Method and device for planning the lifting path of large-diameter long-section pipe piles

Abstract

The present invention provides a method and device for planning the path for lifting large-diameter long pipe-section piles, which relate to the technical field of cranes. The present invention obtains the motion state parameters of the pipe-section piles in real time, and constructs a spatial operation diagram including obstacles and safety buffer zones in combination with the three-dimensional environmental perception data of the lifting area; based on the current motion direction, multiple groups of candidate paths composed of speed and steering angle are generated within the fan-shaped area at set angle intervals; paths that conflict with obstacles are eliminated through collision detection, and a set of valid paths is retained; based on multi-dimensional feature analysis of the safety item index, smoothness index and progress index, a scoring function is constructed with preset weights, and the optimal path is dynamically selected; path planning is performed at fixed time intervals until the pile arrives at the target point smoothly; the present invention solves the obstacle avoidance and efficiency problems of lifting large-diameter pipe piles in complex scenarios through real-time environmental modeling and dynamic path planning, and significantly improves lifting safety and operation accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a method and device for planning a lifting path for large-diameter long-tube-section pipe piles. Background Art

[0002] In large-scale infrastructure projects such as cross-sea bridges, deep-sea ports, and urban underground pipeline corridors, the lifting and transport of large-diameter, long-section pipe piles often faces extremely complex environments. During offshore construction, they must avoid navigation vessels, floating platforms, and installed pile foundations; in underground pipeline corridors, they must precisely maneuver within dense pipelines and confined spaces; and during aerial operations, they face interference from dynamic obstacles such as tower cranes and drones. Traditional path planning relies on manual experience or offline algorithms based on static maps, which have significant drawbacks. First, manual judgment makes it difficult to quantify obstacle distances and the motion state of pipe piles in real time, which can easily lead to collisions or detours due to operational delays. Second, static algorithms cannot dynamically respond to environmental changes, requiring repeated pauses for replanning, significantly slowing project progress. Third, existing technologies often employ single-objective optimization, such as the shortest path, while ignoring the coordinated control of steering stability, energy consumption, and safe distance. This results in frequent equipment starts and stops, excessive pipe pile swing, and increases the risk of structural damage and mechanical wear.

[0003] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not form the prior art that is already known to a person 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-section pipe piles, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for planning a lifting path for a large-diameter long-section pipe pile comprises the following steps:

[0007] S1: Real-time acquisition of motion state parameters of the pipe segments and piles being hoisted, including coordinates, velocity, acceleration, and current motion direction of the pipe segments and piles. Real-time three-dimensional environmental perception of the hoisting operation area is performed to identify the location, size, and geometric features of surrounding obstacles, as well as the specifications of the pipe segments and piles. Based on the identification results, an environmental model is constructed to generate a spatial operation diagram.

[0008] S2: Set a fixed time interval, take the current movement direction of the pipe segment and pile as the reference, and generate multiple candidate paths for the next time interval at the set angle interval within the front fan-shaped area defined by the spatial operation diagram. Build a set of candidate area paths. Each path is determined by a preset combination of forward speed and steering angle.

[0009] S3: Based on the spatial work map and motion state parameters, calculate the next position of each trajectory in the path set, perform collision detection on the candidate paths, eliminate unselectable paths that overlap with obstacles, and retain the valid path set.

[0010] S4: Perform multi-dimensional feature analysis on each path in the valid path set, extract the safety index, smoothness index, and progress index, 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;

[0011] S5: Execute the optimal path plan to the next moment, and repeat the path generation, evaluation, scoring and adjustment operations until the hoisted pipe segment and pile arrive at the target point smoothly, completing the path planning and hoisting process.

[0012] Furthermore, the motion state parameters of the pipe segment and pile to be hoisted are obtained in real time. The motion state parameters include: the current coordinates , current speed , current acceleration , the current movement direction of the pipe joint and pile ; Identify the location, size and geometric shape of surrounding obstacles, mark the safe boundary area of ​​each obstacle, and form an obstacle set ,obstacle The position coordinates are , construct an environmental model based on the recognition results, and generate a spatial operation map based on the lifting operation range, safety buffer zone and obstacle boundary.

