embodiment of the present application, the position information also includes the rotation angle of the second main arm, and the obstacle avoidance path determination method further includes:

[0030] When the working direction is a descending direction, determining a third movement distance based on the size update parameter, a preset height error, and a rotation angle of the second main arm;

[0031] A second obstacle avoidance control path is determined based on the movement speed and the third movement distance.

[0032] In the embodiment of the present application, the second position information includes the rotation angle of the second turntable, and the third obstacle avoidance control path is used to control the aerial work platform to approach the working wall. The third obstacle avoidance control path is determined based on the second position information, including:

[0033] Obtain the movement speed of the aerial work platform in the working direction;

[0034] Determine the movement speed of the second platform based on the rotation angle and movement speed of the second turntable, wherein the movement speed of the second platform is opposite to the movement speed of the first platform;

[0035] A third obstacle avoidance control path is determined based on the movement speed of the second platform.

[0036] In an embodiment of the present application, the obstacle avoidance path determination method further includes:

[0037] Based on the third obstacle avoidance control path, the aerial work platform is controlled to approach the work wall until the distance between the aerial work platform and the work wall is less than a preset maximum working distance.

[0038] In the embodiment of the present application, the joint includes a main arm, and when an obstacle is detected, before the step of determining whether the obstacle avoidance control condition is met based on the acquired distance detection information, the step further includes:

[0039] When the working direction of the aerial work platform is a descending direction, if an obstacle is detected, a first size parameter of the obstacle is determined based on the acquired distance detection information, wherein the first size parameter is a size parameter corresponding to a first target area of ​​the obstacle, and the first target area is an area perpendicular to the working direction of the aerial work platform;

[0040] Obtaining a main arm rotation angle of the main arm, and determining a first distance threshold based on the main arm rotation angle, a first size parameter, and a first preset safety distance;

[0041] A first distance between the lower end of the aerial work platform and the obstacle being less than a first distance threshold is determined as an obstacle avoidance control condition.

[0042] A second aspect of the present application provides an obstacle avoidance path determination device, comprising:

[0043] a memory configured to store instructions;

[0044] The processor is configured to call instructions from the memory and implement the obstacle avoidance path determination method as described in the above embodiment when executing the instructions.

[0045] A third aspect of the present application provides an engineering device, comprising:

[0046] Chassis;

[0047] The boom includes a plurality of joints, including a flying boom, a main boom and a turntable;

[0048] Aerial work platform, the aerial work platform is connected to the main arm through the flying arm, and the main arm is connected to the chassis through the turntable;

[0049] The obstacle avoidance path determination device as described in the above embodiment.

[0050] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the obstacle avoidance path determination method as described in the above-mentioned embodiment.

[0051] Through the above technical solution, when an obstacle is detected, it is determined whether the obstacle avoidance control conditions are met based on the distance detection information obtained; when the obstacle avoidance control conditions are met, the size parameters of the obstacle are determined based on the distance detection information; the position information of each joint of the boom is obtained; and the obstacle avoidance control path is determined based on the size parameters and position information. The distance detection of the obstacle is achieved through a simple distance detection device to determine whether there is an obstacle, and when there is an obstacle, the size parameters of the obstacle are determined based on the distance detection information, providing an effective data reference for avoiding the obstacle. The difficulty of obstacle avoidance planning is reduced, and through automated obstacle avoidance control, the experience requirements for operators are reduced, the labor cost is reduced, and the obstacle avoidance efficiency is improved.

[0052] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0054] Figure 1 A schematic diagram of a process flow of a method for determining an obstacle avoidance path according to an embodiment of the present application is schematically shown;

[0055] Figure 2 A schematic diagram of size parameters of an obstacle according to an embodiment of the present application is schematically shown;

[0056] Figure 3 A schematic diagram of an obstacle avoidance control path according to an embodiment of the present application is schematically shown.

[0057] Description of Reference Numerals

[0058] 110. Facade wall; 120. Obstacle; 133. Engineering equipment; 132. Main arm; 131. End of aerial work platform; 200. Main arm projection; 300. Obstacle avoidance control path. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0060] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0061] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0062] Figure 1 The following is a schematic diagram showing a flow chart of a method for determining an obstacle avoidance path according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides an obstacle avoidance path determination method, which is applied to engineering equipment. The engineering equipment includes a chassis, a boom, and an aerial work platform. The aerial work platform is connected to the chassis through the boom. The boom includes multiple joints. The obstacle avoidance path determination method includes:

[0063] Step 100, when an obstacle is detected, determining whether an obstacle avoidance control condition is met based on the acquired distance detection information;

[0064] It should be noted that the engineering equipment may be a lifting machine, such as a tower crane, a truck crane or a crawler crane, etc., and may also be equipment such as an excavator and a concrete pump truck. Obstacles refer to objects that block the route or sight of the engineering equipment, and affect communication or observation. The engineering equipment may include a chassis, a boom and an aerial work platform, wherein the aerial work platform is connected to the chassis via a boom, and the boom includes a plurality of joints. In this embodiment, the engineering equipment is an aerial work vehicle as an example for explanation. The aerial work vehicle can carry a cleaning device on the aerial work platform to clean the facade wall. The controller of the engineering equipment controls the action of the boom, thereby controlling the vertical up and down movement of the aerial work platform based on the facade wall. The facade wall usually has obstacles such as convex and concave platforms and windows that will affect the movement of the cleaning equipment. By installing a detection device such as a radar on the aerial work platform, detection is performed along the direction of travel of the aerial work platform to determine whether there are obstacles in the direction of travel of the aerial work platform.

