Path planning method, device, computer equipment and storage medium

Abstract

The embodiments of the present application disclose a path planning method, device, computer equipment and storage medium. The method includes: obtaining a construction site drawing, the construction site drawing includes construction site boundary data, obstacle boundary data and tower crane working range data corresponding to multiple tower cranes; constructing a target construction site road network based on the construction site boundary data and obstacle boundary data, the target construction site road network includes a gate node and multiple hub nodes; based on a dual-target tower crane path planning rule, according to a path starting node, a path ending node and multiple tower crane working range data, multiple target hub nodes are determined from multiple hub nodes to obtain a target path, the target path includes a path starting node, multiple target hub nodes and a path ending node, and the dual-target tower crane path planning rule includes a tower crane coverage constraint and a path length constraint. By implementing the method of the embodiment of the present application, full coverage of the working ranges of multiple tower cranes can be guaranteed, and the path planning efficiency is high.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to path planning methods, devices, computer equipment, and storage media. Background Art

[0002] Tower crane is the most commonly used lifting equipment on construction sites. It is used to lift construction materials such as steel bars, wooden planks, concrete, steel pipes, etc. Combining tower crane construction can effectively save manpower, reduce construction costs and improve construction progress.

[0003] In large-scale construction sites, multiple tower cranes need to be installed. To ensure construction safety and efficiency, the travel paths of transport vehicles need to be planned in advance. The paths must cover the working ranges of all tower cranes so that transport vehicles can deliver construction materials to all tower cranes' working ranges. Currently, the travel paths of transport vehicles are generally planned based on manual experience. The manually planned travel paths of transport vehicles cannot guarantee full coverage of the working ranges of multiple tower cranes, and the path planning efficiency is low. Summary of the Invention

[0004] The embodiments of the present application provide a path planning method, apparatus, computer equipment and storage medium, aiming to solve the problem that the planned travel path of the transport vehicle is difficult to ensure full coverage of the working range of multiple tower cranes and the path planning efficiency is low.

[0005] In a first aspect, an embodiment of the present application provides a path planning method, which includes:

[0006] Obtaining a construction site drawing, wherein the construction site drawing includes construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to each of the multiple tower cranes;

[0007] Constructing a target construction site road network based on the construction site boundary data and the obstacle boundary data, wherein the target construction site road network includes at least one gate node and a plurality of hub nodes;

[0008] Determine a path starting point node and a path ending node from at least one of the gate nodes;

[0009] Based on the preset dual-target tower crane path planning rules, according to the path starting node, the path ending node and the multiple tower crane working range data, multiple target hub nodes are determined from the multiple hub nodes to obtain the target path. The target path includes the path starting node, the multiple target hub nodes and the path ending node. The dual-target tower crane path planning rules include tower crane coverage constraints and path length constraints.

[0010] In some embodiments, the preset dual-target tower crane path planning rule, according to the path starting node, the path ending node and the plurality of tower crane working range data, determines a plurality of target hub nodes from the plurality of hub nodes to obtain the target path, including:

[0011] In the target construction site road network, determining an adjacent node of the path starting point node as a current node;

[0012] Determine a plurality of adjacent nodes of the current node;

[0013] Determine a search status of each of the adjacent nodes, the search status including the number of remaining uncovered cranes, the cumulative length of the current path, the corresponding adjacent node identifier, a sequence of path nodes that have been traversed, and a set of covered cranes, the number of remaining uncovered cranes and the set of covered cranes being determined based on an intersection of a path corresponding to the sequence of path nodes that have been traversed and the working range data of the plurality of cranes;

[0014] Determining a target adjacent node with the highest node priority from each of the adjacent nodes according to the search status of each of the adjacent nodes, wherein the node priority is determined based on the number of remaining uncovered cranes and the cumulative length of the current path, wherein the fewer the number of remaining uncovered cranes, the higher the node priority; and when the number of remaining uncovered cranes is the same, the shorter the current path length, the higher the node priority;

[0015] If the number of uncovered tower cranes corresponding to the target adjacent node is zero and the target adjacent node is the end node of the path, then the path node sequence corresponding to the target adjacent node is determined as the target path;

[0016] If the number of uncovered tower cranes corresponding to the target adjacent node is not zero and the target adjacent node is not the end node of the path, the target adjacent node is updated to the current node, and the step of determining multiple adjacent nodes of the current node is returned to execute until the target adjacent node is the end node of the path.

[0017] In some embodiments, after determining the target neighboring node with the highest node priority according to the search status of each neighboring node, the method further includes:

[0018] If the number of uncovered tower cranes corresponding to the target adjacent node is not zero and the target adjacent node is the end node of the path, determining whether there is a hub node that is not involved in the calculation in the target construction site road network;

[0019] If there is a hub node that does not participate in the calculation, then update the current node according to the preset current node update rule and the hub node that does not participate in the calculation, and return to the step of determining multiple adjacent nodes of the current node until the target adjacent node is the end node of the path;

[0020] If there is no hub node that does not participate in the calculation, a full coverage path planning failure message is generated.