[0013] Furthermore, the current movement direction of the pipe pile is As a benchmark, multiple candidate paths are generated at 1° intervals within the front sector area defined by the spatial operation diagram. Each path is determined by a preset forward speed and steering angle combination, and a candidate area path collection is constructed:

[0014] ;

[0015] ;

[0016] Where, is the path set determined by the combination of speed and steering angle at the next moment, for time Path speed, for time Path steering angle, is the maximum lifting speed; path set The next position of each trajectory in can be calculated by the following formula:

[0017] ;

[0018] in, for time Path arrival coordinates, is the time interval.

[0019] Furthermore, the next velocity of each trajectory in the path set can be calculated using the following formula:

[0020] ;

[0021] ;

[0022] in, is the minimum acceleration of lifting, is the maximum acceleration of lifting, Maximum permissible steering angle.

[0023] Furthermore, collision detection is performed on candidate paths to define a safety distance threshold. , the threshold formula is as follows:

[0024] ;

[0025] in, is the diameter of the pipe pile section, for Time Sutra The distance between the path hoisting pipe section and the pipe pile coordinates and the obstacle. The logic for determining whether there is a collision is: It is considered as a possible collision path and the corresponding The value of The numerical index of the selected path will remove the possible collision paths 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.

[0026] Furthermore, a multi-dimensional feature analysis is performed on each path in the valid path set to extract the safety index, smoothness index, and progress index. A path scoring function is constructed based on preset weights for comprehensive evaluation:

[0027] ;

[0028] in, is the weight coefficient, for time Path safety index, for time Path smoothness index, for time Path progress index.

[0029] Furthermore, the formulas for generating the safety index, smoothness index, and progress index are as follows:

[0030] ;

[0031] ;

[0032] ;

[0033] ;

[0034] ;

[0035] Where, is the path advancement amount, is the total lifting distance, The horizontal coordinate of the lifting target point, The vertical coordinate of the lifting target point, is the lifting deviation angle, The horizontal coordinate of the lifting starting point, The vertical coordinate of the lifting starting point.

[0036] Furthermore, the trajectory with the highest score is selected from all the trajectories that have been detected with overlapping obstacles. , as the path plan for the current time window, execute the selected trajectory During hoisting, at the end of each time window, the motion state parameters and environmental data are recollected, and the path generation, evaluation, scoring and adjustment operations are repeated until the hoisted pipe section and pile reach the target point smoothly, completing the path planning and hoisting process.

[0037] The present invention further provides a large-diameter long-tube-section pipe pile lifting path planning device: the large-diameter long-tube-section pipe pile lifting path planning device is used to execute the above-mentioned large-diameter long-tube-section pipe pile lifting path planning method, comprising:

[0038] Environmental model building module: This module acquires the motion state parameters of the pipe segments and piles being hoisted in real time, including coordinates, velocity, acceleration, and the current motion direction of the pipe segments and piles. It also performs real-time three-dimensional environmental perception of the hoisting operation area, identifies the location, size, and geometric features of surrounding obstacles, and the specifications of the pipe segments and piles. Based on the identification results, it builds an environmental model and generates a spatial operation diagram.

[0039] Path planning module: Set a fixed time interval, take the current movement direction of the pipe segment and pile as the reference, and generate multiple candidate paths for the next time interval at the set angle interval within the front fan-shaped area defined by the spatial operation map. Build a collection of candidate area paths. Each path is determined by a preset combination of forward speed and steering angle.

[0040] Path screening module: Based on the spatial operation diagram and motion state parameters, it calculates the next position of each trajectory in the path set, performs collision detection on candidate paths, eliminates unselectable paths that overlap with obstacles, and retains the valid path set.

[0041] Path scoring module: Performs multi-dimensional feature analysis on each path in the valid path set, extracts the safety index, smoothness index, and progress index, constructs a path scoring function based on preset weights for comprehensive evaluation, and selects the path with the highest score as the current optimal path;

