Construction machine boom path planning method and device

Abstract

The embodiment of the application provides an engineering mechanical arm frame path planning method and device, and belongs to the intelligent technology field of engineering machinery. The application obtains engineering mechanical main arm information and a plurality of path points, each path point corresponding to an initial amplitude length; determines a first corresponding relationship according to the engineering mechanical main arm information, the first corresponding relationship being a corresponding relationship between the amplitude length with deflection and the amplitude angle; determines the target amplitude angle of each path point based on the first corresponding relationship and the initial amplitude length, to obtain a target planning path. Combining the deflection with the engineering mechanical arm frame path planning, the precise path planning of the flexible arm frame of the engineering machinery is realized, the final planning path is the planning track considering the deflection, the accuracy of the engineering mechanical arm frame path planning is improved, meanwhile, the collision between the engineering machinery and the obstacles in the environment caused by the fact that the path points of the path planning do not match the actual required path in the hoisting operation process is avoided, so that the safety and correct completion of the hoisting operation are ensured.

Description

Technical Field

[0001] This application relates to the field of intelligent crane technology, specifically to a method for planning the path of an engineering machinery boom, a device for planning the path of an engineering machinery boom, a machine-readable storage medium, and a processor. Background Technology

[0002] In automated crane lifting, automatic crane path planning is crucial. Currently, most research in the industry focuses on automatic path planning for tower cranes and bridge cranes. The methods used are all based on planning the crane as a multi-joint robotic arm. These two types of cranes have good rigidity during operation and hardly produce deflection deformation. Generally, methods based on multi-joint robotic arms have good adaptability.

[0003] However, for medium to large tonnage truck cranes, their main booms are generally composed of multiple flexible boom sections. When the main boom is long or the load is large, it will bend due to deflection, which can exceed 10 meters. In this case, if traditional path planning methods based on rigid manipulators are used, the planned path points will not match the actual required path due to changes in the forward and inverse kinematics of the manipulator. This can lead to inaccurate paths or, in severe cases, collisions between the crane and obstacles in the environment (due to errors in spatial position transformation caused by changes in forward and inverse kinematics), resulting in major safety accidents.

[0004] Therefore, existing path planning methods for cranes cannot adapt to the characteristics of the flexible boom of truck cranes. When truck cranes are heavily loaded and deflect, the traditional robot path planning is rigid body planning, which is not suitable for the flexible boom of the crane, resulting in inaccurate path planning. Summary of the Invention

[0005] The purpose of this application is to provide a method for planning the path of an engineering machinery boom, a device for planning the path of an engineering machinery boom, a storage medium, and a processor.

[0006] To achieve the above objectives, the first aspect of this application provides a method for planning the path of an engineering machinery boom, comprising:

[0007] Acquire information about the main boom of the construction machinery and multiple path points, each of which corresponds to an initial amplitude length;

[0008] A first correspondence is determined based on the main boom information of the construction machinery. The first correspondence is the correspondence between the variable length and variable angle with deflection.

[0009] Based on the first correspondence and the initial amplitude length, the target amplitude angle of each path point is determined to obtain the target planned path.

[0010] In this embodiment of the application, the main boom information of the construction machinery includes the load force at the end of the main boom and the boom section parameters of each boom section in the main boom of the construction machinery;

[0011] Determining the first correspondence based on the main boom information of the construction machinery includes:

[0012] Based on the amplitude angle, the load force at the end of the main boom, and the boom parameters of each boom section, the deflection of each boom section is obtained using the deflection calculation formula.

[0013] Based on the deflection of each boom segment and the length of the main boom of the engineering machinery in the amplitude direction, the amplitude length with deflection corresponding to the amplitude angle is determined to obtain the first correspondence.

[0014] In this embodiment of the application, the boom segment parameters include boom segment length, elastic modulus, and cross-sectional moment of inertia;

[0015] The deflection calculation formula is as follows:

[0016] Among them, y i Let f1 be the deflection of the i-th boom segment, f2 be the component of the load force at the end of the main boom perpendicular to the amplitude direction, and L be the load force. i Let E be the length of the i-th arm segment. i Let I be the elastic modulus of the i-th segment. i Let be the moment of inertia of the cross section of the i-th arm segment, where i is a positive integer less than or equal to the total number of arm segments;

[0017] The step of determining the amplitude length with deflection corresponding to the amplitude angle based on the deflection of each boom segment and the length of the main boom of the construction machinery in the amplitude direction to obtain the first correspondence includes:

[0018] Based on the deflection of each boom segment and the amplitude angle, the deflection of the main boom in the amplitude direction is calculated; the deflection of the main boom in the amplitude direction is:

[0019] Based on the deflection of the main boom in the amplitude direction, the length of the main boom in the amplitude direction, and the amplitude angle, a deflection length corresponding to the amplitude angle is determined to obtain a first correspondence; the first correspondence is expressed as:

[0020] Where L is the amplitude length with deflection corresponding to the amplitude angle. denoted as the length of the main boom of the construction machinery, l as the deflection in the amplitude direction, a as the amplitude angle, and n as the total number of boom sections.

[0021] In this embodiment of the application, obtaining multiple path points includes:

[0022] Obtain the first starting point and target point;

[0023] Without considering deflection, a path search is performed in Cartesian space based on a heuristic search algorithm to obtain multiple points to be searched;

[0024] The rotation, amplitude, and hoisting length of each of the search points are calculated based on forward kinematics.

[0025] Based on the rotational motion, amplitude-changing motion, and winch motion of the engineering machinery, a cost function based on joint space is constructed.

[0026] Substitute the rotation, amplitude, and hoisting length of each of the search points into the joint space-based cost function to obtain the cost value of each search point.

[0027] Based on the cost value of each search point, the multiple search points are filtered to obtain the joint position with the lowest cost.

[0028] The joint position with the lowest cost is taken as the search point, and based on the search point, subsequent search point planning is carried out in Cartesian space and forward and inverse kinematic transformations are performed until the target point is reached, thus obtaining the initial path from the first starting point to the target point.

[0029] The initial path is smoothed and interpolated to obtain the initial planned path;

[0030] Multiple path points are obtained based on the initial planned path.

[0031] In this embodiment of the application, it also includes:

[0032] The theoretical lifting capacity is obtained by matching the amplitude length corresponding to the joint position with the lowest cost with the amplitude length corresponding to the preset lifting capacity table.

[0033] Based on the theoretical lifting capacity, verify whether the joint position with the lowest cost currently meets the requirements. If it does, use the joint position with the lowest cost as the search point, and continue to plan subsequent search points in Cartesian space and perform forward and inverse kinematic transformations until the target point is reached, thus obtaining the initial path from the first starting point to the target point. If it does not meet the requirements, continue to plan subsequent search points in Cartesian space and perform forward and inverse kinematic transformations until the target point is reached.

[0034] In this embodiment of the application, obtaining the first starting point includes:

[0035] Obtain the second starting point and the corresponding amplitude angle;

[0036] Based on the first correspondence and the amplitude angle corresponding to the second starting point, the second starting point is corrected to obtain the first starting point.

[0037] A second aspect of this application provides a path planning method for an engineering machinery boom, the method comprising:

[0038] Obtain information about the main boom of the construction machinery;

[0039] A first correspondence is determined based on the main boom information of the construction machinery. The first correspondence is the correspondence between the variable length and variable angle with deflection.

[0040] A path search is performed in Cartesian space based on a heuristic search algorithm to obtain the target planned path; wherein, during the path search process, each search point in each search space is pre-associated with a variable amplitude length and a variable amplitude angle, and the variable amplitude angle associated with each search point is determined based on the variable amplitude length associated with the search point and the first correspondence.