[0021] In some embodiments, constructing a target construction site road network based on the construction site boundary data and the obstacle boundary data includes:

[0022] Sampling the construction site boundary data according to a preset first interval to determine a plurality of first sampling points;

[0023] Sampling the obstacle boundary data according to a preset second interval to determine a plurality of second sampling points;

[0024] A Voronoi diagram is calculated for the plurality of first sampling points and the plurality of second sampling points to obtain the target construction site road network.

[0025] In some embodiments, performing Voronoi diagram calculation on the plurality of first sampling points and the plurality of second sampling points to obtain the target construction site road network includes:

[0026] Performing Voronoi diagram calculation on the plurality of first sampling points and the plurality of second sampling points to obtain a first initial construction site road network, wherein the first initial construction site road network includes a plurality of road nodes;

[0027] Obtaining the degree of each road node;

[0028] Deleting road nodes with a degree equal to 2, determining road nodes with a degree equal to 1 as the gate nodes, and determining road nodes with a degree greater than or equal to 3 as the hub nodes, to obtain a second initial construction site road network;

[0029] Smoothing is performed on the paths between the road nodes in the second initial construction site road network to obtain the target construction site road network.

[0030] In some embodiments, determining a path starting point node and a path ending point node from at least one of the gate nodes includes:

[0031] receiving a starting point node selection instruction and an end point node selection instruction triggered by a user for at least one of the gate nodes;

[0032] The gate node indicated by the starting point node selection instruction is determined as the starting point node of the path, and the gate node indicated by the ending point node selection instruction is determined as the ending point node of the path.

[0033] In some embodiments, the tower crane working range data includes tower crane center position data and tower crane radius length data.

[0034] In a second aspect, an embodiment of the present application further provides a path planning device, comprising:

[0035] a transceiver unit, configured to obtain a construction site drawing, wherein the construction site drawing includes construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to each of the multiple tower cranes;

[0036] A processing unit is used to construct a target construction site road network based on the construction site boundary data and the obstacle boundary data, wherein the target construction site road network includes at least one gate node and multiple hub nodes; determine a path starting node and a path ending node from at least one of the gate nodes; based on a preset dual-target tower crane path planning rule, determine multiple target hub nodes from multiple hub nodes according to the path starting node, the path ending node and multiple tower crane working range data to obtain a target path, wherein the target path includes the path starting node, multiple target hub nodes and the path ending node, and the dual-target tower crane path planning rule includes a tower crane coverage constraint and a path length constraint.

[0037] In a third aspect, an embodiment of the present application further provides a computer device, which includes a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above method when executing the computer program.

[0038] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and the program instructions can implement the above method when executed by a processor.

[0039] The present application provides a path planning method, apparatus, computer device, and storage medium. The method includes: obtaining a construction site drawing, the construction site drawing including construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to multiple tower cranes; constructing a target construction site road network based on the construction site boundary data and the obstacle boundary data, the target construction site road network including at least one gate node and multiple hub nodes; determining a path start node and a path end node from at least one gate node; and based on a preset dual-target tower crane path planning rule, determining multiple target hub nodes from multiple hub nodes based on the path start node, the path end node, and the multiple tower crane working range data, obtaining a target path, the target path including the path start node, multiple target hub nodes, and the path end node, the dual-target tower crane path planning rule including a tower crane coverage constraint and a path length constraint. The embodiment of the present application can automatically generate a construction site road network by analyzing the construction site drawings, and automatically generate a target path based on the generated construction site road network and the dual-target tower crane path planning rules. Compared with manual planning, the target path generated by the embodiment of the present application can not only ensure full coverage of the working range of multiple tower cranes, but also has high path planning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 A schematic diagram of an application scenario of the path planning method provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of a flow chart of a path planning method provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of a sub-process of the path planning method provided in an embodiment of the present application;

[0044] Figure 4 A schematic diagram of another sub-process of the path planning method provided in an embodiment of the present application;

[0045] Figure 5 A schematic block diagram of a path planning device provided in an embodiment of the present application;

[0046] Figure 6 A schematic block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0049] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0050] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0051] The embodiments of the present application provide a path planning method, apparatus, computer equipment, and storage medium, which are applied to path planning scenarios at multi-tower crane construction sites.

[0052] The execution entity of the path planning method can be the path planning device provided in the embodiment of the present application, or a computer device that integrates the path planning device, wherein the path planning device can be implemented in hardware or software, the computer device can be a terminal or a server, and the terminal can be a smart phone, tablet computer, PDA, or laptop computer, etc.