[0042] Lifting execution module: Execute the optimal lifting path, and repeat the path generation, evaluation, scoring and adjustment operations at the next moment until the hoisted pipe segments and piles arrive at the target point smoothly, completing the path planning and lifting process.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 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 re-planning capabilities, which significantly improves the reliability and efficiency of lifting operations. First, through the heterogeneous data fusion of lidar and visual sensors, the millisecond-level monitoring of the motion state of the pipe pile is realized, high-precision environmental modeling and dynamic compensation of motion parameters are realized, and the accurate calibration of the safety boundary of obstacles is ensured; based on the safety distance threshold and real-time collision detection, high-risk paths are accurately eliminated, and the path safety is quantified in combination with the safety item index, which significantly reduces the collision probability during the lifting process; secondly, based on the fan-shaped area candidate path generation and the multi-dimensional scoring model safety items, smoothness, and progress, under the hard obstacle avoidance constraints, the progress index and dynamic path scoring are used to give priority to the path approaching the target point, reduce redundant movement, and shorten the lifting time; while avoiding obstacles, the path is guaranteed to be continuous and smooth, the mechanical sudden stop and turn is reduced, the equipment life is extended and the energy consumption is reduced, and the steering continuity, energy efficiency and target approach speed are simultaneously optimized to support uninterrupted operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of the overall method flow of the present invention;

[0046] Figure 2 Result data graph of safe and effective path scoring;

[0047] Figure 3 is the optimal path steering angle and speed value at each unit time node;

[0048] Figure 4 This is a complete lifting trajectory diagram;

[0049] Figure 5 It is a schematic block diagram of the overall device of the present invention. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments.

[0051] It should be noted that, unless otherwise defined, the technical or scientific terms used in the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0052] Example:

[0053] See also Figures 1 to 4 , the present invention provides a technical solution:

[0054] A method for planning a lifting path for a large-diameter long-section pipe pile comprises the following steps:

[0055] S1: Real-time acquisition of motion state parameters of the pipe segments and piles being hoisted, including coordinates, velocity, acceleration, and current motion direction of the pipe segments and piles. Real-time three-dimensional environmental perception of the hoisting operation area is performed to identify the location, size, and geometric features of surrounding obstacles, as well as the specifications of the pipe segments and piles. Based on the identification results, an environmental model is constructed to generate a spatial operation diagram.

[0056] In this embodiment, the motion state parameters of the pipe segment and pile to be hoisted are obtained in real time. The motion state parameters include: the starting point coordinates , starting speed , initial acceleration The coordinate positioning adopts a multi-sensor fusion positioning system, including: real-time dynamic differential GPS, laser tracker, ultra-wideband positioning; speed and acceleration measurement, through the built-in three-axis accelerometer and gyroscope of the pipe pile section, 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 movement direction of the pipe section and the pipe pile ; Specifications of pipe segments and piles: diameter At the same time, laser radar, stereo vision camera and millimeter wave radar are configured in the lifting environment to identify the position, size and geometric shape of surrounding obstacles, mark the safe boundary area of ​​each obstacle, and form an obstacle set. , the position coordinates of the obstacles are , , based on the recognition results, the lifting operation range is constructed as , and a three-dimensional grid map of the safety buffer zone and obstacle boundary with a resolution of 0.1m. The spatial operation map is generated based on the lifting operation range, safety buffer zone and obstacle boundary. Taking the path information of the lifting operation for 10 seconds as an example, the following steps are performed;

[0057] S2: Set a fixed time interval of 5 seconds. Based on the current movement direction of the pipe segment and pile being hoisted, generate multiple candidate paths for the next time interval at the set angle interval within the front sector area defined by the spatial operation diagram. Build a set of candidate area paths. Each path is determined by a preset combination of forward speed and steering angle.

[0058] In this embodiment, the direction of movement of the path when the pipe segment and pipe pile are hoisted for 10 seconds is as follows: As a benchmark, multiple candidate paths are generated at 1° intervals within the front sector area defined by the spatial operation diagram. Each path is determined by a preset forward speed and steering angle combination, and a candidate area path collection is constructed:

[0059] ;

[0060] ;

[0061] Where, is the path set determined by the combination of speed and steering angle at the next moment, for s time Path speed, When it is 10s Path steering angle, =0.8m / s is the maximum lifting speed; since the maximum turning angle of lifting is 30 degrees, the fan-shaped area is set to ±30° of the current lifting direction, and there are 61 candidate paths with an interval of 1°, as shown in Table 1;

[0062] gather The next position of each track, i.e. the transport coordinates after 5 seconds, can be calculated using the following formula:

[0063] ;

[0064] in, When it is 15s Path arrival coordinates, is the time interval, =5s.