[0065] When an obstacle is detected, it is determined whether the current position of the aerial work platform meets the obstacle avoidance control conditions based on the distance detection information. Among them, the distance detection information refers to the distance between the obstacle and the aerial work platform detected by the distance detection device. The distance detection device is installed on the aerial work platform, and can be a radar, laser rangefinder, infrared rangefinder, ultrasonic rangefinder and other devices. In order to improve the accuracy of distance detection, the distance detection device can include multiple ones, and each detects in different directions around the aerial work platform. For example, for detection in the direction of travel of the aerial work platform, the distance detection device is installed at the end of the aerial work platform closest to the end of travel; for detection in the direction of the aerial work platform close to the wall, the distance detection device is installed at the end of the aerial work platform closest to the wall. For detection in the same direction, one or more distance detection devices can also be included, and the specific number of distance detection devices can be adaptively adjusted based on the accuracy requirements of the actual application scenario.

[0066] It should be noted that the obstacle avoidance control condition is a condition used to determine whether there is a risk of collision between the aerial work platform and the obstacle. The obstacle avoidance control condition limits the distance between the aerial work platform and the obstacle. If the distance between the obstacle detected by the distance detection device and the aerial work platform meets the obstacle avoidance control condition, it is determined that if the aerial work platform continues to move based on the current direction and speed, there will be a risk of collision with the obstacle. At this time, it is necessary to control the aerial work platform to perform obstacle avoidance movement to avoid the obstacle. For example, taking the vertical up and down movement of the aerial work platform based on the facade wall as an example, e up is the safe distance between the upper end of the aerial work platform and the obstacle when the aerial work platform moves upward relative to the horizontal plane; the distance between the obstacle and the upper end of the aerial work platform in the distance detection information obtained is data1. <e up , it is determined that the distance detection information obtained meets the obstacle avoidance control conditions, and the aerial work platform is controlled to perform obstacle avoidance movement.

[0067] Step 200, when the obstacle avoidance control condition is met, determining the size parameters of the obstacle based on the distance detection information;

[0068] Step 300, obtaining position information of each joint of the boom;

[0069] Step 400: determining an obstacle avoidance control path based on the size parameter and the position information.

[0070] It should be noted that when the obstacle avoidance control conditions are met, it is necessary to control the engineering equipment to perform obstacle avoidance actions so that the aerial work platform can bypass the obstacle and reduce the risk of collision. In this embodiment, the obstacle avoidance control path of the aerial work platform is planned by determining the size parameters of the obstacle and the position information of each joint of the engineering equipment boom. The size parameters are used to describe the length, width, height and other dimensional information occupied by the obstacle in space. The position information of each joint of the boom can determine the current posture of the boom, and the position information may include the rotation angle of the rotating joint, the telescopic length of the telescopic boom, etc. By determining the size parameters of the obstacle and the position information of each joint of the boom, an effective data reference can be provided for the subsequent planning of the obstacle avoidance control path.

[0071] In this embodiment, when an obstacle is detected, it is determined whether the obstacle avoidance control condition is met based on the acquired distance detection information; when the obstacle avoidance control condition is met, the size parameters of the obstacle are determined based on the distance detection information; the position information of each joint of the boom is acquired; and the obstacle avoidance control path is determined based on the size parameters and the position information. The distance detection of the obstacle is achieved through a simple distance detection device to determine whether there is an obstacle, and when there is an obstacle, the size parameters of the obstacle are determined based on the distance detection information, providing an effective data reference for avoiding the obstacle. The difficulty of obstacle avoidance planning is reduced, and through automated obstacle avoidance control, the experience requirements for operators are reduced, the labor cost is reduced, and the obstacle avoidance efficiency is improved.

[0072] In one embodiment, the size parameter includes a first size parameter and a second size parameter, the first size parameter is a size parameter corresponding to a first target area of ​​the obstacle, the first target area is an area perpendicular to the working direction of the aerial work platform, the second size parameter is a size parameter corresponding to a second target area of ​​the obstacle, the second target area is an area parallel to the working direction of the aerial work platform, the obstacle avoidance control path includes a first obstacle avoidance control path, a second obstacle avoidance control path and a third obstacle avoidance control path executed in sequence, and the obstacle avoidance control path is determined based on the size parameter and the position information, including:

[0073] determining a first obstacle avoidance control path based on the first size parameter and the position information;

[0074] The second size parameter and the position information are updated based on the end point of the first obstacle avoidance control path to obtain a size update parameter and the first position information;

[0075] determining a second obstacle avoidance control path based on the size update parameter and the first position information;

[0076] The first position information is updated based on the end point of the second obstacle avoidance control path to obtain second position information;

[0077] A third obstacle avoidance control path is determined based on the second position information.

