Boom path planning method, electronic device and computer storage medium

Abstract

A boom path planning method, comprising: acquiring a starting point position and a target point position; perform random sampling on path points from the starting point position to the target point position; when it is detected that a sampling point collides with an obstacle, adjusting a sampling angle according to obstacle information and performing sampling again, so that the sampling point avoids the obstacle; and performing path fusion on a current planned path determined according to sampling points from the present search and a first optimal planned path determined according to historical sampling points, so as to determine a target planned path. The method improves the rationality of path planning, and improves the efficiency of path planning and the efficiency of hoisting construction. Also provided are an electronic device and a computer storage medium.

Description

[Corrected according to Rule 91, November 19, 2025] A boom path planning method, electronic device, and computer storage medium.

[0001] [Amended 19.11.2025 according to Rule 91] This application claims priority to Chinese Patent Application No. 202411530921.9, filed on October 30, 2024, entitled “A boom path planning method, electronic device and computer storage medium”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of path planning, and in particular to a boom path planning method, electronic equipment, and computer storage medium. Background Technology

[0003] In the development of intelligent and unmanned booms, automated lifting is one of the mainstream directions, and boom path planning plays a crucial role. In related technologies, the boom of lifting equipment has a wide range of movement space. Repeated path planning under the same starting and target points results in diverse path forms obtained through spatial search, leading to unreasonable planned routes. Furthermore, the search range for path points in three-dimensional space is vast, with the search direction diverging infinitely in all directions of a sphere. How to search for a feasible lifting path within a limited time is a problem that urgently needs to be solved by those skilled in the art. Technical solutions

[0004] The purpose of this application is to provide a boom path planning method, electronic equipment, and computer storage medium to improve the rationality of path planning and enhance the efficiency of path planning and hoisting construction.

[0005] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0006] In a first aspect, this application provides a boom path planning method, the method comprising:

[0007] Obtain the starting point and target point positions;

[0008] Starting from the starting point, random sampling of path points is performed towards the target point.

[0009] When a collision between a sampling point and an obstacle is detected, the sampling angle is adjusted according to the obstacle information and sampling is performed again so that the sampling point avoids the obstacle.

[0010] The current planned path determined based on the sampling points of this search will be merged with the first optimal planned path determined based on historical sampling points to determine the target planned path.

[0011] In a second aspect, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the boom path planning method as described in the first aspect.

[0012] Thirdly, this application provides a computer storage medium storing a computer program that, when executed by a processor, implements the steps of the boom path planning method as described in the first aspect.

[0013] This application provides a boom path planning method, electronic device, and computer storage medium. The method includes: acquiring a starting point position and a target point position; randomly sampling path points from the starting point position to the target point position; when a collision between a sampling point and an obstacle is detected, adjusting the sampling angle and re-sampling according to obstacle information to ensure the sampling point avoids the obstacle; and fusing the current planned path determined based on the currently searched sampling points with a first optimal planned path determined based on historical sampling points to determine the target planned path. The technical solution of this application first acquires the starting point position and the target point position, then randomly samples path points from the starting point position to the target point position. When a collision between a sampling point and an obstacle is detected, adjusting the sampling angle and re-sampling according to obstacle information to ensure the sampling point avoids the obstacle. Finally, fusing the current planned path determined based on the currently searched sampling points with the first optimal planned path determined based on historical sampling points to determine the target planned path improves the rationality of path planning and enhances the efficiency of path planning and hoisting construction. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 is a flowchart illustrating a boom path planning method provided in an embodiment of this application.

[0016] Figure 2 is a schematic diagram of the spatial path search area provided in an embodiment of this application.

[0017] Figure 3 is a schematic diagram of the spatial path search area based on the constraints of hoisting motion characteristics provided in an embodiment of this application.

[0018] Figure 4 is a schematic diagram of the spatial path search region based on amplitude motion characteristic constraints provided in an embodiment of this application.

[0019] Figure 5 is a schematic diagram of the angle at which sampling from the previous sampling point to the target point requires rotation in the horizontal plane to avoid obstacles, as provided in the embodiment of this application.