[0065] The next velocity of each trajectory in the path collection can be calculated using the following formula:

[0066] ;

[0067] ;

[0068] in, is the maximum lifting speed, =0.01 is the minimum acceleration of lifting, =0.2 is the maximum acceleration of lifting, The maximum allowable steering angle. If the hoisting steering angle is too large, the pipe pile section will swing too much, deviate from the hoisting trajectory, and cause 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 section. The greater the instantaneous speed change, the greater the pressure on the pipe pile section during the hoisting process, which is prone to causing hoisting accidents. Therefore, the acceleration design must 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.

[0069] S3: Based on the spatial work map and motion state parameters, the next position of each trajectory in the path set is calculated, collision detection is performed on the candidate paths, and unselectable paths that overlap with obstacles are eliminated, and the valid path set is retained;

[0070] In this embodiment: perform collision detection on candidate paths and define a safety distance threshold , the threshold formula is as follows:

[0071] ;

[0072] The diameter of the pipe pile section is =2.0m, for Time Sutra The distance between the path hoisting pipe section and the pipe pile coordinates and the obstacle. The logic for determining whether there is a collision is: It is considered as a possible collision path and the corresponding The value of The numerical index of the selected path will remove the possible collision paths from the candidate area path collection. It is considered as a safe and effective path, and the above method is used to filter and retain the effective path set.

[0073] In this embodiment, candidate path data at 10 seconds is selected to perform collision detection on the candidate paths. The experimental measurement data is shown in Table 1 below:

[0074]

[0075]

[0076] Table 1: Candidate path collision detection data table

[0077] in, The paths are: Considered a safe and effective path.

[0078] S4: Perform multi-dimensional feature analysis on each path in the valid path set, extract the safety index, smoothness index, and progress index, 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;

[0079] In this embodiment, a multi-dimensional feature analysis is performed on each path in the valid path set to extract the safety index, smoothness index, and progress index. A path scoring function is constructed based on preset weights for comprehensive evaluation:

[0080] ;

[0081] Among them, the weight coefficient , for time Path safety index: During the lifting operation of large-diameter pipe piles, collisions may cause damage to equipment, damage to the pipe pile structure, and even casualties. Safety is the bottom line of the operation. Obstacles are densely distributed and may move suddenly, such as temporary construction machinery. Sufficient safety margins must be reserved. for time Path smoothness index: Frequent turning or sudden stops and starts will increase the wear of the hydraulic system and boom joints, increasing maintenance costs. A smooth path can reduce motor power fluctuations. Actual measurement data shows that sudden turning changes can cause instantaneous energy consumption to increase by more than 30%; for time Path progress index: Excessive lifting time will increase labor costs and construction period pressure. Completely ignoring the progress may lead to excessive path detours. In actual operations, reasonable efficiency must be pursued within a safety framework.

[0082] Safety index, smoothness index, progress index, the formula is as follows:

[0083] ;

[0084] ;

[0085] ;

[0086] ;

[0087] ;

[0088] Where, is the path advancement amount, is the total lifting distance, The horizontal coordinate of the lifting target point, The vertical coordinate of the lifting target point, is the lifting deviation angle, The horizontal coordinate of the lifting starting point, The vertical coordinate of the lifting starting point. The safety index formula is designed to quantify the safe distance between the path and obstacles, ensuring that the pile always maintains a safe distance from the obstacle during movement. The larger the safety distance, the larger the safety index, and the smaller the safety distance, the smaller the safety index. The smoothness index is designed to measure the smoothness of the path turning to avoid sharp turns that may cause equipment vibration or increased energy consumption. The smaller the steering angle change, the smoother the path, while the larger the steering angle change, the more unstable the path. The progress index is designed to evaluate the contribution of the path to shortening the target distance. The current remaining distance minus the ratio of the remaining distance of the new path to the total transport distance is used. The path that approaches the destination faster is preferred.

[0089] Through the above multi-dimensional evaluation, an evaluation function is constructed according to different weights, and each path is comprehensively evaluated in multiple dimensions to complete the lifting task smoothly and efficiently while ensuring safety.

[0090] In this embodiment, after collision detection on the paths, safe and effective paths selected in Table 1 are used, and a path scoring function is constructed with preset weights for comprehensive evaluation. The evaluation results are shown in Table 2 below:

[0091]

[0092] Table 2: Safe and effective path scoring data table

[0093] Refer to Table 2, score the safe and effective paths after screening, obtain the optimal path, and execute the next lifting plan.

[0094] S5: Execute the optimal path plan to the next moment, and repeat the path generation, evaluation, scoring and adjustment operations until the hoisted pipe segment and pile arrive at the target point smoothly, completing the path planning and hoisting process.

