Large-diameter long-pipe-section pipe pile hoisting path planning method and device

Abstract

The invention provides a large-diameter long-pipe-section pipe pile hoisting path planning method and device, and relates to the technical field of cranes. According to the method, motion state parameters of pipe sections and pipe piles are obtained in real time, and in combination with three-dimensional environment sensing data of a hoisting area, a space operation diagram containing obstacles and a safety buffer area is constructed; generating a plurality of groups of candidate paths combined by speeds and steering angles in the fan-shaped region according to a set angle interval by taking the current motion direction as a reference; removing paths conflicting with obstacles through collision detection, and reserving an effective path set; based on multi-dimensional feature analysis of a security item index, a smoothness index and a progress index, a scoring function is constructed by presetting a weight, and an optimal path is dynamically selected; path planning is carried out through a fixed time interval until the pipe pile stably arrives at a target point; through real-time environment modeling and dynamic path planning, the problems of obstacle avoidance and efficiency of large-diameter pipe pile hoisting in a complex scene are solved, and hoisting safety and operation accuracy are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and specifically to a method and device for planning the lifting path of large-diameter long pipe pile segments. Background Technique

[0002] In large-scale infrastructure projects, such as cross-sea bridges, deep-sea ports, and urban underground pipe corridors, the lifting operations of large-diameter long pipe pile segments often face extremely complex environments: when constructing at sea, it is necessary to avoid shipping lanes, floating platforms, and installed pile foundations; in underground pipe corridors, it is necessary to move precisely within dense pipelines and narrow spaces; dynamic obstacles such as tower cranes and drones during high-altitude operations interfere. Traditional path planning relies on manual experience or offline algorithms based on static maps, and there are significant defects: firstly, it is difficult for manual judgment to quantify the distance to obstacles and the motion state of the pipe pile in real time, and it is easy to cause collisions or circuitous paths due to operation delays; secondly, static algorithms cannot respond dynamically to environmental changes, and it is necessary to repeatedly suspend operations to re-plan, seriously slowing down the project progress; thirdly, existing technologies mostly adopt single-objective optimization, such as the shortest path, ignoring the coordinated control of steering smoothness, energy consumption, and safety distance, resulting in frequent starts and stops of equipment and excessive swinging of the pipe pile, which not only increases the risk of structural damage but also exacerbates mechanical wear.

[0003] The above information disclosed in the background art section is only used to enhance the understanding of the background of the present disclosure, and therefore it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and device for planning the lifting path of large-diameter long pipe pile segments to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A method for planning the lifting path of large-diameter long pipe pile segments, the specific steps include: S1: Real-time obtain the motion state parameters of the hoisted pipe pile segment, the motion state parameters include coordinates, speed, acceleration, and the current motion direction of the pipe pile segment, perform three-dimensional environmental perception on the hoisting operation area in real time, identify the positions, sizes, and geometric shape characteristics of surrounding obstacles, the specification parameters of the pipe pile segment, and construct an environmental model based on the recognition results to generate a spatial operation map; S2: Set a fixed time interval, taking the current motion direction of the hoisted pipe pile segment as a reference, within the forward sector area defined by the spatial operation map, generate multiple candidate paths for the next time interval at a set angular interval, construct a candidate area path set, and each path is determined by a combination of a preset forward speed and a steering angle; S3: Based on the space operation diagram and the motion state parameters, calculate the next position of each trajectory in the path set, perform collision detection on the candidate paths, eliminate the non - selectable paths that overlap with obstacles, and retain the effective path set.

[0006] S4: Perform multi - dimensional feature analysis on each path in the effective path set, extract the safety item index, smoothness index, and progress index, construct a path scoring function according to the preset weights for comprehensive evaluation, and select the path with the highest score as the current optimal path; S5: Execute the optimal path plan until the next moment, and repeat the operations of path generation, evaluation, scoring, and adjustment until the hoisted pipe joint and pipe pile reach the target point smoothly, completing the path planning and lifting process.