[0078] It should be noted that the size parameter is used to describe the length, width, height and other dimensional information of the obstacle in space. The size parameter can be divided into multiple types based on different dimensions. For example, in this embodiment, the size parameter is divided into a first size parameter and a second size parameter. Among them, the first size parameter is the size parameter corresponding to the first target area of ​​the obstacle, and the second size parameter is the size parameter corresponding to the second target area of ​​the obstacle. With the working direction of the aerial work platform as a reference, the first target area is the area of ​​the obstacle that is perpendicular to the working direction, and the second target area is the area of ​​the obstacle that is parallel to the working direction.

[0079] It should be noted that when the aerial work platform performs work on the opposite wall, it usually moves vertically up and down. If it encounters an obstacle, it needs to bypass the obstacle to continue to complete the work task. The obstacle avoidance path can be a path for controlling the aerial work platform to bypass obstacles. In this embodiment, obstacle avoidance is achieved through segmented path planning. Specifically, the obstacle avoidance control path is divided into a first obstacle avoidance control path, a second obstacle avoidance control path, and a third obstacle avoidance control path. The obstacle avoidance control path can be based on the first obstacle avoidance control path to first control the aerial work platform to move away from the wall, and the movement distance is greater than the maximum distance of the obstacle perpendicular to the wall; then based on the second obstacle avoidance control path, the aerial work platform is controlled to move in the direction of travel, and the movement distance is greater than the maximum length occupied by the obstacle in the direction of travel; finally, based on the third obstacle avoidance control path, the aerial work platform is controlled to move back to the wall, and the movement distance is greater than the maximum distance of the obstacle perpendicular to the wall. Obstacles of different shapes can be approximately represented or divided into cuboids of different sizes, so a cuboid is used to approximately represent obstacles.

[0080] refer to Figure 2 , take the obstacle as a cuboid as an example to illustrate the distance, Figure 2 In the example, the maximum distance of the obstacle perpendicular to the wall is L, and the maximum length of the obstacle in the direction of travel is h. The obstacle avoidance control path can be to control the aerial work platform to move away from the wall first by L, then move in the direction of travel by h, and finally control the aerial work platform to move back to the wall by L. Figure 3 , Figure 3 It includes a facade wall 110, an obstacle 120 protruding from the facade wall, and engineering equipment 133. The main arm 132 of the engineering equipment 133 supports the movement of the aerial work platform. The end 131 of the aerial work platform is located below the obstacle. The working direction is the upward direction. The obstacle avoidance control path 300 can be referred to as a three-stage obstacle avoidance control path.

[0081] In one embodiment, the obstacle avoidance control path can also be to first control the aerial work platform to move in a direction perpendicular to the travel direction and parallel to the wall based on the first obstacle avoidance control path, and the movement distance is greater than or equal to the maximum length occupied by the obstacle in the direction perpendicular to the travel direction; then control the aerial work platform to move in the travel direction based on the second obstacle avoidance control path, and the movement distance is greater than the maximum length occupied by the obstacle in the direction of travel; finally, control the aerial work platform to move in a direction perpendicular to the travel direction and parallel to the wall based on the third obstacle avoidance control path, wherein the movement direction of the third obstacle avoidance control path is opposite to that of the first obstacle avoidance control path, and the movement distance is greater than or equal to the maximum length occupied by the obstacle in the direction perpendicular to the travel direction.

[0082] It should be noted that when the aerial work platform is moving vertically from bottom to top, the obstacle is located above the aerial work platform. Taking the obstacle as a rectangular parallelepiped as an example, the first target area is a surface area of ​​the obstacle that is located directly above the aerial work platform and closest to the aerial work platform. The first size parameter can be the size of the surface area. For example, when the obstacle is a rectangular parallelepiped, the edges of the surface area form a rectangle. The first size parameter can be the length of the side of the rectangle that is perpendicular to the wall, or it can be the length of the side of the rectangle that is parallel to the wall. Specifically, when the obstacle avoidance control path bypasses the obstacle based on the direction in which the obstacle protrudes from the wall, the first size parameter can be the length of the side of the rectangle that is perpendicular to the wall. For example, Figure 2 When the obstacle avoidance control path bypasses the obstacle from both sides of the obstacle based on a direction parallel to the wall, the first size parameter may be the length of the side of the rectangle parallel to the wall.

[0083] The second target area is a surface area of ​​the obstacle that is parallel to the working direction of the aerial work platform. The second size parameter is the maximum length occupied by the surface area in the working direction, for example, Figure 2h in it. It should be noted that when the aerial work platform moves in the working direction and the presence of an obstacle is detected through distance detection, since the obstacle is located in the working direction of the aerial work platform and blocks the aerial work platform, the distance detection information generated by the distance detection device installed on the aerial work platform can usually accurately determine the first size parameter. However, due to the obstruction of the obstacle, the distance detection device on the aerial work platform usually cannot accurately obtain the second size parameter. The first obstacle avoidance control path can enable the aerial work platform to get rid of the obstruction of the obstacle in the working direction, and when the aerial work platform moves to the end point of the first obstacle avoidance control path, the second size parameter can be accurately detected. Therefore, in this embodiment, when the aerial work platform moves to the end point of the first obstacle avoidance control path, the second size parameter is updated to obtain the size update parameter. And because the position information of each joint of the boom at the end position of the first obstacle avoidance control path also changes compared to the starting position information of the first obstacle avoidance control path, when planning the second obstacle avoidance control path, the position information of each joint of the boom also needs to be updated to obtain the position information of each joint at the end point of the first obstacle avoidance control path, that is, the first position information. When the aerial work platform moves to the end point of the second obstacle avoidance control path, the aerial work platform has gotten rid of the obstruction of the obstacle. At this time, it is only necessary to control the aerial work platform to return to the preset work route in the work task. In this embodiment, the first position information is updated based on the end point of the second obstacle avoidance control path to obtain the key position information of the boom at the end point of the second obstacle avoidance path, that is, the second position information.