[0041] In this embodiment, the path search based on the heuristic search algorithm in Cartesian space to obtain the target planned path includes:

[0042] A path search is performed in Cartesian space based on a heuristic search algorithm to obtain multiple search points on the optimal path;

[0043] The rotation and hoisting of each search point are calculated based on forward and inverse kinematics.

[0044] The amplitude angle of each search point is calculated based on the coordinates of each search point and the first correspondence.

[0045] Based on the rotation, amplitude angle, and hoisting of each search point, the search points on the optimal path are updated to obtain multiple new search points;

[0046] The multiple new search points are refined and differentially processed to obtain the target planning path.

[0047] A third aspect of this application provides a path planning device for an engineering machinery boom, comprising:

[0048] The main boom information and path point acquisition module is used to acquire the main boom information and multiple path points of the construction machinery, and each path point corresponds to an initial amplitude length.

[0049] The first correspondence calculation module is used to determine the first correspondence based on the main boom information of the construction machinery. The first correspondence is the correspondence between the variable length and variable angle with deflection.

[0050] The target planning path module is used to determine the target amplitude angle of each path point based on the first correspondence and the initial amplitude length, so as to obtain the target planning path.

[0051] The fourth aspect of this application provides a path planning device for an engineering machinery boom, comprising:

[0052] The main boom information acquisition module is used to acquire information about the main boom of the construction machinery.

[0053] The first correspondence determination module is used to determine the first correspondence based on the main boom information of the construction machinery. The first correspondence is the correspondence between the variable length and variable angle with deflection.

[0054] The path search module is used to perform path search in Cartesian space based on a heuristic search algorithm to obtain the target planned path; wherein, in the process of path search, each search point in each search space is pre-associated with a variable length and a variable angle, and the variable angle associated with each search point is determined according to the variable length associated with the search point and the first correspondence.

[0055] The fifth aspect of this application provides a processor configured to execute the above-described engineering machinery boom path planning method.

[0056] A sixth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the above-described engineering boom path planning method.

[0057] The above technical solution involves acquiring information about the main boom of the construction machinery and multiple path points, each path point corresponding to an initial amplitude length. Then, a first correspondence is determined based on the main boom information, which is the correspondence between the amplitude length with deflection and the amplitude angle. Finally, based on the first correspondence and the initial amplitude length, the target amplitude angle for each path point is determined to obtain the target planned path. This embodiment compensates for the deflection of path points by using the correspondence between the amplitude length with deflection and the amplitude angle, resulting in path points that take into account deflection changes. This combines deflection with the path planning of the construction machinery boom, achieving precise path planning for the flexible boom. The target planned path is a planned trajectory that considers deflection, improving the accuracy of the construction machinery boom path planning. Simultaneously, it avoids collisions between the construction machinery and obstacles in the environment during lifting operations due to discrepancies between the planned path points and the actual required path, thus ensuring the safe and correct completion of the lifting operation.

[0058] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0059] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0060] Figure 1 This illustration schematically shows an application environment diagram of a path planning method for an engineering machinery boom according to an embodiment of this application;

[0061] Figure 2 The illustration shows a flowchart of a path planning method for an engineering machinery boom according to an embodiment of this application;

[0062] Figure 3 A schematic diagram of a five-section main arm according to an embodiment of this application is shown;

[0063] Figure 4 The force diagram at point A according to an embodiment of this application is schematically shown;

[0064] Figure 5 A schematic diagram illustrating a deflection combination according to an embodiment of this application is shown.

[0065] Figure 6 A schematic diagram of the mechanism according to an embodiment of this application is shown;

[0066] Figure 7 A schematic diagram of a crane boom kinematic model according to an embodiment of this application is shown.

[0067] Figure 8 A schematic diagram illustrating the path planning flowchart for an engineering machinery boom according to an embodiment of this application is shown.

[0068] Figure 9 This illustration shows a path planning diagram according to an embodiment of the present application.

[0069] Figure 10 The illustration shows a flowchart of another method for planning the path of an engineering machinery boom according to an embodiment of this application;

[0070] Figure 11 This schematic diagram illustrates a structural block diagram of a path planning device for an engineering machinery boom according to an embodiment of this application;

[0071] Figure 12 This schematic diagram illustrates a structural block diagram of another engineering machinery boom path planning device according to an embodiment of this application;

[0072] Figure 13 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0073] Explanation of reference numerals in the attached figures

[0074] 102-Touchscreen; 104-Industrial computer; 103-Sensor; 410-Main arm information and path point acquisition module; 420-First correspondence calculation module; 430-Target planning path module; 510-Main arm information acquisition module; 520-First correspondence determination module; 530-Path search module; A01-Processor; A02-Network interface; A03-Internal memory; A04-Display screen; A05-Input device; A06-Non-volatile storage medium; B01-Operating system; B02-Computer program. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0076] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0077] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0078] This application provides a method for planning the path of an engineering machinery boom, which can be applied to, for example... Figure 1In the application environment shown, the touch screen 102 allows selection of target points, and the sensor 103 may include a gravity sensor (for detecting the load force at the end of the boom), positioning sensors (such as RTK, vision sensors, etc., for acquiring the starting point), and radar sensors for obstacle avoidance, etc. The industrial control computer 104 has computing power and can acquire information about the main boom of the construction machinery and multiple path points. Each path point corresponds to an initial amplitude change length. Then, based on the information about the main boom of the construction machinery, a first correspondence is determined, which is the correspondence between the amplitude change length with deflection and the amplitude change angle. Finally, based on the first correspondence and the initial amplitude change length, the target amplitude change angle of each path point is determined to obtain the target planned path. The industrial control computer 104 can be implemented using a standalone industrial control computer or a cluster of multiple industrial control computers.

[0079] Figure 2 The illustration schematically shows a flowchart of a path planning method for an engineering machinery boom according to an embodiment of this application. Figure 2 As shown, in one embodiment of this application, a method for planning the path of an engineering machinery boom is provided. This embodiment mainly applies this method to the above-mentioned... Figure 1 Taking the industrial control computer 104 as an example, it should be noted that the engineering machinery boom path planning method proposed in this embodiment can be applied to cranes, fire-fighting equipment, aerial work platforms, etc. For ease of explanation, this embodiment mainly uses a crane as an example of engineering machinery. The engineering machinery boom path planning method includes the following steps:

[0080] Step 210: Obtain the main boom information of the construction machinery and multiple path points, each of which corresponds to an initial amplitude change length;

[0081] Step 220: Determine the first correspondence relationship based on the main boom information of the construction machinery. The first correspondence relationship is the correspondence between the variable length with deflection and the variable angle.

[0082]

[0083] Step 230: Based on the first correspondence and the initial amplitude length, determine the target amplitude angle of each path point to obtain the target planned path.

[0084] The above technical solution involves acquiring information about the main boom of the construction machinery and multiple path points, each path point corresponding to an initial amplitude length. Then, a first correspondence is determined based on the main boom information, which is the correspondence between the amplitude length with deflection and the amplitude angle. Finally, based on the first correspondence and the initial amplitude length, the target amplitude angle for each path point is determined to obtain the target planned path. This embodiment compensates for the deflection of path points by using the correspondence between the amplitude length with deflection and the amplitude angle, resulting in path points that take into account deflection changes. This combines deflection with the path planning of the construction machinery boom, achieving precise path planning for the flexible boom. The target planned path is a planned trajectory that considers deflection, improving the accuracy of the construction machinery boom path planning. Simultaneously, it avoids collisions between the construction machinery and obstacles in the environment during lifting operations due to discrepancies between the planned path points and the actual required path, thus ensuring the safe and correct completion of the lifting operation.

[0085] In the above implementation process, by establishing the first correspondence, the amplitude angle of each path point considering the deflection change can be solved relatively quickly, thereby realizing deflection compensation for the path points and improving the efficiency of path planning.