[0053] See also Figure 1 , Figure 1 Schematic diagram of the application scenario of the path planning method provided in the embodiment of this application. Figure 1In the computer device in the embodiment, the computer device obtains a construction site drawing, wherein the construction site drawing includes construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to multiple tower cranes; a target construction site road network is constructed based on the construction site boundary data and the obstacle boundary data, wherein the target construction site road network includes at least one gate node and multiple hub nodes; a path starting point node and a path ending point node are determined from at least one gate node; based on a preset dual-target tower crane path planning rule, multiple target hub nodes are determined from multiple hub nodes according to the path starting point node, the path ending point node, and multiple tower crane working range data, to obtain a target path, wherein the target path includes the path starting point node, multiple target hub nodes, and the path ending point node, and the dual-target tower crane path planning rule includes a tower crane coverage constraint and a path length constraint. Compared with manual planning, the target path generated by the embodiment of the present application can not only ensure full coverage of the working ranges of multiple tower cranes, but also has high path planning efficiency.

[0054] Figure 2 This is a flow chart of the path planning method provided in the embodiment of the present application. Figure 2 As shown, the method includes the following steps S110-S140.

[0055] S110: Acquire a construction site drawing, where the construction site drawing includes construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to a plurality of tower cranes.

[0056] In this embodiment, the construction site drawing can specifically be a Drawing Exchange Format (DXF) drawing, including construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to multiple tower cranes, wherein the tower crane working range data includes tower crane center position data and tower crane radius length data.

[0057] The obstacle boundary data may specifically include building foundation pit boundaries, building boundaries, temporary facility boundaries, and the like.

[0058] For example, when a user needs to design a transport vehicle's travel path for a construction site where a tower crane position has been planned, the construction site drawing is input into the computer device provided by this application, and the transport vehicle's travel path is automatically planned by the computer device provided by this application.

[0059] In some embodiments, after the computer device receives the construction site drawings input by the user, it is also necessary to verify the compliance of the construction site drawings, that is, to check whether the construction site drawings contain construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to multiple tower cranes. If any serious data is missing, a message that the current construction site drawings are non-compliant is generated, and the user is prompted with information that the current drawings are missing, for example, "the current drawings lack tower crane working range data."

[0060] S120 . Construct a target construction site road network according to the construction site boundary data and the obstacle boundary data, wherein the target construction site road network includes at least one gate node and multiple hub nodes.

[0061] In this embodiment, after obtaining the construction site drawings, the computer device parses the construction site drawings and automatically constructs the target construction site road network based on the construction site boundary data and obstacle boundary data in the construction site drawings.

[0062] In some embodiments, see Figure 3 , S120 includes:

[0063] S1201, sampling the construction site boundary data according to a preset first interval to determine a plurality of first sampling points;

[0064] S1202: Sampling the obstacle boundary data according to a preset second interval to determine a plurality of second sampling points;

[0065] S1203: Perform Voronoi diagram calculation on the plurality of first sampling points and the plurality of second sampling points to obtain the target construction site road network.

[0066] Specifically, the computer device parses the construction site drawings (for example, by using the read_polylines() function to parse the drawings), and distinguishes the boundary polygons (construction site boundary data) and the obstacle polygons (obstacle boundary data) in the drawings. For example, the following code is used to identify the construction site boundary data and the obstacle boundary data:

[0067] largest_polygon = max(polygons, key=lambda p: p.area) # outer boundary

[0068] inner_polygons = [p for p in polygons if p != largest_polygon] # Internal barriers

[0069] After identifying the construction site boundary data and obstacle boundary data, they are sampled separately. For example, if the first interval is 10 meters (the specific value of the first interval can also be set to other values ​​according to actual needs, the specific value is not limited here), then the construction site boundary data is sampled every 10 meters, and multiple first sampling points are obtained, that is, boundary_sample_points = boundary_length / 10; the second interval is 1 meter (the specific value of the second interval can also be set to other values ​​according to actual needs, the specific value is not limited here), then the obstacle boundary data is sampled every 1 meter, and multiple second sampling points are obtained, that is, obstacle_sample_density = 1 point / meter.

[0070] After obtaining multiple first sampling points and multiple second sampling points, Voronoi diagrams are calculated for the multiple first sampling points and the multiple second sampling points. It can be understood that by sampling the construction site boundary data and the obstacle boundary data and calculating the Voronoi diagram, the double-line route in the construction site drawing can be converted into a single-line route that is computer-recognizable and more convenient to calculate.

[0071] Furthermore, in some embodiments, performing Voronoi diagram calculation on the plurality of first sampling points and the plurality of second sampling points to obtain the target construction site road network includes:

[0072] A Voronoi diagram is calculated for the plurality of first sampling points and the plurality of second sampling points to obtain a first initial construction site road network, wherein the first initial construction site road network includes a plurality of road nodes; the degree of each of the road nodes is obtained; road nodes with a degree equal to 2 are deleted, and road nodes with a degree equal to 1 are determined as the gate nodes, and road nodes with a degree greater than or equal to 3 are determined as the hub nodes to obtain a second initial construction site road network; and paths between the road nodes in the second initial construction site road network are smoothed to obtain the target construction site road network.