[0084] Specifically, the control distance in the first obstacle avoidance control path can be determined based on the first size parameter, and the planning of the first obstacle avoidance control path can be further realized by combining the current position information of each joint of the boom. When the aerial work platform moves based on the first obstacle avoidance control path and reaches the end of the first obstacle avoidance control path, the control distance in the second obstacle avoidance control path is determined based on the second size parameter, and the planning of the second obstacle avoidance control path can be realized by combining the first position information of each joint of the boom. When the aerial work platform moves based on the second obstacle avoidance control path and reaches the end of the second obstacle avoidance control path, the aerial work platform is controlled to return to the preset operation route in the operation task. At this time, the first size parameter can be directly used to determine the control distance in the third obstacle avoidance control path, and the planning of the third obstacle avoidance control path can be realized by combining the second position information of each joint of the boom. It can be understood that since the aerial work platform may have an automatic fitting function, when the obstacle avoidance control path bypasses the obstacle based on the direction in which the obstacle is protruding on the wall, the third obstacle avoidance control path can use the automatic fitting function to achieve the fitting of the aerial work platform to the wall, without calculating the control distance in the third obstacle avoidance control path. The automatic fit function can control the aerial work platform to move close to the wall until the distance between the aerial work platform and the wall is less than the preset maximum working distance.

[0085] In this embodiment, the size parameters of the obstacle are obtained, and a segmented obstacle avoidance action is adopted to realize automatic obstacle avoidance of the aerial work platform, thereby reducing the difficulty of obstacle avoidance control and improving the stability and intelligence of the obstacle avoidance action.

[0086] In one embodiment, the second size parameter and the position information are updated based on the end point of the first obstacle avoidance control path to obtain the size update parameter and the first position information, including:

[0087] The position information is updated based on the end point of the first obstacle avoidance control path to obtain first position information;

[0088] updating the distance detection information based on the end point of the first obstacle avoidance control path, and determining whether there is an obstacle based on the updated distance detection information;

[0089] In the absence of an obstacle, the second size parameter is updated based on the updated distance detection information to obtain a size update parameter.

[0090] In this embodiment, it should be noted that after determining the first size parameter based on the distance detection information, the first size parameter is used as the control distance to realize the planning of the first obstacle avoidance control path. Taking the vertical upward movement of the aerial work platform as an example, if an obstacle protruding from the wall is detected above the aerial work platform, the distance detection device on the aerial work platform will detect the distance of the protruding wall of the obstacle to obtain the first size parameter, and determine the first obstacle avoidance control path according to the first size parameter. When the aerial work platform moves to the end point of the first obstacle avoidance control path, in most cases, there is no longer an obstacle blocking the aerial work platform. In some special cases, there may still be obstacles blocking the aerial work platform. For example, there is a problem with the distance detection device of the aerial work platform, the distance detection information obtained is inaccurate, and the first size parameter is not accurate enough. When the aerial work platform moves to the end point of the first control path, the aerial work platform is still blocked by the obstacle. For another example, there are one or more obstacles protruding from the wall above the obstacle, and the distance that the one or more obstacles protrude from the wall is longer than the first size parameter. At this time, if the second obstacle avoidance control path is planned directly and the aerial work platform is controlled to move in the working direction, it will collide with the one or more obstacles.

[0091] In this embodiment, in order to improve the effectiveness of obstacle avoidance, when the aerial work platform moves to the end point of the first obstacle avoidance control path, the distance detection information is updated, and it is determined whether there is an obstacle based on the updated distance detection information. If there is no obstacle, the second size parameter is updated based on the updated distance detection information to obtain the size update parameter, and the position information is updated based on the end point of the first obstacle avoidance control path to obtain the first position information, and then the second obstacle avoidance control path is determined based on the size update parameter and the first position information. In the case of an obstacle, the distance compensation value is determined based on the updated distance detection information, the compensation path of the first obstacle avoidance control path is determined based on the distance compensation value and the current position of each joint of the boom, the aerial work platform is controlled to move based on the compensation path, and the distance detection information is updated again based on the end point of the compensation path, and the step of determining whether there is an obstacle based on the updated distance detection information is determined. For example, the first size parameter is L, and when the aerial work platform moves to the end point of the first obstacle avoidance control path, the distance compensation value is determined to be l, wherein l is obtained by subtracting L from the maximum value of the protruding wall distance of all obstacles detected by the distance detection device. l is the control distance corresponding to the compensation path.