[0020] Figure 6 is a schematic diagram of path fusion provided in an embodiment of this application.

[0021] Figure 7 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0022] Implementation methods of this application

[0023] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of this application, and not all of them. Based on the description of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0024] It should be noted that, in this document, 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 a process, method, article, or apparatus. Without further limitations, 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. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0025] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, this information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word “if” as used herein may be interpreted as “when…” or “in response to determination”. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0026] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures 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, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0027] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0028] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0029] Referring to Figure 1, this is a flowchart illustrating a boom path planning method provided in an embodiment of this application. As shown in Figure 1, the boom path planning method of this application includes the following steps:

[0030] Step S101: Obtain the starting point position and the target point position;

[0031] Step S102: Starting from the starting point, randomly sample path points towards the target point;

[0032] Step S103: When a collision between a sampling point and an obstacle is detected, the sampling angle is adjusted according to the obstacle information and sampling is performed again so that the sampling point avoids the obstacle;

[0033] Step S104: Merge the current planned path determined based on the sampling points of this search with the first optimal planned path determined based on the historical sampling points to determine the target planned path.

[0034] The technical solution of this application first obtains the starting point position and the target point position, and then randomly samples path points from the starting point position to the target point position. When a collision between a sample point and an obstacle is detected, the sampling angle is adjusted according to the obstacle information and sampling is performed again so that the sample point avoids the obstacle. Finally, the current planned path determined based on the sample points of this search is fused with the first optimal planned path determined based on historical sample points to determine the target planned path. This improves the rationality of path planning and enhances the efficiency of path planning and hoisting construction.

[0035] In one embodiment, before randomly sampling path points from the starting point to the target point, the method further includes:

[0036] Based on the starting point location, target point location, obstacle information, and the boom's joint obstacle avoidance strategy, determine the spatial path search area;

[0037] Starting from the starting point, random sampling of path points is performed towards the target point, including:

[0038] Starting from the starting point, random sampling of path points is performed within the spatial path search area towards the target point.

[0039] In one embodiment, the spatial path search area is determined based on the starting point location, the target point location, obstacle information, and the boom's joint obstacle avoidance strategy, including:

[0040] Determine whether there are obstacles between the starting point and the target point based on obstacle information;

[0041] If there are no obstacles, a regular spatial region is determined as the spatial path search region based on the starting point and the target point.

[0042] If obstacles exist, a regular spatial region is determined as the initial search region based on the starting point and target point positions. The initial search region is then constrained based on the boom's joint obstacle avoidance strategy and obstacle information to determine the spatial path search region.

[0043] In one embodiment, the joint obstacle avoidance strategy includes a slewing obstacle avoidance strategy, a hoisting obstacle avoidance strategy, and a luffing obstacle avoidance strategy. Based on the joint obstacle avoidance strategy of the boom and obstacle information, the spatial path search area is determined, including:

[0044] When it is determined that an obstacle can be crossed based on the hoist obstacle avoidance strategy and obstacle information, the search direction is determined to be upward.

[0045] When it is determined that an obstacle cannot be crossed based on the hoisting obstacle avoidance strategy and obstacle information, the search direction is determined based on the slewing obstacle avoidance strategy and the variable amplitude obstacle avoidance strategy.

[0046] Determine the spatial path search area based on the search direction.

[0047] In one embodiment, determining the search direction based on a turning obstacle avoidance strategy and a variable amplitude obstacle avoidance strategy includes:

[0048] Based on the relationship between the target point's location and the orientation of the obstacles, the turning search direction is determined using a turning obstacle avoidance strategy.

[0049] If there is an obstacle in the slewing search direction, the variable amplitude search direction is determined based on the relationship between the distance from the target point to the slewing center of the boom and the distance from the current search position to the slewing center of the boom, according to the variable amplitude obstacle avoidance strategy.

[0050] Here, based on obstacle information, starting point location, and target point location, the construction scenario type is divided into two cases: with obstacle interference and without obstacle interference. Constraints are applied to the joint movement and spatial path search area according to these two cases to avoid excessive invalid growth of path points, thereby improving the efficiency of path search, the rationality of path planning, and the efficiency of hoisting construction.