[0073] The degree of a road node is the number of connection paths corresponding to the road node. Specifically, in this embodiment, third-order B-spline smoothing processing can be performed on the paths between the road nodes in the second initial construction site road network to obtain the target construction site road network.

[0074] S130: Determine a path starting point node and a path ending point node from at least one of the gate nodes.

[0075] If there is only one gate node, the gate node will be determined as both the path starting node and the path ending node; if the construction site vehicle entrance and exit locations are marked on the construction site drawings, the gate node corresponding to the construction site entrance location will be determined as the path starting node, and the gate node corresponding to the construction site vehicle exit location will be determined as the path ending node.

[0076] If there are multiple gate nodes and the construction site vehicle entrance and exit are not specified in the drawing, the path starting node and the path ending node are manually selected. At this time, step S130 includes: receiving a starting node selection instruction and an ending node selection instruction triggered by the user for at least one of the gate nodes; determining the gate node indicated by the starting node selection instruction as the path starting node, and determining the gate node indicated by the ending node selection instruction as the path ending node.

[0077] For example, an interface for displaying the target construction site road network provides node selection boxes corresponding to the path starting node and the path ending node respectively. The drop-down list of the node selection box displays the node identifiers of the major gate nodes. The user selects the node identifier that needs to be used as the path starting node from the drop-down list corresponding to the path starting node through the mouse, keyboard or touch screen interface, and selects the node identifier that needs to be used as the path ending node from the drop-down list corresponding to the path ending node, thereby triggering the starting node selection instruction and the ending node selection instruction.

[0078] S140. Based on the preset dual-target tower crane path planning rules, multiple target hub nodes are determined from multiple hub nodes according to the path starting node, the path ending node and the multiple tower crane working range data to obtain a target path. The target path includes the path starting node, multiple target hub nodes and the path ending node. The dual-target tower crane path planning rules include tower crane coverage constraints and path length constraints.

[0079] In this embodiment, after determining the target construction site road network and locking the path start node and path end node, this embodiment plans a target path from the target construction site road network based on the dual-target tower crane path planning rules, which can achieve full coverage of the tower crane working range and has a shorter path.

[0080] Specifically, see Figure 4 In some embodiments, step S140 includes:

[0081] S1401: In the target construction site road network, determine an adjacent node of the path starting point node as a current node;

[0082] S1402: Determine multiple adjacent nodes of the current node;

[0083] Determine a search status of each of the adjacent nodes, the search status including the number of remaining uncovered cranes, the cumulative length of the current path, the corresponding adjacent node identifier, a sequence of path nodes that have been traversed, and a set of covered cranes, the number of remaining uncovered cranes and the set of covered cranes being determined based on an intersection of a path corresponding to the sequence of path nodes that have been traversed and the working range data of the plurality of cranes;

[0084] S1403: Determine a target adjacent node with the highest node priority from each adjacent node according to the search status of each adjacent node, wherein the node priority is determined based on the number of remaining uncovered cranes and the cumulative length of the current path. The fewer the number of remaining uncovered cranes, the higher the node priority. If the number of remaining uncovered cranes is the same, the shorter the current path length, the higher the node priority.

[0085] S1404: If the number of uncovered tower cranes corresponding to the target adjacent node is zero and the target adjacent node is the end node of the path, determine the path node sequence corresponding to the target adjacent node as the target path;

[0086] S1405. If the number of uncovered tower cranes corresponding to the target adjacent node is not zero and the target adjacent node is not the end node of the path, update the target adjacent node to the current node, and return to execute step S1402 until the target adjacent node is the end node of the path.

[0087] Specifically, in some embodiments, the heapq.heappush function can be used to implement the dual constraints of the crane coverage constraint and the path length constraint in the dual-target crane path planning rule. That is, based on the heapq.heappush function, the target adjacent node with the highest node priority is determined from each adjacent node according to the search status of each adjacent node. First, the priority queue is designed as follows:

[0088] heapq.heappush(queue, (len(circles)-len(coverage), dist, node, path,coverage));

[0089] The queue in the code is a priority queue (minimum heap) used to manage all states to be expanded during the path search process. len(circles) is the total number of cranes, len(coverage) is the number of covered cranes, (len(circles)-len(coverage)) is the number of remaining uncovered cranes, dist is the cumulative length of the current path, node is the corresponding adjacent node identifier, path is the sequence of path nodes that have been traversed, and coverage is the set of covered cranes.

[0090] Among them, (len(circles)-len(coverage) corresponds to the crane coverage constraint, and dist corresponds to the path length constraint. When performing path planning, this embodiment first considers adding the adjacent node with the least number of remaining uncovered cranes (i.e., the one with the most covered cranes). If there are multiple adjacent nodes with the same number of remaining uncovered cranes, the adjacent node with the shortest path is further selected as the target adjacent node and added to the path. The path where the current node meets the termination condition is the target path, and the node included is the target hub node.