[0086] In this embodiment, the plurality of path points can be path points in a pre-planned path.

[0087] When the construction machinery is a crane, the main boom information can be the crane's main boom information. This crane main boom information includes the load force at the end of the main boom, the main boom length, the number of boom sections, the main boom deflection angle, and the boom section parameters of each section. The boom section parameters include the boom section length, elastic modulus, and cross-sectional moment of inertia (maximum moment of inertia at the end). For example, a crane main boom consists of 5 boom sections, and the parameters of each section are shown in Table 1: Boom Section Parameter Table.

[0088] Table 1: Arm Section Parameter Table

[0089]

[0090] In this embodiment, when the construction machinery is a crane, the load force at the end of the main boom can be the force generated by the heavy object being lifted when the crane is working.

[0091] Accordingly, step 220 can determine a first correspondence based on the crane boom information. The first correspondence is the correspondence between the variable length and variable angle with deflection. In this embodiment, since the crane has a load force at the end of the boom, it generates deflection. Therefore, the correspondence between the variable length and variable angle with deflection can be determined based on the load force at the end of the boom.

[0092] Determining the first correspondence based on the load force at the end of the main boom includes the following steps:

[0093] First, based on the amplitude angle, the load force at the end of the main boom, and the boom parameters of each boom section, the deflection of each boom section is obtained using the deflection calculation formula.

[0094] In this embodiment, when the construction machinery is a crane, the amplitude angle can be obtained when acquiring the crane's main boom information, or it can be acquired separately. The amplitude angle can refer to the main boom deflection angle, which can be obtained through sensors on the crane.

[0095] When the construction machinery is a crane, the main boom can be the crane's main boom. When the crane's main boom is under load, the linear displacement of the main boom in the direction perpendicular to its axis is called the crane's main boom deflection. For medium to large tonnage truck cranes, their main booms are generally composed of multiple flexible boom sections. When the main boom is long or the load is large, it will deflect and bend. Crane main booms typically consist of multiple boom sections of different sizes, interfaces, and lengths; large all-terrain cranes can have up to eight boom sections. Therefore, for multi-section cranes, calculating the crane's main boom deflection requires calculating the deflection of each individual boom section.

[0096] To facilitate calculation, the forces acting on the end of the main boom can be decomposed first, and then the deflection can be calculated separately. Please refer to [link / reference needed]. Figures 3-4 , Figure 3 A schematic diagram of a five-section main arm according to an embodiment of this application is shown; Figure 4 The diagram illustrates the force diagram at point A according to an embodiment of this application. Specifically, it includes the following steps:

[0097] The first step is to obtain the effective force based on the boom deflection angle and the load force at the boom end. Specifically, the load force at the boom end is decomposed to obtain the effective force. Since the crane deflection is caused by the mechanism of simply supported beam deflection, the force F can be decomposed into a force f1 along the boom direction and a force f2 perpendicular to the boom. f1 has no effect on the deflection, while f2 causes the boom to deflect. f2 is calculated as f2 = F × cos(a) = m × g × cos(a), where m is the mass of the load and g is the acceleration due to gravity. The force that causes the boom to deflect is the effective force, i.e., f2.

[0098] The second step involves calculating the deflection of each arm segment using the single-arm segment deflection calculation formula, based on the effective force and the information of each arm segment. In this embodiment, the deflection of each arm segment can be calculated using the deflection of the end point of each arm segment.

[0099] The deflection calculation formula is as follows:

[0100] Among them, y i Let f1 be the deflection of the i-th boom segment, f2 be the component of the load force at the end of the main boom perpendicular to the amplitude direction, and L be the load force. i Let E be the length of the i-th arm segment. i Let I be the elastic modulus of the i-th segment. i Let be the moment of inertia of the cross section of the i-th arm segment, where i is a positive integer less than or equal to the total number of arm segments.

[0101] Taking the crane with the above 5 boom sections as an example, the boom sections are denoted as L0-L4, and the ends of each boom section are denoted as A, B, C, D, and E, respectively. First, calculate the deflection at point A, near the end of the main boom of boom section L0, i.e., the deflection of boom section L0. Consider the rigid main boom OE as a simply supported beam, and take AE as the isolation segment. The force f2 at section A of AE is upward, and the force f2 at section A of OA is downward. For example... Figure 4 Treating OA as a simply supported beam, the deflection at point A is: Similarly, the deflections at points B, C, D, and E can be calculated.

[0102] Then, based on the deflection of each boom segment and the length of the crane main boom in the amplitude direction, the amplitude length with deflection corresponding to the amplitude angle is determined to obtain the first correspondence. In this embodiment, the length of the crane main boom in the amplitude direction can be obtained from the boom segment length in the boom segment parameters. The process of obtaining the first correspondence includes the following steps:

[0103] The first step is to calculate the deflection of the crane boom in the amplitude direction based on the deflection of each boom section and the amplitude angle; the deflection in the amplitude direction is: In this embodiment, after obtaining the deflection of each boom segment, the deflections of the multiple single boom segments can be combined to obtain the deflection of the crane's main boom. Please refer to... Figure 5 , Figure 5 The diagram illustrates a deflection combination according to an embodiment of this application. The combination method may be as follows: starting from the first arm segment, a deflection y1 displacement is performed perpendicular to the direction of the non-deflection arm, and a line is drawn with the end of the displaced arm segment as the starting point, the deflection angle being the amplitude angle α and the length being L1. A deflection y2 displacement is performed with the end point of the drawn line, and so on, until the end deflection point is finally obtained.

[0104] The crane boom deflection includes deflection in the height direction and deflection in the amplitude direction;

[0105] The height-direction deflection is:

[0106] The deflection in the amplitude direction is:

[0107] Where l is the deflection in the amplitude direction, H is the deflection in the height direction, a is the amplitude angle, and y is the deflection in the height direction. i Let i represent the deflection of each individual arm segment, i be the number of arm segments, and n be the total number of arm segments.

[0108] Taking the deflection calculation of a truck crane with a main boom composed of 5 boom sections as an example:

[0109] The height-direction deflection is:

[0110] The deflection in the amplitude direction is:

[0111] Through the above calculation process, the deflection value of the crane under different loads can be approximately calculated, which will facilitate subsequent path planning.

[0112] The second step is to determine the luffing length with deflection corresponding to the luffing angle based on the deflection in the amplitude direction, the length of the crane main boom in the amplitude direction, and the luffing angle, to obtain a first correspondence; the first correspondence is expressed as:

[0113] Where L is the amplitude length with deflection corresponding to the amplitude angle. Let l be the length of the crane's main boom, l be the deflection in the amplitude direction, a be the amplitude angle, and n be the total number of boom sections. Let L be the length of the crane's main boom in the amplitude direction. Based on the above information, the correspondence between the deflection length L and the amplitude angle α under a fixed load can be obtained. Further substituting the above formula for calculating deflection in the amplitude direction, and the formula for calculating the deflection of a single boom segment, the correspondence between the deflection length L and the amplitude angle α is obtained as follows:

[0114]

[0115] Step 230: Based on the first correspondence and the initial amplitude length, determine the target amplitude angle of each path point to obtain the target planned path.