[0092] In this embodiment, by further detecting the obstacle at the end point of the first obstacle avoidance control path, the effectiveness and scenario adaptability of the obstacle avoidance are improved.

[0093] In one embodiment, the joint includes a turntable, the position information includes a first turntable rotation angle, the first obstacle avoidance control path is used to control the aerial work platform away from the work wall, and the first obstacle avoidance control path is determined based on the first size parameter and the position information, including:

[0094] Obtain the movement speed of the aerial work platform in the working direction;

[0095] Determining the movement speed of the first platform based on the rotation angle and movement speed of the first turntable;

[0096] Determine a first movement distance based on a first size parameter, a preset length error, and a first turntable rotation angle;

[0097] A first obstacle avoidance control path is determined based on the first platform movement speed and the first movement distance.

[0098] refer to Figure 3 In this embodiment, the rotation axis of the turntable of the engineering equipment 133 is taken as the origin, the chassis frame of the engineering equipment 133 is parallel to the wall, the direction pointed by the front of the vehicle is set as the X-axis, and the direction vertically upward compared to the horizontal plane is set as the Z-axis, and a three-dimensional coordinate system is established based on the right-hand screw rule. The speed of the X-axis, Y-axis and Z-axis of the aerial work platform based on the three-dimensional coordinate system is used as the platform movement speed of the aerial work platform. For example, when the movement speed of the aerial work platform in the working direction is V, the platform movement speed V0 of the aerial work platform at this time can be expressed as V0=(0, 0, V). When an obstacle is detected, the aerial work platform stops moving upward, and the Z-axis speed is 0. At this time, the movement speed of the aerial work platform on the X-axis and Y-axis is calculated based on the rotation angle of the turntable and the movement speed of the aerial work platform in the working direction. Specifically, taking the main arm projection 200 of the main arm 132 on the horizontal plane as a reference, the current rotation angle of the turntable is obtained, that is, the first turntable rotation angle θ T , the speed of movement on the X-axis Vx=-V*cosθ T ; Movement speed on the Y axis Vy=-V*sinθ T , that is, the first platform movement speed V1=(-V*cosθ T , -V*sinθ T , 0).

[0099] It should be noted that the preset length error is a preset error compensation value, which is used to add to the first size parameter to further calculate the size of the movement distance in the first obstacle avoidance control path of the aerial work platform, that is, the first movement distance, to improve the obstacle avoidance tolerance. The first movement distance can be calculated by the following formula:

[0100] d1=(L+error_L) / sinθ T

[0101] Wherein, d1 represents the first movement distance; L represents the first size parameter; error_L represents the preset length error; θ T Indicates the rotation angle of the first turntable.

[0102] In this embodiment, the movement speed of the first platform is determined in combination with the rotation angle of the turntable, and the first movement distance is further determined in combination with the preset length error, thereby improving the adaptability and effectiveness of the first obstacle avoidance control path.

[0103] In one embodiment, the joint includes a main arm, the first position information includes a rotation angle of the first main arm, the second obstacle avoidance control path is used to control the aerial work platform to move along the working direction, and the second obstacle avoidance control path is determined based on the size update parameter and the first position information, including:

[0104] Obtain the movement speed of the aerial work platform in the working direction;

[0105] When the working direction is the ascending direction, determining the second movement distance based on the size update parameter, the preset height error and the rotation angle of the first main arm;

[0106] A second obstacle avoidance control path is determined based on the movement speed and the second movement distance.

[0107] In this embodiment, it should be noted that the first position information refers to the position information of each joint of the boom when the aerial work platform is located at the end point of the first obstacle avoidance control path. The first main arm rotation angle is also the rotation angle of the main arm when the aerial work platform is located at the end point of the first obstacle avoidance control path. When the working direction is the upward direction, if the aerial work platform reaches the end point of the first obstacle avoidance control path, there will be no more obstacles above the aerial work platform at this time. By planning the second obstacle avoidance control path, it continues to move upward based on the working direction and bypasses the obstacles. At this time, the platform movement speed of the aerial work platform is equal to the platform speed V0 during upward operation, V0 = (0, 0, V).

[0108] It should be noted that the preset height error is a preset error compensation value, which is used to be added to the size update parameter to further calculate the size of the movement distance in the second obstacle avoidance control path of the aerial work platform when the working direction is the upward direction, that is, the second movement distance, and the obstacle avoidance tolerance is improved by the preset height error. Further, it should be noted that since the planning of the third obstacle avoidance control path requires the control of the boom to move back to the wall, and since the working direction is the upward direction, the boom connected to the aerial work platform at this time may collide with obstacles when it is in contact with the wall. Therefore, in this embodiment, another error compensation value is determined based on the first main arm rotation angle and the first size parameter, which is used in the calculation of the second movement distance to avoid the risk of collision between the boom and obstacles when the aerial work platform moves in contact with the wall.

[0109] Specifically, refer to Figure 3 , taking the main arm projection 200 of the main arm 132 on the horizontal plane as a reference, the first main arm rotation angle θ1 is obtained, and the second movement distance can be calculated by the following formula:

[0110] d2=h+L*tanθ1+error_h

[0111] Among them, d2 represents the second movement distance; h represents the size update parameter; L represents the first size parameter; error_h represents the preset height error; θ1 represents the rotation angle of the first main arm.