[0091] The tower crane coverage detection code is as follows (the intersection of the path (the path between the current node and the adjacent node) and the tower crane working range data):

[0092] if point.distance(circle_point) <= radius:

[0093] coverage.add(idx);

[0094] Where circle_point is the center position data of the tower crane, radius is the radius length data of the tower crane, and idx is the tower crane identifier. When the number of uncovered tower cranes and the set of covered tower cranes in the search status of the adjacent nodes can be implemented based on the above tower crane coverage detection code, the tower crane identifiers that meet the condition if point.distance(circle_point) <= radius are placed in the coverage. After deduplication processing of the coverage, the remaining number of uncovered tower cranes is determined by the preset total number of tower cranes and the number of tower cranes in the coverage.

[0095] The current path cumulative length is the cumulative length of the path in the currently planned path node, which can be obtained based on the path length generated in the target construction site road network.

[0096] In some embodiments, the adjacent node identifier is a node identifier of a forward adjacent node of the current node.

[0097] In this embodiment, if the number of uncovered tower cranes corresponding to the target adjacent node is zero and the target adjacent node is the path end node, the current path planning meets the termination condition, which is: reaching the path end node and len(coverage)==len(circles).

[0098] Furthermore, in some embodiments, after determining the target adjacent node with the highest node priority according to the search status of each adjacent node, the method further includes:

[0099] If the number of uncovered tower cranes corresponding to the target adjacent node is not zero and the target adjacent node is the end node of the path, determine whether there is a hub node that is not involved in the calculation in the target construction site road network; if there is a hub node that is not involved in the calculation, update the current node according to the preset current node update rules and the hub node that is not involved in the calculation, and return to the step of determining multiple adjacent nodes of the current node until the target adjacent node is the end node of the path; if there is no hub node that is not involved in the calculation, generate full coverage path planning failure information.

[0100] Specifically, the hub node that did not participate in the calculation is the hub node that did not participate in the planning in the target construction site road network in the previous path planning. The preset current node update rule can be to update the hub node that did not participate in the calculation and whose node number is closest to the path starting node as the current node (the node number is closest to the path starting node, meaning the hub node with the least number of nodes between it and the path starting node). For example, if the route taken during the initial planning is N01-N02-N05... (N05 is an adjacent node of N02), the initial planning did not find the target path, and according to the preset current node update rule, another adjacent node N03 of N02 is updated as the current node.

[0101] Among them, if there are multiple hub nodes closest to the starting point node of the path that are not involved in the calculation, the current node is further determined based on the number of tower crane coverage (the node with more tower crane coverage is updated as the current node). If the number of tower crane coverage is the same, the current node is determined based on the path length between the node and the starting point of the path (the node with the shorter path length is updated as the current node).

[0102] If all hub nodes are polled and no path that meets the termination conditions is found, a full coverage path planning failure message is generated to remind the user that no qualified transportation path has been found.

[0103] In this embodiment, path planning is performed using a dual-target tower crane path planning rule. Compared with path planning performed using a path exhaustive method, this method requires less computational data, saves computational resources, and has higher computational efficiency.

[0104] To sum up, the method provided in the embodiment of the present application can automatically generate a construction site road network by analyzing the construction site drawings, and automatically generate a target path based on the generated construction site road network and the dual-target tower crane path planning rules. Compared with manual planning, the target path generated by the embodiment of the present application can not only ensure full coverage of the working range of multiple tower cranes, but also has high path planning efficiency.

[0105] Figure 5 Schematic block diagram of a path planning device 500 provided in an embodiment of the present application. Figure 5 As shown, corresponding to the above path planning method, the present application also provides a path planning device 500. The path planning device 500 includes a unit for executing the above path planning method, and the path planning device 500 can be configured in a desktop computer, tablet computer, laptop computer, etc. Specifically, please refer to Figure 5 The path planning device 500 includes a transceiver unit 501 and a processing unit 502, wherein:

[0106] The transceiver unit 501 is configured to obtain a construction site drawing, wherein the construction site drawing includes construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to each of the multiple tower cranes;

[0107] The processing unit 502 is used to construct a target construction site road network based on the construction site boundary data and the obstacle boundary data, and the target construction site road network includes at least one gate node and multiple hub nodes; determine a path starting node and a path ending node from at least one of the gate nodes; based on a preset dual-target tower crane path planning rule, determine multiple target hub nodes from multiple hub nodes according to the path starting node, the path ending node and multiple tower crane working range data to obtain a target path, and the target path includes the path starting node, multiple target hub nodes and the path ending node, and the dual-target tower crane path planning rule includes a tower crane coverage constraint and a path length constraint.