[0116] Path planning for engineering machinery booms can be simplified to trajectory planning for multi-joint robots, with the end joint being the hook, and the planning space being 3D spatial path planning. Please refer to [link / reference]. Figures 6-7 , Figure 6 A schematic diagram of the mechanism according to an embodiment of this application is shown. Figure 7A schematic diagram of the kinematic model of a crane boom according to an embodiment of this application is shown. Taking the aforementioned 5-section boom as an example, in the path planning of the engineering machinery boom, the boom is simplified into a simplified mechanism diagram, consisting of revolute joints J1, J2, J4 and translational joints J3, J5, as shown in the figure below. The joint angles q2 and q4 corresponding to J2 and J4 constitute a linear constraint: q2 + q4 = -π / 2. Using the parameter of the link length, a forward kinematic model of the boom can be established. That is, given the positions q1, q2, q3, and q5 of the joints J1, J2, J3, and J5, the position and attitude of the hook relative to the base reference system can be calculated. The aforementioned target planned path can be obtained by first neglecting deflection, then performing path planning on the crane to obtain an initial planned path, and then, based on the correspondence between the variable length and variable angle with deflection, correcting each path point in the initial planned path to obtain the final planned path. Please refer to... Figure 8 , Figure 8 A schematic flowchart illustrating the path planning process for an engineering machinery boom according to an embodiment of this application is provided. This method first requires obtaining multiple path points, which in one embodiment can be achieved through the following steps:

[0117] First, obtain the initial starting point and the target point. In the case of a crane, the initial starting point refers to the initial position of the crane hook after it has lifted the object. The target point refers to the destination to which the object needs to be lifted. Since the crane will deflect after lifting the object, the initial point will change. Therefore, the process of obtaining the initial starting point may include the following steps:

[0118] The first step is to obtain the second starting point and the corresponding amplitude angle. In this embodiment, when the construction machinery is a crane, the second starting point is the position of the hook when the crane is not yet carrying an object. The amplitude angle corresponding to the second starting point can be the boom deflection angle of the crane.

[0119] The second step is to correct the second starting point based on the first correspondence and the amplitude angle corresponding to the second starting point to obtain the first starting point. In this embodiment, the amplitude angle corresponding to the second starting point is substituted into the expression of the first correspondence to calculate the amplitude length considering deflection, and then the first starting point is obtained based on the amplitude length.

[0120] Please refer to Figure 9 , Figure 9This diagram illustrates a path planning scheme according to an embodiment of this application. When the construction machinery is a crane, the load is located at point A0, and the target location is point A1. Target: The load is moved to point A1; regardless of deflection, the target point remains the same. Empty hook: No deflection. The initial planning point is A0, and the target point is A1. The path is A0-A1, and the execution is the same. Loading: Deflection occurs. If the operator lifts the load using a winch, and the load is located at point B0 after lifting, then the load needs to be lifted from B0 to point A1. The planned path is B0-A1. Here, B0 is the first starting point, A0 is the second starting point, and A1 is the target point.

[0121] Then, without considering deflection, a path search is performed in Cartesian space based on a heuristic search algorithm to obtain multiple search points; in this embodiment, the heuristic search algorithm can be the A* algorithm, which can quickly find the optimal path.

[0122] Then, the rotation, amplitude length, and hoisting of each of the search points are calculated based on forward kinematics.

[0123] Then, based on the crane's slewing motion, luffing motion, and winch motion, a cost function based on joint space is constructed.

[0124] Then, the rotation, amplitude length, and hoisting of each of the search points are substituted into the joint space-based cost function to obtain the cost value of each search point.

[0125] Then, based on the cost of each search point, the multiple search points are filtered to obtain the joint position with the lowest cost.

[0126] Then, the joint position with the lowest cost is taken as the search point, and based on the search point, subsequent search point planning is carried out in Cartesian space and forward and inverse kinematic transformations are performed until the target point is reached, thus obtaining the initial path from the first starting point to the target point.

[0127] Finally, multiple path points are obtained based on the initial path.

[0128] By employing a heuristic search algorithm for path search, an initial path can be obtained quickly and accurately, leading to multiple waypoints.

[0129] In one embodiment, to obtain more accurate and numerous waypoints, after obtaining the initial path, smoothing and interpolation processing can be performed on the initial path to obtain a smoother planned path, thereby obtaining more accurate and numerous waypoints. Specifically, multiple waypoints can be obtained through the following steps:

[0130] First, obtain the initial starting point and the target point. In the case of a crane, the initial starting point refers to the initial position of the crane hook after it has lifted the object. The target point refers to the destination to which the object needs to be lifted. Since the crane will deflect after lifting the object, the initial point will change. Therefore, the process of obtaining the initial starting point may include the following steps:

[0131] The first step is to obtain the second starting point and the corresponding amplitude angle. In this embodiment, when the construction machinery is a crane, the second starting point is the position of the hook when the crane is not yet carrying an object. The amplitude angle corresponding to the second starting point can be the boom deflection angle of the crane.

[0132] The second step is to correct the second starting point based on the first correspondence and the amplitude angle corresponding to the second starting point to obtain the first starting point. In this embodiment, the amplitude angle corresponding to the second starting point is substituted into the expression of the first correspondence to calculate the amplitude length considering deflection, and then the first starting point is obtained based on the amplitude length.

[0133] Please refer to Figure 9 , Figure 9 This diagram illustrates a path planning scheme according to an embodiment of this application. When the construction machinery is a crane, the load is located at point A0, and the target location is point A1. Target: The load is moved to point A1; regardless of deflection, the target point remains the same. Empty hook: No deflection. The initial planning point is A0, and the target point is A1. The path is A0-A1, and the execution is the same. Loading: Deflection occurs. If the operator lifts the load using a winch, and the load is located at point B0 after lifting, then the load needs to be lifted from B0 to point A1. The planned path is B0-A1. Here, B0 is the first starting point, A0 is the second starting point, and A1 is the target point.

[0134] Then, without considering deflection, a path search is performed in Cartesian space based on a heuristic search algorithm to obtain multiple search points; in this embodiment, the heuristic search algorithm can be the A* algorithm, which can quickly find the optimal path.

[0135] Then, the rotation, amplitude length, and hoisting of each of the search points are calculated based on forward kinematics.

[0136] Then, based on the crane's slewing motion, luffing motion, and winch motion, a cost function based on joint space is constructed.

[0137] Then, the rotation, amplitude length, and hoisting of each of the search points are substituted into the joint space-based cost function to obtain the cost value of each search point.

[0138] Then, based on the cost of each search point, the multiple search points are filtered to obtain the joint position with the lowest cost.

[0139] Then, the joint position with the lowest cost is taken as the search point, and based on the search point, subsequent search point planning is carried out in Cartesian space and forward and inverse kinematic transformations are performed until the target point is reached, thus obtaining the initial path from the first starting point to the target point.

[0140] Then, the initial path is smoothed and interpolated to obtain the initial planned path;

[0141] Finally, multiple path points are obtained based on the initial planned path.

[0142] In the case of a crane as the construction machinery, to ensure that the obtained path points meet the lifting capacity requirements, lifting capacity verification can be performed. Specifically, the amplitude of the joint position with the lowest cost can be matched with the corresponding amplitude in a pre-set lifting capacity table to obtain the theoretical lifting capacity. Then, based on the theoretical lifting capacity, it is verified whether the current joint position with the lowest cost meets the requirements. If it does, the joint position with the lowest cost is used as the search point, and subsequent search point planning and forward and inverse kinematic transformations are performed in Cartesian space until the target point is reached, obtaining the initial path from the first starting point to the target point. If the requirements are not met, subsequent search point planning and forward and inverse kinematic transformations are performed in Cartesian space until the target point is reached. This ensures that multiple path points meet the lifting capacity requirements, further guaranteeing the accuracy of path planning.