[0112] In this embodiment, the second movement distance is determined by setting an error compensation value, thereby improving the fault tolerance of the second obstacle avoidance control path and improving the effectiveness of obstacle avoidance.

[0113] In one embodiment, the position information further includes a rotation angle of the second main arm, and the obstacle avoidance path determination method further includes:

[0114] When the working direction is a descending direction, determining a third movement distance based on the size update parameter, a preset height error, and a rotation angle of the second main arm;

[0115] A second obstacle avoidance control path is determined based on the movement speed and the third movement distance.

[0116] In this embodiment, it should be noted that the position information refers to the position information of each joint of the boom before the aerial work platform starts the first obstacle avoidance control path. The rotation angle of the second main arm is also the rotation angle of the main arm before the aerial work platform starts the first obstacle avoidance control path. When the working direction is the descending direction, if the aerial work platform reaches the end point of the first obstacle avoidance control path, there will be no more obstacles blocking the bottom of the aerial work platform at this time. By planning the second obstacle avoidance control path, it continues to move downward based on the working direction to bypass the obstacle. It can be understood that the speed direction of the aerial work platform when the working direction is the descending direction is opposite to the speed direction of the aerial work platform when the working direction is the ascending direction, that is, the platform movement speed of the aerial work platform at this time is V0', V0'=(0, 0, -V).

[0117] It should be noted that when the working direction is the descending direction, the movement distance in the second obstacle avoidance control path of the aerial work platform is the third movement distance. Specifically, the third movement distance can be calculated by the following formula:

[0118] d3=h+L*tanθ1′+error_h

[0119] Wherein, d3 represents the third movement distance; h represents the size update parameter; L represents the first size parameter; error_h represents the preset height error; θ1' represents the rotation angle of the second main arm.

[0120] In this embodiment, the third movement distance is determined by setting a preset height error, thereby further improving the fault tolerance of the second obstacle avoidance control path in the descending direction and improving the effectiveness of obstacle avoidance.

[0121] In one embodiment, the second position information includes a rotation angle of the second turntable, and the third obstacle avoidance control path is used to control the aerial work platform to approach the work wall. The third obstacle avoidance control path is determined based on the second position information, including:

[0122] Obtain the movement speed of the aerial work platform in the working direction;

[0123] Determine the movement speed of the second platform based on the rotation angle and movement speed of the second turntable, wherein the movement speed of the second platform is opposite to the movement speed of the first platform;

[0124] A third obstacle avoidance control path is determined based on the movement speed of the second platform.

[0125] In this embodiment, it should be noted that the second position information refers to the position information of each joint of the boom at the end point of the second obstacle avoidance control path, and the second turntable rotation angle refers to the rotation angle of the turntable when the aerial work platform is located at the end point of the second obstacle avoidance control path. At the end point of the second obstacle avoidance control path, the obstacle has been bypassed, and at this time, the aerial work platform needs to be controlled to return to the preset working route in the working task.

[0126] Specifically, the rotation angle of the second turntable is obtained. Assume that the rotation angle of the second turntable is θ T ', the movement speed of the aerial work platform in the working direction is V, then in the second platform movement speed, the movement speed on the X axis is Vx=V*cosθ T '; Movement speed on the Y axis Vy = V*sinθ T ', that is, the second platform movement speed V2 = (V*cosθ T ′,V*sinθ T ′, 0). It can be understood that in the first obstacle avoidance control path, in order to achieve obstacle avoidance, the aerial work platform is controlled to move away from the wall, and in the third obstacle avoidance control path, in order to control the aerial work platform to return to the working route, the aerial work platform is controlled to move close to the wall, so the movement speed of the second platform is opposite to the direction of the movement speed of the first platform.

[0127] In this embodiment, the third obstacle avoidance control path is determined by calculating the movement speed of the second platform, thereby improving the accuracy of obstacle avoidance.

[0128] It should be noted that when two-dimensional space and three-dimensional space are relative to the spatial position of the end of the boom, if the turntable is rotated and the rotation of other joints of the boom is controlled, obstacle avoidance is achieved in three-dimensional space; if the turntable is not moved and only other joints are considered, the position of the end of the boom is always in a plane, that is, the obstacle avoidance at this time is obstacle avoidance in two-dimensional space. In one embodiment, the first turntable rotation angle is set to be equal to the second turntable rotation angle, and equal to the turntable rotation angle before the obstacle avoidance movement begins. That is, when the aerial work platform is operating, the position of the turntable will remain stationary. By fixing the turntable position, the turntable rotation can be ignored, and the obstacle avoidance action in the two-dimensional plane can be achieved, eliminating the jitter caused by the turntable rotation and the control difficulty caused by low precision.

[0129] Specifically, in one embodiment, the obstacle avoidance path determination method further includes:

[0130] Based on the third obstacle avoidance control path, the aerial work platform is controlled to approach the work wall until the distance between the aerial work platform and the work wall is less than a preset maximum working distance.