[0007] Furthermore, obtain the motion state parameters of the hoisted pipe joint and pipe pile in real - time. The motion state parameters include: the current coordinate , the current speed , the current acceleration , the current motion direction of the pipe joint and pipe pile ; Identify the positions, sizes, and geometric shape characteristics of the surrounding obstacles, mark the safety boundary areas of each obstacle, and form an obstacle set , the obstacle 's position coordinate is , construct an environmental model based on the recognition results, and generate a space operation diagram based on the hoisting operation range, safety buffer zone, and obstacle boundaries.

[0008] Furthermore, taking the current motion direction of the hoisted pipe joint and pipe pile as a reference, within the forward fan - shaped area defined by the space operation diagram, generate multiple candidate paths at intervals of 1°, and each path is determined by a combination of a preset forward speed and a steering angle, constructing a candidate area path set: ; ; wherein, is the path set determined by the combination of speed and steering angle at the next moment, is the moment path speed, is the moment path steering angle, is the maximum hoisting speed; The next position of each trajectory in the path set can be calculated by the following formula: ; wherein, is the moment The path reaches the coordinates, is the time interval.

[0009] Furthermore, the next velocity of each trajectory in the path set can be calculated by the following formula: ; ; where, is the minimum hoisting acceleration, is the maximum hoisting acceleration, is the maximum allowable steering angle.

[0010] Furthermore, collision detection is performed on the candidate paths, and a safety distance threshold is defined. The threshold formula is as follows: ; where, is the diameter of the pipe pile section, is the distance from the coordinates of the pipe pile section hoisted by the path at time to the obstacle. The logic for judging whether there is a collision is: is regarded as a path where a collision may occur, and the corresponding value is recorded, and the selected path is indexed according to the corresponding value, and the paths where a collision may occur are excluded from the candidate area path set.

[0011] Furthermore, multi-dimensional feature analysis is performed on each path in the effective path set, and safety item index, smoothness index, and progress index are extracted. A path scoring function is constructed based on the preset weights for comprehensive evaluation: ; where, is the weight coefficient, is the safety item index of the path at time is the smoothness index of the path at time is the progress index of the path at time

[0012] Furthermore, the formulas for generating the safety item index, smoothness index, and progress index are as follows: ; ; ; ; ; In the formula, is the path advancement,[[]] is the total transportation distance of hoisting,[[]] is the abscissa of the hoisting target point,[[]] is the ordinate of the hoisting target point,[[]] is the hoisting deviation angle,[[]] is the abscissa of the hoisting starting point,[[]] is the ordinate of the hoisting starting point.[[]]

[0013] Furthermore, select the trajectory with the highest score from all the trajectories that have passed the obstacle overlap detection , as the path plan for the current time window, and execute the selected trajectory for hoisting. At the end of each time window, re-collect the motion state parameters and environmental data, and repeat the operations of path generation, evaluation, scoring, and adjustment until the hoisted pipe section and pipe pile reach the target point smoothly, completing the path planning and hoisting process.[[]]

[0014] The present invention also further provides a hoisting path planning device for large-diameter long pipe section pipe piles: The hoisting path planning device for large-diameter long pipe section pipe piles is used to execute the above-mentioned hoisting path planning method for large-diameter long pipe section pipe piles, including:[[]] An environmental model construction module: Real-time acquisition of the motion state parameters of the hoisted pipe section pipe pile, the motion state parameters include coordinates, speed, acceleration, and the current motion direction of the pipe section pipe pile, real-time three-dimensional environmental perception of the hoisting operation area, identification of the position, size, and geometric shape characteristics of surrounding obstacles, and the specification parameters of the pipe section pipe pile. Based on the identification results, construct an environmental model and generate a spatial operation map;[[]] A path planning module: Set a fixed time interval, based on the current motion direction of the hoisted pipe section pipe pile, in the forward fan-shaped area defined by the spatial operation map, generate multiple candidate paths for the next time interval at a set angle interval, construct a candidate area path collection, and each path is determined by a combination of a preset forward speed and a steering angle;[[]] A path screening module: Based on the spatial operation map and motion state parameters, calculate the next position of each trajectory in the path set, perform collision detection on the candidate paths, eliminate the non-selectable paths that overlap with obstacles, and retain the effective path set.[[]]