[0095] 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, execute the selected trajectory During hoisting, at the end of each time window, the motion state parameters and environmental data are recollected, and the path generation, evaluation, scoring and adjustment operations are repeated until the hoisted pipe section and pile reach the target point smoothly, completing the path planning and hoisting process, and the hoisting status per unit time node.

[0096] In this embodiment, after collision detection is performed on the paths, the path with the highest score function selected from Table 2 is completely lifted to the destination. The execution data is shown in Table 3:

[0097]

[0098] Table 3: Execution data of the complete lifting path per unit time interval

[0099] See Table 3 and Figure 3 、 4 , Figure 3 are the optimal path steering angle and speed values ​​at each time node, Figure 4 As shown in the complete lifting trajectory diagram, this method can effectively and dynamically provide a safe and efficient lifting path within a unit of time;

[0100] See also Figure 5 The present invention further provides a large-diameter long-tube-section pipe pile lifting path planning device, which is used to execute the above-mentioned large-diameter long-tube-section pipe pile lifting path planning method, comprising:

[0101] Environmental model building module: This module acquires the motion state parameters of the pipe segments and piles being hoisted in real time, including coordinates, velocity, acceleration, and the current motion direction of the pipe segments and piles. It also performs real-time three-dimensional environmental perception of the hoisting operation area, identifies the location, size, and geometric features of surrounding obstacles, and the specifications of the pipe segments and piles. Based on the identification results, it builds an environmental model and generates a spatial operation diagram.

[0102] Path planning module: Set a fixed time interval, take the current movement direction of the pipe segment and pile as the reference, and generate multiple candidate paths for the next time interval at the set angle interval within the front fan-shaped area defined by the spatial operation map. Build a collection of candidate area paths. Each path is determined by a preset combination of forward speed and steering angle.

[0103] Path screening module: Based on the spatial operation diagram and motion state parameters, it calculates the next position of each trajectory in the path set, performs collision detection on candidate paths, eliminates unselectable paths that overlap with obstacles, and retains the valid path set.

[0104] Path scoring module: Performs multi-dimensional feature analysis on each path in the valid path set, extracts the safety index, smoothness index, and progress index, constructs a path scoring function based on preset weights for comprehensive evaluation, and selects the path with the highest score as the current optimal path;

[0105] Lifting execution module: Execute the optimal lifting path, and repeat the path generation, evaluation, scoring and adjustment operations at the next moment until the hoisted pipe segments and piles arrive at the target point smoothly, completing the path planning and lifting process.

[0106] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0107] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other 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 appreciate that the units and algorithm steps of each example 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 performed by hardware or software depends on the specific application and design constraints of the technical solution.

[0108] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment as needed.