[0131] It should be noted that in this embodiment, the aerial work platform has an automatic fitting function. When the obstacle avoidance control path bypasses the obstacle based on the direction of the obstacle protruding on the wall, the third obstacle avoidance control path can use the automatic fitting function to achieve the fitting of the aerial work platform to the wall, without calculating the movement distance in the third obstacle avoidance control path. The automatic fitting function can control the aerial work platform to move close to the wall until the distance between the aerial work platform and the wall is less than the preset maximum working distance. Among them, the preset maximum working distance is the maximum distance allowed between the aerial work platform and the wall when the aerial work platform is operating normally, and can be adaptively adjusted based on the actual application scenario.

[0132] In this embodiment, the automatic fitting function of the aerial work platform is directly used to reduce the calculation steps of the movement distance in the third obstacle avoidance control trajectory, simplify the obstacle avoidance planning process, and improve the obstacle avoidance efficiency.

[0133] In one embodiment, the joint includes a main arm, and when an obstacle is detected, before the step of determining whether an obstacle avoidance control condition is met based on the acquired distance detection information, the method further includes:

[0134] When the working direction of the aerial work platform is a descending direction, if an obstacle is detected, a first size parameter of the obstacle is determined based on the acquired distance detection information, wherein the first size parameter is a size parameter corresponding to a first target area of ​​the obstacle, and the first target area is an area perpendicular to the working direction of the aerial work platform;

[0135] Obtaining a main arm rotation angle of the main arm, and determining a first distance threshold based on the main arm rotation angle, a first size parameter, and a first preset safety distance;

[0136] A first distance between the lower end of the aerial work platform and the obstacle being less than a first distance threshold is determined as an obstacle avoidance control condition.

[0137] In this embodiment, it should be noted that the obstacle avoidance control condition is a condition for determining whether there is a risk of collision between the aerial work platform and the obstacle, and the obstacle avoidance control condition limits the distance between the aerial work platform and the obstacle. If the distance between the obstacle and the aerial work platform detected by the distance detection device meets the obstacle avoidance control condition, it is determined that if the aerial work platform continues to move based on the current direction and speed of travel, there will be a risk of collision with the obstacle. At this time, it is necessary to control the aerial work platform to perform obstacle avoidance movement to avoid the obstacle.

[0138] When the aerial work platform moves vertically upward based on the facade wall, since the obstacle is located above the aerial work platform, the safety distance between the upper end of the aerial work platform and the obstacle can be directly preset. When the distance between the obstacle and the upper end of the aerial work platform is less than or equal to the safety distance, it is determined that the acquired distance detection information meets the obstacle avoidance control condition, and the aerial work platform needs to be controlled to perform obstacle avoidance movement. When the aerial work platform moves downward relative to the horizontal plane, since there is a boom below the aerial work platform, the collision risk between the boom and the obstacle needs to be considered in the obstacle avoidance control condition. In this embodiment, by calculating the first distance threshold, the collision risk between the boom and the obstacle is considered in the obstacle avoidance control condition to improve the effectiveness of obstacle avoidance. The first preset safety distance is a preset safety distance between the lower end of the aerial work platform and the obstacle. The main arm rotation angle, the first size parameter and the first preset safety distance are obtained to calculate the first distance threshold. Specifically, the first distance threshold can be calculated by the following formula:

[0139] d safe =D+L*tanθ1

[0140] Among them, d safe represents the first distance threshold; D represents the first preset safety distance; L represents the first size parameter; θ1 represents the rotation angle of the main arm.

[0141] When the working direction is a descending direction, when the first distance between the lower end of the aerial work platform and the obstacle is less than the first distance threshold, it is determined that if the aerial work platform continues to move based on the current moving direction and moving speed, there will be a risk of collision with the obstacle. At this time, it is necessary to control the aerial work platform to perform obstacle avoidance movement to avoid the obstacle.

[0142] In this embodiment, by considering the risk of collision between the boom and obstacles when the aerial work platform descends, the effectiveness and accuracy of automatic obstacle avoidance of the engineering equipment are further improved.

[0143] The present application also provides an obstacle avoidance path determination device, including:

[0144] a memory configured to store instructions;

[0145] The processor is configured to call instructions from the memory and implement the obstacle avoidance path determination method as described in the above embodiment when executing the instructions.

[0146] The present application also provides an engineering device, including:

[0147] Chassis;

[0148] The boom includes a plurality of joints, including a flying boom, a main boom and a turntable;

[0149] Aerial work platform, the aerial work platform is connected to the main arm through the flying arm, and the main arm is connected to the chassis through the turntable;

[0150] The obstacle avoidance path determination device as described in the above embodiment.

[0151] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the obstacle avoidance path determination method as described in the above embodiment.

[0152] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0153] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0154] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0156] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0157] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0158] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0159] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0160] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining an obstacle avoidance path, characterized in that: Applied to engineering equipment, the engineering equipment includes a chassis, a boom and an aerial work platform, the aerial work platform is connected to the chassis through the boom, the boom includes a plurality of joints, and the obstacle avoidance path determination method includes: In the case where an obstacle is detected, determining whether an obstacle avoidance control condition is met based on the acquired distance detection information; When the obstacle avoidance control condition is met, determining a size parameter of the obstacle based on the distance detection information; Obtaining position information of each joint of the arm; An obstacle avoidance control path is determined based on the size parameter and the position information.