[0015] A path scoring module: Perform multi-dimensional feature analysis on each path in the effective path set, extract safety item index, smoothness index, and progress index, and construct a path scoring function based on preset weights for comprehensive evaluation, and select the path with the highest score as the current optimal path;[[]] Lifting execution module: Execute the optimal lifting path, and repeat the operations of path generation, evaluation, scoring, and adjustment at the next moment until the hoisted pipe pile reaches the target point smoothly, completing the path planning and lifting process.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The core innovation of the lifting path planning method of the present invention lies in the integration of dynamic perception, multi-objective optimization, and real-time replanning capabilities, significantly improving the reliability and efficiency of lifting operations. First, through the heterogeneous data fusion of lidar and vision sensors and the millisecond-level monitoring of the movement state of the pipe pile, high-precision environmental modeling and dynamic compensation of motion parameters are achieved, ensuring the accurate calibration of the safety boundary of obstacles; based on the safety distance threshold and real-time collision detection, high-risk paths are accurately eliminated, and the safety of the path is quantified by the safety item index, significantly reducing the collision probability during the lifting process; secondly, based on the generation of candidate paths in the fan-shaped area and the multi-dimensional scoring model of safety items, smoothness, and progress, under the hard obstacle avoidance constraint, through the progress index and dynamic path scoring, the path approaching the target point is preferentially selected, reducing redundant movement and shortening the lifting time; while avoiding obstacles, ensure the continuity and smoothness of the path, reduce mechanical sudden stops and sharp turns, extend the equipment life and reduce energy consumption, and simultaneously optimize the steering continuity, energy consumption efficiency, and target approaching speed to support uninterrupted operation. Description of the Drawings

[0017] Figure 1 It is a schematic flow chart of the overall method of the present invention; Figure 2 It is a data graph of the scoring results of safe and effective paths; Figure 3 It is the optimal path steering angle and speed values at each unit time node; Figure 4 It is a complete lifting trajectory graph; Figure 5 It is a schematic block diagram of the overall device of the present invention. Detailed Embodiments

[0018] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific embodiments.

[0019] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those of ordinary skill in the field to which the present invention pertains. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to represent relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0020] Embodiment: Please refer to Figures 1 to 4 , the present invention provides a technical solution: A method for planning the lifting path of a large-diameter long pipe joint pile, the specific steps include: S1: Obtain the motion state parameters of the hoisted pipe joint pile in real time. The motion state parameters include coordinates, speed, acceleration, and the current motion direction of the pipe joint pile. Perform three-dimensional environment perception on the hoisting operation area in real time, identify the positions, sizes, and geometric shape features of surrounding obstacles, the specification parameters of the pipe joint pile, and construct an environment model based on the recognition results to generate a spatial operation map; In this embodiment: Obtain the motion state parameters of the hoisted pipe joint pile in real time. The motion state parameters include: starting coordinates , starting speed , starting acceleration , where coordinate positioning adopts a multi-sensor fusion positioning system, including: real-time kinematic differential GPS, laser tracker, ultra-wideband positioning; speed and acceleration measurement, through the built-in triaxial accelerometer and gyroscope in the pipe pile joint, directly measure the linear acceleration and angular velocity of the pipe pile; calculate the real-time heading angle of the pipe pile through the gyroscope, and the starting motion direction of the pipe joint pile ; the specification parameters of the pipe joint pile: diameter ; at the same time, configure lidar, stereo vision cameras, and millimeter-wave radars in the hoisting environment to identify the positions, sizes, and geometric shapes of surrounding obstacles, mark the safety boundary areas of each obstacle, and form an obstacle set , the position coordinates of the obstacles are respectively , , construct the hoisting operation range based on the recognition results as , and a three-dimensional grid map of the safety buffer and the obstacle boundary with a resolution of 0.1 m. Based on the hoisting operation range, the safety buffer, and the obstacle boundary, a spatial operation map is generated. Taking the path information at 10 s of hoisting as an example, the following steps are carried out; S2: Set a fixed time interval of 5 s. Based on the current moving direction of the hoisted pipe section and pile, within the forward fan-shaped area defined by the spatial operation map, multiple candidate paths for the next time interval are generated at a set angular interval, and a candidate area path set is constructed. Each path is determined by a combination of a preset forward speed and a steering angle; In this embodiment: Taking the path movement direction of the hoisted pipe section and pile at 10 s as a reference, within the forward fan-shaped area defined by the spatial operation map, multiple candidate paths are generated at a set interval of 1°. Each path is determined by a combination of a preset forward speed and a steering angle, and a candidate area path set is constructed: ; ; In the formula, is the path set determined by the combination of speed and steering angle at the next moment, is at s path speed, is at 10 s path steering angle, = 0.8 m / s is the maximum hoisting speed; since the maximum hoisting steering angle is 30 degrees, the fan-shaped area is set to ±30° of the current hoisting direction, and there are 61 candidate paths at an interval of 1°, as shown in Table 1; Set The next position of each trajectory in the set, that is, the hoisting coordinates after 5 s, can be calculated by the following formula: ; Among them, is the path arrival coordinate at 15 s , is the time interval, = 5 s.