[0109] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A method for planning the path for lifting large-diameter long-section pipe piles, characterized in that: The specific steps include: Real-time acquisition of motion state parameters of pipe segments and piles being hoisted, including coordinates, velocity, acceleration, and the current motion direction of the pipe segments and piles. Real-time 3D environmental perception of the hoisting operation area is performed to identify the location, size, and geometry of surrounding obstacles, as well as the specifications of the pipe segments and piles. Based on the recognition results, an environmental model is constructed to generate a spatial operation diagram. Set a fixed time interval, take the current movement direction of the pipe segment and pile as the reference, and generate multiple candidate paths for the next time interval at the set angle interval within the front fan-shaped area defined by the spatial operation diagram. Build a collection of candidate area paths. Each path is determined by a preset combination of forward speed and steering angle. Based on the spatial operation graph and motion state parameters, the next position of each trajectory in the path set is calculated, collision detection is performed on the candidate paths, and unselectable paths that overlap with obstacles are eliminated, retaining the valid path set; Perform multi-dimensional feature analysis on each path in the valid path set, extract the safety index, smoothness index, and progress index, 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; Execute the optimal path plan to the next moment, and repeat the path generation, evaluation, scoring, and adjustment operations until the hoisted pipe segments and piles arrive at the target point smoothly, completing the path planning and hoisting process; The specific logic for obtaining the optimal path is: Real-time acquisition of motion state parameters of pipe segments and piles during hoisting. Motion state parameters include: current coordinates P k-1 , current speed V k-1 , current acceleration a k-1 , the current movement direction of the pipe segment and pile θ k-1 ; Identify the location, size and geometry of surrounding obstacles, mark the safe boundary area of ​​each obstacle, and form an obstacle set The position coordinates of obstacle i are Building an environmental model based on the recognition results, and generating a spatial operation map based on the lifting operation range, safety buffer zone and obstacle boundary; The current movement direction of the pipe pile is θ k-1 As a benchmark, multiple candidate paths are generated at 1° intervals within the front sector area defined by the spatial operation diagram. Each path is determined by a preset forward speed and steering angle combination, and a candidate area path collection is constructed: j＝1,...,61 Where, is the path set determined by the combination of speed and steering angle at the next moment, v kj is the speed of path j at time k, is the turning angle of path j at time k, v max is the maximum lifting speed; path set The next position of each trajectory in can be calculated by the following formula: in, is the arrival coordinate of path j at time k, and Δt is the time interval; The next velocity of each trajectory in the path collection can be calculated using the following formula: Among them, a min is the minimum acceleration of lifting, a max is the maximum acceleration of lifting, θ max Maximum permissible steering angle; Perform collision detection on candidate paths and define a safety distance threshold d safe , the threshold formula is as follows: Among them, R is the diameter of the pipe pile section, is the distance from the coordinates of the pipe section and pile hoisted via path j at time k to the obstacle. The logic for determining whether there is a collision is: , it is considered as a possible collision path, and the corresponding value of j is recorded. The selected path is indexed according to the corresponding value of j, and the possible collision path 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; Perform multi-dimensional feature analysis on each path in the valid path set, extract the safety index, smoothness index, and progress index, and construct a path scoring function based on preset weights for comprehensive evaluation: Among them, w1, w2, w3 are weight coefficients, S safe is the safety index of path j at time k, is the smoothness index of path j at time k, is the progress index of path j at time k.

2. The method for planning a lifting path for a large-diameter long-section pipe pile according to claim 1, characterized in that: The formulas for generating the safety index, smoothness index, and progress index are as follows: Where ΔX is the path advancement, L tatal is the total lifting distance, x target Horizontal coordinate of the lifting target point, y target The vertical coordinate of the lifting target point, θ dev is the lifting deviation angle, x0 is the horizontal coordinate of the lifting starting point, and y0 is the vertical coordinate of the lifting starting point.

3. The method for planning a lifting path for a large-diameter long-section pipe pile according to claim 2, characterized in that: Select the trajectory with the highest score from all the trajectories that have been detected for obstacle overlap Execute the selected trajectory as a path plan for the current time window During hoisting, at the end of each time window, the motion state parameters and environmental data are recollected, and the path generation, evaluation, scoring and adjustment operations are repeated until the hoisted pipe section and pile reach the target point smoothly, completing the path planning and hoisting process.

4. A large-diameter long-section pipe pile lifting path planning device, characterized by: The large-diameter long-tube-section pipe pile lifting path planning device is used to execute the large-diameter long-tube-section pipe pile lifting path planning method according to any one of claims 1 to 3, specifically comprising: An environmental model building module is used to obtain the motion state parameters of the pipe segments and piles being hoisted in real time. The motion state parameters include coordinates, velocity, acceleration, and the current motion direction of the pipe segments and piles. The module also performs real-time three-dimensional environmental perception of the hoisting operation area, identifies the location, size, and geometric features of surrounding obstacles, and the specifications of the pipe segments and piles. Based on the identification results, the module builds an environmental model and generates a spatial operation map. The path planning module is used to set a fixed time interval, take the current movement direction of the hoisted pipe segment and pile as the reference, and generate multiple candidate paths for the next time interval at the set angle interval within the front fan-shaped area defined by the spatial operation diagram. This module then constructs a set of candidate area paths. Each path is determined by a preset combination of forward speed and steering angle. The path screening module is used to calculate the next position of each trajectory in the path set based on the spatial operation diagram and motion state parameters, perform collision detection on candidate paths, eliminate unselectable paths that overlap with obstacles, and retain the valid path set; The path scoring module is used to perform multi-dimensional feature analysis on each path in the valid path set, extract the safety index, smoothness index, and progress index, 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; The lifting execution module is used to execute the optimal lifting path. At the next moment, the path generation, evaluation, scoring and adjustment operations are repeated until the hoisted pipe segments and piles reach the target point smoothly, completing the path planning and lifting process.

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