[0143] When the construction machinery is a crane, because a crane is a special type of large mechanical equipment, the objective function selected during planning should take into account the actual motion characteristics of the crane as much as possible. A crane has three joint movements: slewing, luffing, and winch motion. Therefore, its objective function is a ternary function about the joint variations, as follows:

[0144] F cost =f(r,c,l)=s cost +g cost =m1×Δ(r) s +m2×Δ(c) s +m3×Δ(l) s +n1×Δ(r) g +n2×Δ(c) g +n3×Δ(l) g, where: s cost represents the cost from the planned point to the starting point; g cost represents the cost from the planned point to the target point; r is the slewing change amount, c is the luffing change amount, l is the hoisting change amount, m i , n i are the cost coefficients for the unit change amount of each joint, and their selection is generally based on the time and energy consumption values of the movement unit change amount.

[0145] When performing spatial search, first search based on the Cartesian space. Substitute the points to be searched into the ternary function formula based on forward kinematics for cost calculation, and finally obtain a collision-free trajectory with the minimum cost. The purpose of choosing the cost function based on the joint space here is that the crane cannot calculate the cost for the changes in x, y, and z because its movement is joint movement. Therefore, calculating the cost in the joint space based on forward kinematics can better plan a trajectory that conforms to the characteristics of the crane. Otherwise, the planned trajectory is unreasonable. In addition, the purpose of forward kinematics is also to limit the space of the crane based on the load chart to prevent planning an overloaded path.

[0146] In the case where the construction machinery is a crane, since the luffing movement of the crane controls the luffing angle through the telescopic cylinder to control the luffing length, there is the following relationship between the luffing angle and the luffing length: luffing length = boom length × cos(luffing angle). If the output path is the luffing length, due to the existence of the cosine relationship, the angular velocity change during actual crane control will be a non-linear change, resulting in the crane being unable to execute. Therefore, the output of path planning is a set of motion trajectory points, that is, multiple path points. It can be expressed as:

[0147] {(p r , p c , p1, v r , v c , v l ) i}

[0148] Among them, r, c, and l respectively represent slewing, luffing, and hoisting, and i represents the i-th point (0 < i < n); p represents position, and v represents velocity.

[0149] For the initial planned path generated according to the above path planning, when deflection occurs, the luffing length corresponding to the planned luffing angle will change. Please refer to Figure 9 , Figure 9 which schematically shows the path planning path according to the embodiment of the present application. Controlling the crane movement according to the planned trajectory will result in the actual running trajectory of the crane being inconsistent with the planned trajectory. Therefore, it is necessary to correct the initial planned path.

[0150] Based on the above Figure 9For example, when the construction machinery is a crane, when deflection occurs during hoisting, if the operator hoists the heavy object by using a winch, and the heavy object is located at point B0 after hoisting, then the object needs to be hoisted from point B0 to point A1. The planned path is shown as B0-A1. Therefore, the following problems exist: (1) Initial position deviation. Since the planned starting point coordinates of the crane are joint coordinates (slewing angle, luffing angle, winch height), the luffing angle remains unchanged during the winch lifting process. The crane defaults to its initial position still being at point A0 (only the height changes), but the actual end position of the crane is located at B0. The essential reason for this phenomenon is that the deflection causes the change in the forward and reverse kinematics conversion relationship of the crane, and the luffing length with and without deflection is inconsistent for the same luffing angle. (2) Path point execution error. The reason is the same as that of the initial position deviation. The deflection causes the change in the forward and reverse kinematics conversion relationship of the crane, and the luffing length with and without deflection is inconsistent for the same luffing angle.

[0151] Based on the above description, when the construction machinery is a crane, the ultimate goal of path planning considering deflection is to plan a path that conforms to the actual current starting position of the crane and ensure that the path is consistent with the planned path when executed.

[0152] In this embodiment, determining the target amplitude angle of each path point based on the first correspondence and the initial amplitude length to obtain the target planned path includes:

[0153] First, the initial starting point in the initial planned path is corrected to obtain the corrected starting point of the planned path; specifically, this includes:

[0154] The first step is to calculate the corrected luffing angle based on the relationship between the luffing angle and the luffing length, without considering deflection. The first starting point can be represented as: (armlen, rotate_angle, luff_angle, rope_lenth), where armlen is the arm length; rotate_angle is the rotation angle; luff_angle is the luffing angle, which, like 'a' above, represents the luffing angle without deflection correction; and rope_lenth is the hoisting length.

[0155] The second step involves correcting the amplitude angle based on the previous amplitude length and main boom length, and then revising the first starting point in the initial planned path to obtain the revised starting point of the planned path. To ensure its spatial position, the amplitude angle is corrected using the current amplitude length luff_len and the main boom length armlen. The revised starting point is (armlen, rotate_angle, ... rope_lenth).

[0156] It should be noted that the parameters here do not yet take deflection into account (in reality, deflection occurs after hoisting). It is based on the calculation of parameters without considering deflection to obtain the true starting position of the crane with deflection.

[0157] Then, based on the correspondence between the variable amplitude length and variable amplitude angle with deflection, other path points in the initial planned path are corrected to obtain the corrected planned points of the planned path; specifically including:

[0158] The first step is to calculate the actual length of the amplitude direction of each of the other path points according to the inverse kinematics. In this embodiment, the other path points constitute a set of planning points, denoted as: Point{point|(rotate_angle, luff_angle, rope_lenth)}. Since the planning inverse kinematics is a rigid (deflection-free) transformation, its actual length in the amplitude direction is: L=armlen×cos(luff_angle).

[0159] The second step is to calculate the amplitude angle of the other path points in the deflection state based on the actual length of the amplitude direction of the other path points and the correspondence between the amplitude length and amplitude angle with deflection. Substituting the actual length of the amplitude direction of the other path points obtained above into the expression of the correspondence between the amplitude length and amplitude angle with deflection, the amplitude angle θ of the crane in the deflection state can be obtained.

[0160] The third step involves correcting the other path points in the initial planned path based on their rotation angles under deflection conditions, resulting in corrected planned points. The `luff_angle` values ​​in the planned point set are substituted one by one into the expression relating the rotation length and rotation angle under deflection to correct the rotation angle, yielding the corrected planned point set `Point{point|(rotate_angle,θ,rope_lenth)}`. It should be noted that `θ` here represents the rotation angle after considering deflection.

[0161] Finally, the corrected starting point and the corrected planning points of the planned path are subtracted based on the set maximum speed and acceleration to obtain the final motion planning point set, thus obtaining the target planned path. The final motion planning point set (the point set after deflection correction) obtained by subtracting the corrected points based on the set maximum speed and acceleration can be represented as: {(P r P c P l V r V c V l ) iThe deflection-considered path planning for the engineering machinery boom is now complete. The crane can then track the motion according to the revised motion planning point set to ensure that the lifting operation follows the expected spatial path.

[0162] In the above implementation process, information about the crane boom and multiple path points are obtained, each path point corresponding to an initial amplitude change length. Then, a first correspondence is determined based on the crane boom information, which is the correspondence between the amplitude change length with deflection and the amplitude change angle. Finally, based on the first correspondence and the initial amplitude change length, the target amplitude change angle of each path point is determined to obtain the target planned path. Based on the crane boom information and the simplified deflection calculation method for simply supported beams, the correspondence between the amplitude change length with deflection and the amplitude change angle is determined. Deflection compensation is then performed on the path points using this correspondence, resulting in path points that consider deflection changes. This combines deflection with the path planning of the construction machinery boom, achieving precise path planning for the crane's flexible boom. The target planned path is a planned trajectory considering deflection, improving the accuracy of the construction machinery boom path planning. Simultaneously, it avoids collisions between the crane and obstacles in the environment during lifting operations due to discrepancies between the planned path points and the actual required path, thus ensuring the safe and correct completion of the lifting operation.

[0163] In another embodiment of this application, a path planning method for an engineering machinery boom is provided, please refer to... Figure 10 , Figure 10 The illustration schematically shows a flowchart of another method for planning the path of a boom for construction machinery according to an embodiment of this application. This method includes the following steps:

[0164] Step 310: Obtain the main boom information of the construction machinery; In this embodiment, obtaining the main boom information of the construction machinery is the same as in step 210, and will not be described again here.