[0051] Specifically, when there are no obstacles between the starting point and the target point, a regular area can be defined as the spatial path search area. This regular area can be a spatial region of any shape; for example, it can be an ellipsoidal region with the starting point and the target point as foci, or it can be a cuboid region containing the starting point and the target point. In this embodiment, an ellipsoidal region is used as an example. As shown in Figure 2, firstly, the lifting point position (i.e., the starting point position) and the target point position are used as foci, and the path is searched based on the coordinates of the lifting point position. and target point location coordinates Calculate the focal length (focal length) F of the ellipsoid to be searched, which is: Then calculate the semi-major axis of the ellipsoid. Where k is a coefficient set based on the distance between the lifting point and the target point, for example, Then, based on the relationship between the major semi-axis a1, the minor semi-axis b1, and the focal length F of the ellipse... Calculate the semi-minor axis of the ellipsoid and the semi-axis of the ellipsoid ,in, This represents the maximum height of the boom tip from the ground. According to the standard equation of an ellipsoid... The calculated ellipsoidal region is determined to be the spatial path search region in the obstacle-free interference scenario.

[0052] When there are obstacles between the lifting point and the target point, the spatial path search area under the above-mentioned obstacle-free interference scenario should be used as the initial spatial path search area. Under the condition of avoiding reverse movement of the execution joints (hoisting mechanism, slewing mechanism, luffing mechanism) as much as possible, obstacle bypass processing should be performed on the initial spatial path search area based on the motion characteristics of the boom's execution joints to further constrain the spatial path search area.

[0053] Specifically, let the height of the obstacle be H. 障碍物 The maximum lifting height of the boom winch is H, the height of the slings and load is h, and the current height of the load relative to the vehicle plane is H. 吊物 The high security threshold is h 阈值 When H 障碍物 <HhH 吊物 -h 阈值 When the boom lifting hoist can cross over an obstacle, the boom lifting hoist search is planned within the spatial path search area according to the hoisting motion characteristics of the boom. The spatial path search area is constrained to be the area facing upwards towards the obstacle, as shown in Figure 3. The diameter and height of the upward search columnar area can be adaptively set according to actual application requirements such as obstacle information and current load information.

[0054] When H 障碍物 ≥HhH 吊物 -h 阈值If the boom lifting hoist cannot cross over an obstacle, then based on the boom's rotational motion characteristics, the boom is planned to rotate around the spatial path search area, searching around the left and right sides facing the obstacle (assuming that obstacles can be crossed). The location of the target point is determined to be on the left or right side facing the obstacle (this can be determined based on horizontal distance and direction). If it is on the left, the rotational search direction is determined to be searching the area to the left of the obstacle, and the spatial path search area is constrained to the area to the left of the obstacle. If it is on the right, the rotational search direction is determined to be searching the area to the right of the obstacle, and the spatial path search area is constrained to the area to the right of the obstacle. Here, the minimum height of the search area is greater than or equal to the height of the target point to prevent collisions.

[0055] If an obstacle exists in the slewing search direction (i.e., when searching to the left or right of an obstacle), the system determines whether the target point is in a direction away from or close to the boom's slewing center based on the relationship between the distance from the target point to the boom's slewing center and the distance from the current search position to the boom's slewing center. If the distance from the target point to the boom's slewing center is greater than the distance from the current search position to the boom's slewing center, the target point is determined to be in a direction away from the boom's slewing center, and the luffing search direction is set as a drop luffing search, with the spatial path search area constrained to the area away from the boom's slewing center. If the distance from the target point to the boom's slewing center is less than the distance from the current search position to the boom's slewing center, the target point is determined to be in a direction close to the boom's slewing center, and the luffing search direction is set as a rise luffing search, with the spatial path search area constrained to the area close to the boom's slewing center. As shown in Figure 4, O is the slewing center of the boom, b is the target point position, and c is the current search position. It is clear that the distance from point O to point b is greater than the distance from point O to point c. Therefore, the target point is determined to be in a direction away from the boom's slewing center, and the luffing search direction is set as a drop luffing search. The spatial path search area is constrained to the region away from the boom's slewing center. Specifically, if the luffing required for the drop luffing search is greater than the maximum luffing of the boom under its current operating conditions, the luffing search direction needs to be replanned.