[0108] In some embodiments, when executing the preset dual-target tower crane path planning rule, the processing unit 502 determines multiple target hub nodes from multiple hub nodes according to the path starting node, the path ending node, and the multiple tower crane working range data to obtain the target path, specifically for:

[0109] In the target construction site road network, an adjacent node of the starting point node of the path is determined as the current node; multiple adjacent nodes of the current node are determined; a search status of each adjacent node is determined, wherein the search status includes the number of remaining uncovered tower cranes, the cumulative length of the current path, the corresponding adjacent node identifier, the sequence of path nodes that have been traversed, and the set of covered tower cranes, wherein the number of remaining uncovered tower cranes and the set of covered tower cranes are determined based on the intersection of the path corresponding to the sequence of path nodes that have been traversed and the working range data of multiple tower cranes; a target adjacent node with the highest node priority is determined from each adjacent node according to the search status of each adjacent node, wherein the node priority is based on the number of remaining uncovered tower cranes and the set of covered tower cranes. The cumulative length of the current path is determined, the smaller the number of remaining uncovered tower cranes, the higher the node priority. When the number of remaining uncovered tower cranes is the same, the shorter the current path length, the higher the node priority. If the number of uncovered tower cranes corresponding to the target adjacent node is zero and the target adjacent node is the path end node, the path node sequence corresponding to the target adjacent node is determined as the target path. If the number of uncovered tower cranes corresponding to the target adjacent node is not zero and the target adjacent node is not the path end node, the target adjacent node is updated to the current node, and the step of determining multiple adjacent nodes of the current node is returned to execute until the target adjacent node is the path end node.

[0110] In some embodiments, after executing the step of determining the target neighboring node with the highest node priority according to the search status of each neighboring node, the processing unit 502 is further configured to:

[0111] If the number of uncovered tower cranes corresponding to the target adjacent node is not zero and the target adjacent node is the end node of the path, determine whether there is a hub node that is not involved in the calculation in the target construction site road network; if there is a hub node that is not involved in the calculation, update the current node according to the preset current node update rules and the hub node that is not involved in the calculation, and return to the step of determining multiple adjacent nodes of the current node until the target adjacent node is the end node of the path; if there is no hub node that is not involved in the calculation, generate full coverage path planning failure information.

[0112] In some embodiments, when executing the step of constructing the target construction site road network based on the construction site boundary data and the obstacle boundary data, the processing unit 502 is specifically configured to:

[0113] The construction site boundary data is sampled according to a preset first interval to determine a plurality of first sampling points; the obstacle boundary data is sampled according to a preset second interval to determine a plurality of second sampling points; and a Voronoi diagram is calculated for the plurality of first sampling points and the plurality of second sampling points to obtain the target construction site road network.

[0114] In some embodiments, when executing the step of calculating the Voronoi diagram for the plurality of first sampling points and the plurality of second sampling points to obtain the target construction site road network, the processing unit 502 is specifically configured to:

[0115] A Voronoi diagram is calculated for the plurality of first sampling points and the plurality of second sampling points to obtain a first initial construction site road network, wherein the first initial construction site road network includes a plurality of road nodes; the degree of each of the road nodes is obtained; road nodes with a degree equal to 2 are deleted, and road nodes with a degree equal to 1 are determined as the gate nodes, and road nodes with a degree greater than or equal to 3 are determined as the hub nodes to obtain a second initial construction site road network; and paths between the road nodes in the second initial construction site road network are smoothed to obtain the target construction site road network.

[0116] In some embodiments, when executing the step of determining a path starting point node and a path ending point node from at least one gate node, the processing unit 502 is specifically configured to:

[0117] The transceiver unit 501 receives the starting node selection instruction and the end node selection instruction triggered by the user for at least one of the gate nodes; the gate node indicated by the starting node selection instruction is determined as the starting node of the path, and the gate node indicated by the end node selection instruction is determined as the end node of the path.

[0118] In some embodiments, the tower crane working range data includes tower crane center position data and tower crane radius length data.

[0119] To sum up, the path planning device 500 provided in the embodiment of the present application can automatically generate a construction site road network by analyzing the construction site drawings, and automatically generate a target path based on the generated construction site road network and the dual-target tower crane path planning rules. Compared with manual planning, the target path generated by the embodiment of the present application can not only ensure full coverage of the working range of multiple tower cranes, but also has high path planning efficiency.

[0120] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned path planning device and each unit can refer to the corresponding description in the aforementioned method embodiment. For the convenience and brevity of description, it will not be repeated here.

[0121] The above-mentioned path planning device can be implemented in the form of a computer program. The computer program can be used in Figure 6 Runs on the computer device shown.

[0122] See also Figure 6 , Figure 6 This is a schematic block diagram of a computer device provided in an embodiment of the present application. The computer device 600 can be a terminal or a server. The terminal can be a smart phone, tablet computer, laptop computer, desktop computer, personal digital assistant, wearable device, or other electronic device with communication capabilities. The server can be a standalone server or a server cluster consisting of multiple servers.

[0123] See Figure 6 The computer device 600 includes a processor 602 , a memory, and a network interface 605 connected via a system bus 601 , wherein the memory may include a non-volatile storage medium 603 and an internal memory 604 .

[0124] The non-volatile storage medium 603 may store an operating system 6031 and a computer program 6032. The computer program 6032 includes program instructions, which, when executed, may enable the processor 602 to perform a path planning method.