[0165] Step 320: Determine the first correspondence relationship based on the main boom information of the construction machinery. The first correspondence relationship is the correspondence between the variable length and variable angle with deflection. In this embodiment, this step is the same as step 210, and will not be described again here.

[0166] Step 330: Perform path search in Cartesian space based on heuristic search algorithm to obtain the target planned path; wherein, in the process of path search, each search point in each search space is pre-associated with a variable amplitude length and a variable amplitude angle, and the variable amplitude angle associated with each search point is determined according to the variable amplitude length associated with the search point and the first correspondence.

[0167] In this embodiment, to obtain the target planned path, the influence of deflection is considered during the path planning process for the construction machinery. Based on the correspondence between the amplitude length and amplitude angle with deflection, path planning is performed to obtain the final planned path. That is, the influence of deflection on amplitude is considered in the forward and inverse kinematic transformations of path planning. In one embodiment, the construction machinery can be a crane. The process of obtaining the target planned path includes the following steps:

[0168] First, a path search is performed in the Cartesian space based on a heuristic search algorithm to obtain multiple search points on the optimal path. In this embodiment, the heuristic search algorithm can be the A* algorithm. The path search is performed in the Cartesian space based on the A* algorithm to obtain multiple search points on the optimal path. The search points obtained can be represented by (x, y, z).

[0169] Then, the rotation and hoisting of each search point are calculated based on forward and inverse kinematics.

[0170] Then, based on the coordinates of the multiple search points and the first correspondence, the amplitude of each search point is calculated; the amplitude length with deflection is calculated based on the coordinates of the multiple search points as follows: Then Substituting the values ​​into the expression relating the amplitude length and amplitude angle with deflection, the amplitude angle is calculated, which is the amplitude at the search point.

[0171] Then, based on the rotation, amplitude, and hoisting of each search point, the multiple search points on the optimal path are updated to obtain multiple new search points;

[0172] Finally, based on the multiple new search points, the target planned path is obtained.

[0173] By updating the search points according to the first correspondence during the heuristic search algorithm process, the target planning path can be obtained quickly.

[0174] In another embodiment, to make the obtained target planning path more accurate, the target planning path can be further refined and differentially processed, specifically through the following steps:

[0175] First, a path search is performed in the Cartesian space based on a heuristic search algorithm to obtain multiple search points on the optimal path. In this embodiment, the heuristic search algorithm can be the A* algorithm. The path search is performed in the Cartesian space based on the A* algorithm to obtain multiple search points on the optimal path. The search points obtained can be represented by (x, y, z).

[0176] Then, the rotation and hoisting of each search point are calculated based on forward and inverse kinematics.

[0177] Then, based on the coordinates of the multiple search points and the first correspondence, the amplitude of each search point is calculated; the amplitude length with deflection is calculated based on the coordinates of the multiple search points as follows: Then Substituting the values ​​into the expression relating the amplitude length and amplitude angle with deflection, the amplitude angle is calculated, which is the amplitude at the search point.

[0178] Then, based on the rotation, amplitude, and hoisting of each search point, the multiple search points on the optimal path are updated to obtain multiple new search points;

[0179] Finally, the multiple new search points are refined and differentially processed to obtain the target planning path.

[0180] In the above implementation process, by acquiring the main boom information of the construction machinery, a first correspondence is determined based on the main boom information. This first correspondence is the correspondence between the variable length and variable angle with deflection. Finally, a path search is performed in Cartesian space based on a heuristic search algorithm to obtain the target planned path. During the path search process, each search point in each search space is pre-associated with a variable length and a variable angle, and the variable angle associated with each search point is determined based on the variable length associated with the search point and the first correspondence. By using the correspondence between the variable length and variable angle with deflection to perform deflection compensation on each search point during the path planning process, a target planned path considering deflection changes is obtained. This combines deflection with the path planning of the construction machinery boom, achieving precise path planning for the flexible boom of the construction machinery. The target planned path is a planned trajectory considering deflection, improving the accuracy of the construction machinery boom path planning. Simultaneously, it avoids collisions between the construction machinery and obstacles in the environment during lifting operations due to discrepancies between the planned path points and the actual required path, thus ensuring the safe and correct completion of the lifting operation.

[0181] Figure 2 This is a flowchart illustrating a path planning method for an engineering machinery boom in one embodiment. Figure 10 This is a flowchart illustrating another method for planning the path of an engineering machinery boom according to an embodiment of this application. It should be understood that, although... Figure 2 and Figure 10 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 or Figure 10 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0182] In one embodiment, such as Figure 11 As shown, Figure 11 This schematically illustrates a structural block diagram of a boom path planning device for construction machinery according to an embodiment of this application. The device includes a boom information and path point acquisition module 410, a first correspondence calculation module 420, and a target path planning module 430, wherein:

[0183] The main boom information and path point acquisition module 410 is used to acquire the deflection information of the main boom of the construction machinery and multiple path points, each of which corresponds to an initial amplitude length.

[0184] The first correspondence calculation module 420 is used to determine the first correspondence based on the deflection information of the main boom of the construction machinery. The first correspondence is the correspondence between the variable length and the variable angle with deflection.

[0185] The target planning path module 430 is used to determine the target amplitude angle of each path point based on the first correspondence and the initial amplitude length, so as to obtain the target planning path.

[0186] The engineering machinery boom path planning device includes a processor and a memory. The above-mentioned main boom information and path point acquisition module 410, first correspondence calculation module 420, target planning path module 430, etc. are all stored in the memory as program units. The processor executes the above-mentioned program modules stored in the memory to realize the corresponding functions.

[0187] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and the path planning method for the engineering machinery boom can be implemented by adjusting the kernel parameters.

[0188] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0189] In one embodiment, such as Figure 12 As shown, Figure 12This schematically illustrates a structural block diagram of another engineering machinery boom path planning device according to an embodiment of this application. An engineering machinery boom path planning device is provided, including a main boom information acquisition module 510, a first correspondence determination module 520, and a path search module 530, wherein:

[0190] The main boom information acquisition module 510 is used to acquire the main boom information of the construction machinery.

[0191] The first correspondence determination module 520 is used to determine the first correspondence based on the main boom information of the construction machinery. The first correspondence is the correspondence between the variable length and variable angle with deflection.

[0192] The path search module 530 is used to perform path search in Cartesian space based on a heuristic search algorithm to obtain the target planned path; wherein, in the process of path search, each search point in each search space is pre-associated with a variable length and a variable angle, and the variable angle associated with each search point is determined according to the variable length associated with the search point and the first correspondence.

[0193] The engineering machinery boom path planning device includes a processor and a memory. The main boom information acquisition module 510, the first correspondence determination module 520, the path search module 530, etc. are all stored in the memory as program units. The processor executes the above-mentioned program modules stored in the memory to realize the corresponding functions.

[0194] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and the path planning method for the engineering machinery boom can be implemented by adjusting the kernel parameters.

[0195] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0196] This application provides a storage medium storing a program that, when executed by a processor, implements the above-described engineering machinery boom path planning method.

[0197] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 13As shown in the figure, the computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a path planning method for an engineering machinery boom. The display screen A04 can be a liquid crystal display (LCD) or an e-ink display. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0198] Those skilled in the art will understand that Figure 13 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0199] In one embodiment, the engineering machinery boom path planning device provided in this application can be implemented as a computer program, and the computer program can be implemented in the form of, for example, Figure 13 The computer device shown runs on this device. The computer device's memory can store the various program modules that make up the path planning device for the engineering machinery boom, for example... Figure 11 The main arm information and path point acquisition module 410, the first correspondence calculation module 420, and the target path planning module 430 shown are as follows: Figure 12 The diagram shows the main boom information acquisition module 510, the first correspondence determination module 520, and the path search module 530. The computer program, comprised of these modules, causes the processor to execute the steps in the engineering machinery boom path planning methods of the various embodiments of this application described in this specification.