[0021] The next speed of each trajectory in the path set can be calculated by the following formula: ; ; Among them, is the maximum hoisting speed, = 0.01 is the minimum hoisting acceleration, = 0.2 is the maximum hoisting acceleration, The maximum allowable steering angle. If the hoisting steering angle is too large, it will cause excessive swinging of the pipe pile pipe section, deviation from the hoisting trajectory, and pose a collision risk. If the hoisting speed changes too much during the hoisting process, it will affect the hoisting safety factor of the pipe pile pipe section. The greater the instantaneous speed change, the greater the pressure on the pipe pile pipe section during the hoisting process, which is likely to cause hoisting accidents. Therefore, the design of acceleration should meet the safety factor and consider the influence of the steering angle. Refer to Table 1. After the above steps, a set of 61 candidate area paths is obtained.

[0022] S3: Based on the space operation diagram and motion state parameters, calculate the next position of each trajectory in the path set, perform collision detection on the candidate paths, eliminate the ineligible paths that overlap with obstacles, and retain the set of valid paths; In this embodiment: Perform collision detection on the candidate paths and define a safety distance threshold , and the threshold formula is as follows: ; Among them, the diameter of the pipe pile pipe section is = 2.0m, is the distance from the coordinate of the pipe pile of the pipe section hoisted through the path at time to the obstacle. The logic for judging whether there is a collision is: When it is regarded as a path where a collision may occur, and record the corresponding value, and index the selected path according to the corresponding value, and eliminate the paths where a collision may occur from the set of candidate area paths. When it is regarded as a safe and valid path, use the above method to screen and retain the set of valid paths. During the hoisting process

[0023]

[0024] Table 1: Data table for collision detection of candidate paths Among them, the paths of are regarded as safe and valid paths.

[0025] S4: Perform multi-dimensional feature analysis on each path in the set of valid paths, extract the safety item index, smoothness index, and progress index, and construct a path scoring function based on the preset weights for comprehensive evaluation. Select the path with the highest score as the current optimal path; In this embodiment, multi-dimensional feature analysis is performed on each path in the set of effective paths, and the safety item index, smoothness index, and progress index are extracted. A path scoring function is constructed based on preset weights for comprehensive evaluation: ; Among them, the weight coefficient , is the moment path safety item index. During the hoisting operation of diameter pipe piles, collisions may cause equipment damage, damage to the pipe pile structure, and even casualties. Safety is the bottom line of the operation. The distribution of obstacles is dense and may move suddenly, such as temporary construction machinery, and sufficient safety margins need to be reserved; is the moment path smoothness index. Frequent turning or sudden starts and stops will exacerbate the wear of the hydraulic system and boom joints, increasing maintenance costs. A smooth path can reduce the motor power fluctuation. Measured data shows that sudden turning will cause the instantaneous energy consumption to increase by more than 30%; is the moment path progress index. An overly long hoisting time will increase labor costs and project duration pressure. Completely ignoring the progress may lead to excessive path detours. In actual operations, reasonable efficiency needs to be pursued within the safety framework.