[0125] The processor 602 is used to provide computing and control capabilities to support the operation of the entire computer device 600.

[0126] The internal memory 604 provides an environment for the operation of the computer program 6032 in the non-volatile storage medium 603. When the computer program 6032 is executed by the processor 602, the processor 602 can execute a path planning method.

[0127] The network interface 605 is used to communicate with other devices over the network. Figure 6 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device 600 to which the solution of the present application is applied. The specific computer device 600 may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0128] The processor 602 is configured to execute a computer program 6032 stored in the memory to implement the following steps:

[0129] Obtaining a construction site drawing, wherein the construction site drawing includes construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to each of the multiple tower cranes;

[0130] Constructing a target construction site road network based on the construction site boundary data and the obstacle boundary data, wherein the target construction site road network includes at least one gate node and a plurality of hub nodes;

[0131] Determine a path starting point node and a path ending node from at least one of the gate nodes;

[0132] Based on the preset dual-target tower crane path planning rules, according to the path starting node, the path ending node and the multiple tower crane working range data, multiple target hub nodes are determined from the multiple hub nodes to obtain the target path. The target path includes the path starting node, the multiple target hub nodes and the path ending node. The dual-target tower crane path planning rules include tower crane coverage constraints and path length constraints.

[0133] It should be understood that in the embodiment of the present application, the processor 602 may be a central processing unit (CPU), and the processor 602 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0134] Those skilled in the art will appreciate that all or part of the steps in the method of the above-described embodiment can be implemented by instructing the relevant hardware through a computer program. The computer program includes program instructions, which can be stored in a storage medium that is computer-readable. The program instructions are executed by at least one processor in the computer system to implement the steps in the method of the above-described embodiment.

[0135] Therefore, the present application also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor performs the following steps:

[0136] Obtaining a construction site drawing, wherein the construction site drawing includes construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to each of the multiple tower cranes;

[0137] Constructing a target construction site road network based on the construction site boundary data and the obstacle boundary data, wherein the target construction site road network includes at least one gate node and a plurality of hub nodes;

[0138] Determine a path starting point node and a path ending node from at least one of the gate nodes;

[0139] Based on the preset dual-target tower crane path planning rules, according to the path starting node, the path ending node and the multiple tower crane working range data, multiple target hub nodes are determined from the multiple hub nodes to obtain the target path. The target path includes the path starting node, the multiple target hub nodes and the path ending node. The dual-target tower crane path planning rules include tower crane coverage constraints and path length constraints.

[0140] The storage medium may be any computer-readable storage medium that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk.

[0141] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0142] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and other division methods may be used in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not implemented.

[0143] The steps in the method of the embodiment of the present application can be adjusted in order, combined, and deleted according to actual needs. The units in the device of the embodiment of the present application can be combined, divided, and deleted according to actual needs. In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit.

[0144] If this integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, terminal, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of this application.

[0145] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A path planning method, characterized in that: include: Obtaining a construction site drawing, wherein the construction site drawing includes construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to each of the multiple tower cranes; Constructing a target construction site road network based on the construction site boundary data and the obstacle boundary data, wherein the target construction site road network includes at least one gate node and a plurality of hub nodes; Determine a path starting point node and a path ending node from at least one of the gate nodes; Based on a preset dual-objective tower crane path planning rule, multiple target hub nodes are determined from the multiple hub nodes according to the path starting node, the path ending node, and the multiple tower crane working range data, to obtain a target path, wherein the target path includes the path starting node, the multiple target hub nodes, and the path ending node, and the dual-objective tower crane path planning rule includes a tower crane coverage constraint and a path length constraint; The preset dual-target tower crane path planning rule is based on the path starting node, the path ending node and the plurality of tower crane working range data, and a plurality of target hub nodes are determined from the plurality of hub nodes to obtain a target path, including: In the target construction site road network, determining an adjacent node of the path starting point node as a current node; Determine a plurality of adjacent nodes of the current node; Determine a search status of each of the adjacent nodes, the search status including the number of remaining uncovered cranes, the cumulative length of the current path, the corresponding adjacent node identifier, a sequence of path nodes that have been traversed, and a set of covered cranes, the number of remaining uncovered cranes and the set of covered cranes being determined based on an intersection of a path corresponding to the sequence of path nodes that have been traversed and the working range data of the plurality of cranes; Determining a target adjacent node with the highest node priority from each of the adjacent nodes according to the search status of each of the adjacent nodes, wherein the node priority is determined based on the number of remaining uncovered cranes and the cumulative length of the current path, wherein the fewer the number of remaining uncovered cranes, the higher the node priority; and when the number of remaining uncovered cranes is the same, the shorter the current path length, the higher the node priority; If the number of remaining uncovered tower cranes corresponding to the target adjacent node is zero and the target adjacent node is the end node of the path, then the path node sequence corresponding to the target adjacent node is determined as the target path; If the number of remaining uncovered tower cranes corresponding to the target adjacent node is not zero and the target adjacent node is not the end node of the path, the target adjacent node is updated to the current node, and the step of determining multiple adjacent nodes of the current node is returned to execute until the target adjacent node is the end node of the path.