[0200] Figure 13 The computer device shown can be used as follows Figure 11 The boom information and path point acquisition module 410 in the illustrated engineering machinery boom path planning device executes step 210. The computer equipment can execute step 220 through the first correspondence calculation module 420 and step 230 through the target path planning module 430.

[0201] Figure 13 The computer equipment shown can also be used via, for example Figure 12 The boom information acquisition module 510 in the illustrated engineering machinery boom path planning device executes step 310. The computer equipment can execute step 320 through the first correspondence determination module 520 and step 330 through the path search module 530.

[0202] This application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps:

[0203] Acquire information about the main boom of the construction machinery and multiple path points, each of which corresponds to an initial amplitude length;

[0204] A first correspondence is determined based on the main boom information of the construction machinery. The first correspondence is the correspondence between the variable length and variable angle with deflection.

[0205] Based on the first correspondence and the initial amplitude length, the target amplitude angle of each path point is determined to obtain the target planned path.

[0206] In one embodiment, the main boom information of the construction machinery includes the load force at the end of the main boom and the boom section parameters of each boom section in the main boom of the construction machinery;

[0207] Determining the first correspondence based on the main boom information of the construction machinery includes:

[0208] Based on the amplitude angle, the load force at the end of the main boom, and the boom parameters of each boom section, the deflection of each boom section is obtained using the deflection calculation formula.

[0209] Based on the deflection of each boom segment and the length of the main boom of the engineering machinery in the amplitude direction, the amplitude length with deflection corresponding to the amplitude angle is determined to obtain the first correspondence.

[0210] The arm segment parameters include arm segment length, elastic modulus, and cross-sectional moment of inertia;

[0211] The deflection calculation formula is as follows:

[0212] Among them, y i Let f1 be the deflection of the i-th boom segment, f2 be the component of the load force at the end of the main boom perpendicular to the amplitude direction, and L be the load force. i Let E be the length of the i-th arm segment. i Let I be the elastic modulus of the i-th segment. i Let be the moment of inertia of the cross section of the i-th arm segment, where i is a positive integer less than or equal to the total number of arm segments;

[0213] The step of determining the amplitude length with deflection corresponding to the amplitude angle based on the deflection of each boom segment and the length of the main boom of the construction machinery in the amplitude direction to obtain the first correspondence includes:

[0214] Based on the deflection of each boom segment and the amplitude angle, the deflection of the main boom of the construction machinery in the amplitude direction is calculated; the deflection in the amplitude direction is:

[0215] Based on the deflection in the amplitude direction, the length of the main boom of the engineering machinery in the amplitude direction, and the amplitude angle, the amplitude length with deflection corresponding to the amplitude angle is determined to obtain a first correspondence; the first correspondence is expressed as:

[0216] Where L is the amplitude length with deflection corresponding to the amplitude angle. denoted as the length of the main boom of the construction machinery, l as the deflection in the amplitude direction, a as the amplitude angle, and n as the total number of boom sections.

[0217] In one embodiment, obtaining multiple waypoints includes:

[0218] Obtain the first starting point and target point;

[0219] Without considering deflection, a path search is performed in Cartesian space based on a heuristic search algorithm to obtain multiple points to be searched;

[0220] The rotation, amplitude, and hoisting length of each of the search points are calculated based on forward kinematics.

[0221] Based on the rotational motion, amplitude-changing motion, and winch motion of the engineering machinery, a cost function based on joint space is constructed.

[0222] Substitute the rotation, amplitude, and hoisting length of each of the search points into the joint space-based cost function to obtain the cost value of each search point.

[0223] Based on the cost value of each search point, the multiple search points are filtered to obtain the joint position with the lowest cost.

[0224] The joint position with the lowest cost is taken as the search point, and based on the search point, subsequent search point planning is carried out in Cartesian space and forward and inverse kinematic transformations are performed until the target point is reached, thus obtaining the initial path from the first starting point to the target point.

[0225] The initial path is smoothed and interpolated to obtain the initial planned path;

[0226] Multiple path points are obtained based on the initial planned path.

[0227] In one embodiment, it also includes:

[0228] The theoretical lifting capacity is obtained by matching the amplitude length corresponding to the joint position with the lowest cost with the amplitude length corresponding to the preset lifting capacity table.

[0229] Based on the theoretical lifting capacity, verify whether the joint position with the lowest cost currently meets the requirements. If it does, use the joint position with the lowest cost as the search point, and continue to plan subsequent search points in Cartesian space and perform forward and inverse kinematic transformations until the target point is reached, thus obtaining the initial path from the first starting point to the target point. If it does not meet the requirements, continue to plan subsequent search points in Cartesian space and perform forward and inverse kinematic transformations until the target point is reached.

[0230] In one embodiment, obtaining the first starting point includes:

[0231] Obtain the second starting point and the corresponding amplitude angle;

[0232] Based on the first correspondence and the amplitude angle corresponding to the second starting point, the second starting point is corrected to obtain the first starting point.

[0233] In one embodiment, the method for planning the path of the construction machinery boom includes: obtaining information about the main boom of the construction machinery;

[0234] A first correspondence is determined based on the main boom information of the construction machinery. The first correspondence is the correspondence between the variable length and variable angle with deflection.

[0235] A path search is performed in Cartesian space based on a heuristic search algorithm to obtain the target planned path; wherein, during the path search process, each search point in each search space is pre-associated with a variable amplitude length and a variable amplitude angle, and the variable amplitude angle associated with each search point is determined based on the variable amplitude length associated with the search point and the first correspondence.

[0236] In one embodiment, the path search based on the heuristic search algorithm in Cartesian space to obtain the target planned path includes:

[0237] A path search is performed in Cartesian space based on a heuristic search algorithm to obtain multiple search points on the optimal path;

[0238] The rotation and hoisting of each search point are calculated based on forward and inverse kinematics.

[0239] The amplitude angle of each search point is calculated based on the coordinates of each search point and the first correspondence.

[0240] Based on the rotation, amplitude angle, and hoisting of each search point, the search points on the optimal path are updated to obtain multiple new search points;

[0241] The multiple new search points are refined and differentially processed to obtain the target planning path.

[0242] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0243] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0244] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0245] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0246] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0247] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0248] Computer-readable media include both permanent and non-permanent, removable and non-removable media, which can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0249] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0250] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method of engineering a crane path planning, characterized by, The engineering mechanical arm path planning method comprises: Obtaining engineering mechanical main arm information and a plurality of path points, each path point corresponding to an initial amplitude length; Determining a first corresponding relationship according to the engineering mechanical main arm information, the first corresponding relationship being a corresponding relationship between an amplitude length with deflection and an amplitude angle; Based on the first corresponding relationship and the initial amplitude length, determining a target amplitude angle of each path point to obtain a target planning path; Wherein, the engineering mechanical main arm information comprises a main arm end hoisting load and arm segment parameters of each arm segment of the engineering mechanical main arm; The first corresponding relationship is determined according to the engineering mechanical main arm information, comprising: According to the amplitude angle, the main arm end hoisting load and the arm segment parameters of each arm segment, a deflection calculation formula is used to obtain the deflection of each arm segment; According to the deflection of each arm segment and the length of the engineering mechanical main arm in the amplitude direction, the amplitude length with deflection corresponding to the amplitude angle is determined to obtain the first corresponding relationship.