[0026] The safety item index, smoothness index, and progress index are as follows: ; ; ; ; ; In the formula, is the path advancement amount, is the total hoisting transportation distance, the abscissa of the hoisting target point, the ordinate of the hoisting target point, is the hoisting deviation angle, the abscissa of the hoisting starting point, The ordinate of the hoisting starting point, where the design logic of the safety item index formula: quantify the safety distance between the path and the obstacles to ensure that the pipe piles always maintain a safe distance from the obstacles during movement. The greater the safety distance, the greater the safety item index; the smaller the safety distance, the smaller the safety item index. The design logic of the smoothness index: measure the smoothness of the path turning to avoid sharp turns that may cause equipment vibration or increased energy consumption. The smaller the change in the turning angle, the smoother the path; the greater the change in the turning angle, the less stable the path. The design logic of the progress index evaluates the contribution of the path to shortening the target distance, which is the ratio of the current remaining distance - the remaining distance of the new path to the total transportation distance. Prioritize the path that gets closer to the end point faster. Through the above multi-dimensional evaluation, construct an evaluation function according to different weights, comprehensively evaluate each path in multiple dimensions, and smoothly and efficiently complete the hoisting task on the premise of ensuring safety.

[0027] In this embodiment, after collision detection according to the path, the safe and effective paths screened out in Table 1 are used to construct a path scoring function for comprehensive evaluation. The evaluation results are shown in Table 2 below:

[0028] Table 2: Data table of scores for safe and effective paths Referring to Table 2, score the safe and effective paths after screening to obtain the optimal path, and execute the next hoisting plan.

[0029] S5: Execute the optimal path plan to the next moment, and repeat the operations of path generation, evaluation, scoring, and adjustment until the hoisted pipe pile reaches the target point smoothly, completing the path planning and hoisting process.

[0030] In this embodiment: Select the trajectory with the highest score from all the trajectories that have passed the obstacle overlap detection , as the path plan for the current time window, and execute the selected trajectory for hoisting. At the end of each time window, re-collect the motion state parameters and environmental data, and repeat the operations of path generation, evaluation, scoring, and adjustment until the hoisted pipe pile reaches the target point smoothly, completing the path planning and hoisting process, and the hoisting status at each unit time node.

[0031] In this embodiment, according to the path, the path with the highest scoring function screened out in Table 2 after collision detection is fully hoisted to the end point. The execution data is shown in Table 3 below:

[0032] Table 3: Execution data at unit time intervals for the complete hoisting path Referring to Table 3 and Figure 3 、 4 , Figure 3They are the optimal path steering angles and speed values at each time node. Figure 4 As shown in the complete lifting trajectory diagram, it can be seen that this method can effectively provide a safe and efficient lifting path dynamically within a unit time. Please refer to Figure 5 In addition, the present invention further provides a lifting path planning device for large-diameter long pipe pile sections. The lifting path planning device for large-diameter long pipe pile sections is used to execute the above-mentioned lifting path planning method for large-diameter long pipe pile sections, and includes: Environmental model construction module: It obtains the motion state parameters of the hoisted pipe pile section in real time. The motion state parameters include coordinates, speed, acceleration, and the current motion direction of the pipe pile section. It performs three-dimensional environmental perception on the hoisting operation area in real time, identifies the positions, sizes, and geometric shape characteristics of surrounding obstacles, and the specification parameters of the pipe pile section. Based on the recognition results, it constructs an environmental model and generates a spatial operation map. Path planning module: It sets a fixed time interval. Taking the current motion direction of the hoisted pipe pile section as the reference, within the forward sector area defined by the spatial operation map, it generates multiple candidate paths for the next time interval at a set angular interval, constructs a candidate area path set, and each path is determined by a combination of a preset forward speed and a steering angle. Path screening module: Based on the spatial operation map and motion state parameters, it calculates the next position of each trajectory in the path set, performs collision detection on the candidate paths, eliminates the non-selectable paths that overlap with obstacles, and retains the effective path set.