2. The obstacle avoidance path determination method according to claim 1, characterized in that: The size parameter includes a first size parameter and a second size parameter, the first size parameter is a size parameter corresponding to a first target area of ​​the obstacle, the first target area is an area perpendicular to the working direction of the aerial work platform, the second size parameter is a size parameter corresponding to a second target area of ​​the obstacle, the second target area is an area parallel to the working direction of the aerial work platform, the obstacle avoidance control path includes a first obstacle avoidance control path, a second obstacle avoidance control path and a third obstacle avoidance control path executed in sequence, and determining the obstacle avoidance control path based on the size parameter and the position information includes: determining a first obstacle avoidance control path based on the first size parameter and the position information; Update the second size parameter and the position information based on the end point of the first obstacle avoidance control path to obtain a size update parameter and first position information; determining a second obstacle avoidance control path based on the size update parameter and the first position information; Updating the first position information based on the end point of the second obstacle avoidance control path to obtain second position information; A third obstacle avoidance control path is determined based on the second position information.

3. The obstacle avoidance path determination method according to claim 2, characterized in that: The updating of the second size parameter and the position information based on the end point of the first obstacle avoidance control path to obtain the size update parameter and the first position information includes: Updating the position information based on the end point of the first obstacle avoidance control path to obtain first position information; updating the distance detection information based on an end point of the first obstacle avoidance control path, and determining whether there is an obstacle based on the updated distance detection information; In the absence of an obstacle, the second size parameter is updated based on the updated distance detection information to obtain a size update parameter.

4. The obstacle avoidance path determination method according to claim 2, characterized in that: The joint includes a turntable, the position information includes a first turntable rotation angle, the first obstacle avoidance control path is used to control the aerial work platform to stay away from the work wall, and the first obstacle avoidance control path is determined based on the first size parameter and the position information, including: Obtaining the movement speed of the aerial work platform in the working direction; determining a first platform movement speed based on the first turntable rotation angle and the movement speed; Determine a first movement distance based on the first size parameter, a preset length error, and a rotation angle of the first turntable; A first obstacle avoidance control path is determined based on the first platform movement speed and the first movement distance.

5. The obstacle avoidance path determination method according to claim 4, characterized in that: The joint includes a main arm, the first position information includes a rotation angle of the first main arm, the second obstacle avoidance control path is used to control the aerial work platform to move along a working direction, and the second obstacle avoidance control path is determined based on the size update parameter and the first position information, including: Obtaining the movement speed of the aerial work platform in the working direction; When the working direction is an ascending direction, determining a second movement distance based on the size update parameter, a preset height error and a rotation angle of the first main arm; A second obstacle avoidance control path is determined based on the movement speed and the second movement distance.

6. The obstacle avoidance path determination method according to claim 5, characterized in that: The position information also includes a rotation angle of the second main arm, and the obstacle avoidance path determination method further includes: When the working direction is a descending direction, determining a third movement distance based on the size update parameter, a preset height error and a rotation angle of the second main arm; A second obstacle avoidance control path is determined based on the movement speed and the third movement distance.

7. The obstacle avoidance path determination method according to claim 5, characterized in that: The second position information includes a rotation angle of the second turntable, the third obstacle avoidance control path is used to control the aerial work platform to approach the work wall, and determining the third obstacle avoidance control path based on the second position information includes: Obtaining the movement speed of the aerial work platform in the working direction; Determine a second platform movement speed based on the second turntable rotation angle and the movement speed, wherein the second platform movement speed is opposite to the first platform movement speed; A third obstacle avoidance control path is determined based on the movement speed of the second platform.

8. The obstacle avoidance path determination method according to claim 7, characterized in that: The obstacle avoidance path determination method further includes: Based on the third obstacle avoidance control path, the aerial work platform is controlled to approach the work wall until the distance between the aerial work platform and the work wall is less than a preset maximum working distance.

9. The obstacle avoidance path determination method according to claim 1, characterized in that: The joint includes a main arm, and before the step of determining whether an obstacle avoidance control condition is met based on the acquired distance detection information when an obstacle is detected, the method further includes: In the case where the working direction of the aerial work platform is a descending direction, if an obstacle is detected, a first size parameter of the obstacle is determined based on the acquired distance detection information, wherein the first size parameter is a size parameter corresponding to a first target area of ​​the obstacle, and the first target area is an area perpendicular to the working direction of the aerial work platform; Acquire a main arm rotation angle of the main arm, and determine a first distance threshold based on the main arm rotation angle, the first size parameter, and a first preset safety distance; A first distance between the lower end of the aerial work platform and the obstacle being less than the first distance threshold is determined as an obstacle avoidance control condition.

10. An obstacle avoidance path determination device, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the obstacle avoidance path determination method according to any one of claims 1 to 9 when executing the instructions.

11. An engineering equipment, characterized in that: include: Chassis; A boom, the boom comprising a plurality of joints, the joints comprising a flying boom, a main boom and a turntable; An aerial work platform, wherein the aerial work platform is connected to the main arm via the flying arm, and the main arm is connected to the chassis via the turntable; The obstacle avoidance path determination device according to claim 10.

12. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the obstacle avoidance path determination method according to any one of claims 1 to 9.

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