2. The method of claim 1, wherein, The arm segment parameters comprise arm segment length, elastic modulus and cross-sectional moment of inertia; The deflection calculation formula is: wherein, is the deflection of the i-th arm segment, is the force of the load at the end of the main arm in the direction perpendicular to the amplitude, is the length of the i-th arm segment, is the modulus of elasticity of the i-th arm segment, is the cross-sectional moment of inertia of the i-th arm segment, i being a positive integer less than or equal to the total number of arm segments. According to the deflection of each arm segment and the length of the engineering mechanical main arm in the amplitude direction, the amplitude length with deflection corresponding to the amplitude angle is determined to obtain the first corresponding relationship, comprising: According to the deflection of each arm section and the swing angle, the deflection of the main arm of the engineering machine in the swing direction is calculated; the deflection of the main arm of the engineering machine in the swing direction is: ; According to the deflection of the engineering mechanical main arm in the amplitude direction, the length of the engineering mechanical main arm in the amplitude direction and the amplitude angle, the amplitude length with deflection corresponding to the amplitude angle is determined to obtain the first corresponding relationship; the first corresponding relationship is represented as: wherein, is a length of the amplitude with deflection corresponding to the amplitude angle, is a length of the main arm of the working machine, is the amplitude direction deflection, is the amplitude angle, n is the total number of arm sections.

3. The method of claim 1, wherein, The plurality of path points are obtained, comprising: Obtaining a first starting point and a target point; Without considering deflection, path searching is performed in Cartesian space based on a heuristic search algorithm to obtain a plurality of to-be-searched points; Each to-be-searched point is calculated based on forward kinematics to obtain the rotation, amplitude length and hoisting of each to-be-searched point; According to the rotation movement, amplitude movement and hoisting movement of the engineering machinery, a joint space-based cost function is constructed; The rotation, amplitude length and hoisting of each to-be-searched point are substituted into the joint space-based cost function to obtain the cost value of each to-be-searched point; According to the cost value of each to-be-searched point, the plurality of to-be-searched points are screened to obtain a joint position with the lowest cost; The joint position with the lowest cost is taken as a search point, and subsequent search point position planning is continued in Cartesian space based on the search point and forward and inverse kinematics transformation until the target point is reached to obtain an initial path from the first starting point to the target point; The initial path is smoothed and interpolated to obtain an initial planning path; According to the initial planning path, a plurality of path points are obtained.

4. The method of claim 3, wherein, Further comprising: The amplitude length corresponding to the joint position with the lowest cost is matched with the corresponding amplitude length in a preset hoisting weight table to obtain a theoretical hoisting weight; According to the theoretical load, it is verified whether the current joint position with the lowest cost meets the requirements, if yes, the joint position with the lowest cost is taken as a search point, and subsequent search point position planning is continued in the Cartesian space based on the search point and forward and inverse kinematics transformation is carried out until the target point is reached, so that an initial path from the first starting point to the target point is obtained, if not, subsequent search point position planning is continued in the Cartesian space and forward and inverse kinematics transformation is carried out until the target point is reached.

5. The method of claim 4, wherein, The first starting point is obtained by: obtaining a second starting point and a corresponding variable amplitude angle of the second starting point; According to the first corresponding relationship and the variable amplitude angle corresponding to the second starting point, the second starting point is corrected to obtain the first starting point.

6. A method of engineering a crane path planning, characterized by, The engineering mechanical arm frame path planning method comprises: obtaining engineering mechanical main arm information; According to the engineering mechanical main arm information, a first corresponding relationship is determined, which is the corresponding relationship between the variable amplitude length with deflection and the variable amplitude angle; Based on the heuristic search algorithm, path search is carried out in the Cartesian space to obtain a target planning path; wherein, in the process of path search, each search point in each search space is pre-associated with variable amplitude length and variable amplitude angle, and the variable amplitude angle associated with each search point is determined according to the variable amplitude length associated with the search point and the first corresponding relationship; Wherein, the engineering mechanical main arm information includes the load force of the main arm end and the arm segment parameters of each arm segment of the engineering mechanical main arm; According to the engineering mechanical main arm information, a first corresponding relationship is determined, which is the corresponding relationship between the variable amplitude length with deflection and the variable amplitude angle; According to the deflection of each arm segment and the length of the engineering mechanical main arm in the amplitude direction, the variable amplitude length with deflection corresponding to the variable amplitude angle is determined to obtain the first corresponding relationship. Based on the heuristic search algorithm, path search is carried out in the Cartesian space to obtain a target planning path, comprising:

7. The method of claim 6, wherein, Based on the heuristic search algorithm, path search is carried out in the Cartesian space to obtain a plurality of search points on the optimal path; The plurality of search points are calculated based on forward and inverse kinematics respectively to obtain the rotation and hoist of each search point; According to the coordinates of each search point and the first corresponding relationship, the variable amplitude angle of each search point is calculated; According to the rotation, variable amplitude angle and hoist of each search point, each search point on the optimal path is updated to obtain a plurality of new search points; The plurality of new search points are refined and differentially processed to obtain a target planning path. The engineering mechanical arm frame path planning device comprises:

8. An engineering machine boom path planning apparatus, characterized by, A main arm information and path point acquisition module is used to obtain engineering mechanical main arm information and a plurality of path points, each path point corresponding to an initial variable amplitude length; ​ The first corresponding relationship calculation module is configured to determine a first corresponding relationship according to the engineering machinery main arm information, the first corresponding relationship being a corresponding relationship between a variable amplitude length with deflection and a variable amplitude angle; wherein the engineering machinery main arm information comprises a main arm terminal hoisting load force and arm section parameters of each arm section of the engineering machinery main arm; the determination of the first corresponding relationship according to the engineering machinery main arm information comprises: obtaining deflection of each arm section based on a deflection calculation formula according to the variable amplitude angle, the main arm terminal hoisting load force and the arm section parameters of each arm section; and determining the variable amplitude length with deflection corresponding to the variable amplitude angle according to the deflection of each arm section and a length of the engineering machinery main arm in the amplitude direction, so as to obtain the first corresponding relationship; The target planning path module is configured to determine a target variable amplitude angle of each path point based on the first corresponding relationship and the initial variable amplitude length, so as to obtain a target planning path.

9. An engineering machine boom path planning apparatus, characterized by, The engineering machinery boom path planning device comprises: A main arm information acquisition module is configured to acquire engineering machinery main arm information; A first corresponding relationship determination module is configured to determine a first corresponding relationship according to the engineering machinery main arm information, the first corresponding relationship being a corresponding relationship between a variable amplitude length with deflection and a variable amplitude angle; wherein the engineering machinery main arm information comprises a main arm terminal hoisting load force and arm section parameters of each arm section of the engineering machinery main arm; the determination of the first corresponding relationship according to the engineering machinery main arm information comprises: obtaining deflection of each arm section based on a deflection calculation formula according to the variable amplitude angle, the main arm terminal hoisting load force and the arm section parameters of each arm section; and determining the variable amplitude length with deflection corresponding to the variable amplitude angle according to the deflection of each arm section and a length of the engineering machinery main arm in the amplitude direction, so as to obtain the first corresponding relationship; A path search module is configured to perform path search in a Cartesian space based on a heuristic search algorithm, so as to obtain a target planning path; wherein each search point in each search space is pre-associated with a variable amplitude length and a variable amplitude angle in the process of the path search, and the variable amplitude angle associated with each search point is determined according to the variable amplitude length associated with the search point and the first corresponding relationship.

10. A processor, comprising: The device is configured to perform the engineering machinery boom path planning method according to any one of claims 1 to 7.

11. A machine-readable storage medium having instructions stored thereon, the instructions comprising: The instruction, when executed by the processor, causes the processor to be configured to perform the engineering machinery boom path planning method according to any one of claims 1 to 7.

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