[0033] Path scoring module: It performs multi-dimensional feature analysis on each path in the effective path set, extracts safety item index, smoothness index, and progress index, and constructs a path scoring function according to preset weights for comprehensive evaluation, and selects the path with the highest score as the current optimal path. Lifting execution module: It executes the optimal lifting path, and repeats the operations of path generation, evaluation, scoring, and adjustment at the next moment until the hoisted pipe pile section reaches the target point smoothly, completing the path planning and lifting process.

[0034] All the above formulas are dimensionless and take their numerical calculations. The formulas are obtained by collecting a large amount of data for software simulation to get a formula closest to the real situation. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0035] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. Those skilled in the art will realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software methods depends on the specific application and design constraints of the technical solution.

[0036] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units. They may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0037] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all of them should be covered by the protection scope of the present application.

Claims

1. A method for planning the lifting path of large-diameter long pipe pile segments, characterized in that, The specific steps include: Obtain the motion state parameters of the hoisted pipe pile in real time. The motion state parameters include coordinates, speed, acceleration, and the current motion direction of the pipe pile. Perform three-dimensional environmental perception on the hoisting operation area in real time, identify the positions, sizes, and geometric shapes of surrounding obstacles, and the specification parameters of the pipe pile. Based on the recognition results, construct an environmental model and generate a spatial operation map; Set a fixed time interval. Based on the current motion direction of the hoisted pipe pile, in the forward fan-shaped area defined by the spatial operation map, generate multiple candidate paths for the next time interval at a set angular interval, and construct a candidate area path set. Each path is determined by a combination of a preset forward speed and a steering angle; Based on the spatial operation map and motion state parameters, calculate the next position of each trajectory in the path set, perform collision detection on the candidate paths, eliminate the non-selectable paths that overlap with obstacles, and retain the effective path set; Perform multi-dimensional feature analysis on each path in the effective path set, extract the safety item index, smoothness index, and progress index, and construct a path scoring function according to preset weights for comprehensive evaluation. Select the path with the highest score as the current optimal path; Execute the optimal path plan until the next moment, and repeat the operations of path generation, evaluation, scoring, and adjustment until the hoisted pipe pile reaches the target point smoothly, completing the path planning and hoisting process.

2. The method for planning the lifting path of large-diameter long pipe pile joints according to claim 1, characterized in that: Obtain the motion state parameters of the hoisted pipe section and pipe pile in real time. The motion state parameters include: current coordinates , current speed , current acceleration , current motion direction of the pipe section and pipe pile ; Identify the positions, sizes and geometric shapes of surrounding obstacles, mark the safety boundary areas of each obstacle, and form an obstacle set , obstacle 's position coordinates are , construct an environmental model based on the recognition result, and generate a spatial operation map based on the hoisting operation range, safety buffer zone and obstacle boundaries.

3. The method for planning the hoisting path of large-diameter long pipe pile sections according to claim 2, wherein: Taking the current movement direction of the hoisted pipe joint pile as the reference, within the forward sector area defined by the space operation diagram, multiple candidate paths are generated at intervals of 1°, and each path is determined by a combination of a preset forward speed and a steering angle, constructing a candidate area path set: ； ； Wherein, is the path set determined by the combination of speed and steering angle at the next moment, is the moment path speed, is the moment path steering angle, is the maximum hoisting speed; the next position of each trajectory in the path set can be calculated by the following formula: ； Among them, is the moment when the path reaches the coordinate, and is the time interval.