2. The method according to claim 1, characterized in that After determining the target adjacent node with the highest node priority according to the search status of each adjacent node, the method further includes: If the number of remaining uncovered tower cranes corresponding to the target adjacent node is not zero and the target adjacent node is the end node of the path, determining whether there is a hub node that is not involved in the calculation in the target construction site road network; If there is a hub node that does not participate in the calculation, then update the current node according to the preset current node update rule and the hub node that does not participate in the calculation, and return to the step of determining multiple adjacent nodes of the current node until the target adjacent node is the end node of the path; If there is no hub node that does not participate in the calculation, a full coverage path planning failure message is generated.

3. The method according to claim 1, characterized in that The constructing of the target construction site road network according to the construction site boundary data and the obstacle boundary data includes: Sampling the construction site boundary data according to a preset first interval to determine a plurality of first sampling points; Sampling the obstacle boundary data according to a preset second interval to determine a plurality of second sampling points; A Voronoi diagram is calculated for the plurality of first sampling points and the plurality of second sampling points to obtain the target construction site road network.

4. The method according to claim 3, characterized in that The performing Voronoi diagram calculation on the plurality of first sampling points and the plurality of second sampling points to obtain the target construction site road network includes: Performing Voronoi diagram calculation on the plurality of first sampling points and the plurality of second sampling points to obtain a first initial construction site road network, wherein the first initial construction site road network includes a plurality of road nodes; Obtaining the degree of each road node; Deleting road nodes with a degree equal to 2, determining road nodes with a degree equal to 1 as the gate nodes, and determining road nodes with a degree greater than or equal to 3 as the hub nodes, to obtain a second initial construction site road network; Smoothing is performed on the paths between the road nodes in the second initial construction site road network to obtain the target construction site road network.

5. The method according to claim 1, wherein The determining of a path starting point node and a path ending point node from at least one of the gate nodes includes: receiving a starting point node selection instruction and an end point node selection instruction triggered by a user for at least one of the gate nodes; The gate node indicated by the starting point node selection instruction is determined as the starting point node of the path, and the gate node indicated by the ending point node selection instruction is determined as the ending point node of the path.

6. The method according to any one of claims 1 to 5, characterized in that The tower crane working range data includes tower crane center position data and tower crane radius length data.

7. A path planning device, characterized in that: The path planning device is used to implement the method according to any one of claims 1 to 6, comprising: a transceiver unit, configured to obtain a construction site drawing, wherein the construction site drawing includes construction site boundary data, obstacle boundary data, and tower crane working range data corresponding to each of the multiple tower cranes; a processing unit configured to construct a target construction site road network based on the construction site boundary data and the obstacle boundary data, the target construction site road network including at least one gate node and multiple hub nodes; determine a path start node and a path end node from at least one gate node; determine multiple target hub nodes from the multiple hub nodes based on the path start node, the path end node, and multiple tower crane working range data based on a preset dual-target tower crane path planning rule, and obtain a target path, the target path including the path start node, multiple target hub nodes, and the path end node, the dual-target tower crane path planning rule including a tower crane coverage constraint and a path length constraint; When executing the preset dual-target tower crane path planning rule, the processing unit determines multiple target hub nodes from multiple hub nodes according to the path starting node, the path ending node, and the multiple tower crane working range data to obtain the target path, and is specifically configured to: In the target construction site road network, an adjacent node of the path starting point node is determined as the current node; multiple adjacent nodes of the current node are determined; a search status of each adjacent node is determined, wherein the search status includes the number of remaining uncovered tower cranes, the cumulative length of the current path, the corresponding adjacent node identifier, the sequence of path nodes that have been traversed, and the set of covered tower cranes, wherein the number of remaining uncovered tower cranes and the set of covered tower cranes are determined based on the intersection of the path corresponding to the sequence of path nodes that have been traversed and the working range data of multiple tower cranes; a target adjacent node with the highest node priority is determined from each adjacent node according to the search status of each adjacent node, wherein the node priority is based on the number of remaining uncovered tower cranes and the current path. The cumulative length of the previous path is determined, the smaller the number of remaining uncovered tower cranes, the higher the node priority. When the number of remaining uncovered tower cranes is the same, the shorter the current path length, the higher the node priority. If the number of remaining uncovered tower cranes corresponding to the target adjacent node is zero and the target adjacent node is the path end node, the path node sequence corresponding to the target adjacent node is determined as the target path. If the number of remaining uncovered tower cranes corresponding to the target adjacent node is not zero and the target adjacent node is not the path end node, the target adjacent node is updated to the current node, and the step of determining multiple adjacent nodes of the current node is returned to execute until the target adjacent node is the path end node.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the path planning method according to any one of claims 1 to 6 is implemented.

9. A storage medium, characterized in that: The storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the processor executes the path planning method according to any one of claims 1 to 6.

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