4. The method for planning the hoisting path of large-diameter long pipe pile according to claim 3, wherein: The next speed of each trajectory in the path set can be calculated by the following formula: ； ； Among them, is the minimum hoisting acceleration, is the maximum hoisting acceleration, is the maximum allowable steering angle.

5. The method for planning the hoisting path of large-diameter long pipe pile according to claim 4, characterized in that: Perform collision detection on the candidate path and define a safety distance threshold , and the threshold formula is as follows: ； in, is the diameter of the pipe pile segment, for Time Sutra The distance from the path hoisting pipe section and pile coordinates to the obstacle, and the logic for judging whether there is a collision is: When the collision path occurs, the corresponding The value of The path selected by the numerical index is removed from the candidate area path collection. When it is considered as a safe and valid path, the above method is used to filter and retain the valid path set.

6. The method for planning the hoisting path of large-diameter long pipe-joint pipe piles according to claim 5, wherein: Perform multi-dimensional feature analysis on each path in the effective path set, extract the safety item index, smoothness index, and progress index, and construct a path scoring function according to preset weights for comprehensive evaluation: ； Among them, is the weight coefficient, is the moment path safety item index, is the moment path smoothness index, is the moment path progress index.

7. The method for planning the lifting path of large-diameter long pipe pile according to claim 6, wherein: The formulas for generating the safety item index, smoothness index, and progress index are as follows: ； ； ； ； ； Wherein, is the path advancement amount, is the total transportation distance of the hoisting, is the abscissa of the hoisting target point, is the ordinate of the hoisting target point, is the hoisting deviation angle, is the abscissa of the hoisting starting point, is the ordinate of the hoisting starting point.

8. The method for planning the hoisting path of large-diameter long pipe pile according to claim 7, wherein: Select the trajectory with the highest score from all the trajectories that have passed the obstacle overlap detection and use it as the path plan for the current time window, and execute the selected trajectory Conduct hoisting. At the end of each time window, re-collect the motion state parameters and environmental data, and repeat the operations of path generation, evaluation, scoring, and adjustment until the hoisted pipe section and pipe pile reach the target point smoothly, completing the path planning and lifting process.

9. A device for planning the lifting path of a large-diameter long pipe pile section, characterized in that: The large-diameter long pipe pile hoisting path planning device is used to execute the large-diameter long pipe pile hoisting path planning method described in any one of claims 1-8, and specifically includes: An environmental model construction module, which is used to obtain the motion state parameters of the hoisted pipe pile in real time. The motion state parameters include coordinates, speed, acceleration, and the current motion direction of the pipe pile. Perform three-dimensional environmental perception on the hoisting operation area in real time, identify the positions, sizes, and geometric shape features of surrounding obstacles, and the specification parameters of the pipe pile. Based on the recognition results, construct an environmental model and generate a spatial operation map; A path planning module, which is used to set a fixed time interval. Based on the current motion direction of the hoisted pipe pile, in the forward fan-shaped area defined by the spatial operation map, generate multiple candidate paths for the next time interval at a set angular interval, and construct a candidate area path set. Each path is determined by a combination of a preset forward speed and a steering angle; A path screening module, which is used to calculate the next position of each trajectory in the path set based on the spatial operation map and motion state parameters, perform collision detection on the candidate paths, eliminate the non-selectable paths that overlap with obstacles, and retain the effective path set; The path scoring module is used to perform multi-dimensional feature analysis on each path in the set of valid paths, extract the safety item index, smoothness index, and progress index, construct a path scoring function according to the preset weights for comprehensive evaluation, and select the path with the highest score as the current optimal path; The lifting execution module is used to execute the optimal lifting path, and repeat the operations of path generation, evaluation, scoring, and adjustment at the next moment until the hoisted pipe section and pipe pile reach the target point smoothly, completing the path planning and lifting process.

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