[0056] When H 障碍物 ≥HhH 吊物 -h 阈值 In other words, if the boom lifting hoist cannot cross over an obstacle and the width of the area between adjacent obstacles is less than the sum of the maximum width of the current load and a preset width threshold, it indicates that there is no spatial path search area.

[0057] Thus, based on the distribution of obstacles in the construction scene and the actual obstacle avoidance strategy based on the motion characteristics of the boom's joints, constraints are set for the spatial path search area. On the one hand, this ensures that the hoisting path planning conforms to the joint obstacle avoidance strategy, improving the rationality of the path planning. On the other hand, it gives the search of path points a priori search direction, improving the efficiency of path planning and hoisting construction.

[0058] In one embodiment, when a collision between a sampling point and an obstacle is detected, the sampling angle is adjusted and resampling is performed based on obstacle information to ensure that the sampling point avoids the obstacle, including:

[0059] When a collision between a sampling point and an obstacle is detected, the angle of rotation required to avoid the obstacle is calculated based on the spatial coordinates, orientation, and bounding box size of the obstacle, from the previous sampling point to the target point.

[0060] Resampling is performed based on the angle to ensure that the sampling points avoid obstacles within the spatial path search area.

[0061] In one embodiment, when a collision between a sampling point and an obstacle is detected, the angle required to rotate to avoid the obstacle when sampling from the previous sampling point to the target point is calculated based on the obstacle's spatial coordinates, orientation, and bounding box dimensions, including at least one of the following:

[0062] Based on the vertical distance and horizontal edge distance from the previous sampling point to the bounding box, calculate the angle of rotation in the horizontal plane required to avoid obstacles when sampling from the previous sampling point to the target point;

[0063] Based on the vertical distance from the previous sampling point to the bounding box and the distance to the top edge, calculate the angle of rotation in the vertical plane required to avoid obstacles when sampling from the previous sampling point to the target point.

[0064] Optionally, the Rapid Random Tree (RRT) algorithm can be used for random sampling. RRT is an efficient path planning algorithm that randomly samples a state from the entire state space and guides the tree towards that state. When expanding a new sampling point using RRT, the algorithm calculates the distance *d* from that sampling point to the target point. If *d* is greater than a set threshold *r*, the algorithm continues searching for the target point; otherwise, the search ends, ultimately generating the path points.

[0065] This embodiment improves the RRT algorithm by enhancing the growth trend of sampling point search and collision interference detection under the constraint of spatial path search region based on obstacle avoidance strategy.

[0066] Starting from the initial point, random sampling is performed within the spatial path search area to determine sampling points. To prevent invalid sampling points, a circular verification area can be set. Only one sampling point needs to be determined within each circular verification area, reducing the computational complexity of path planning and improving its efficiency. Here, the determined sampling point is used as the center, and a radius r is preset according to the actual application requirements. It is determined whether the sampling point is within the verification area. If the sampling point is detected within the verification area, it is identified as an invalid growth point and is removed; otherwise, it is retained, ensuring that the sampling point can grow towards the target point based on the preset prior area. In this way, removing invalid growth points avoids the direction search of random sampling points, reduces the computational cost caused by invalid growth of sampling points, and improves the efficiency of path planning.

[0067] Because the path search direction is constrained only by obstacle information when determining the spatial path search area for obstacle avoidance, without specifying how precisely obstacles can be avoided, collisions between sampling points and obstacles, or interference between sub-paths of adjacent sampling points, still occur during random sampling within this spatial path search area. If an obstacle is encountered during random sampling within the spatial path search area, in order to traverse adjacent obstacles and pass through a narrow safe zone, when a collision is detected between a randomly grown point and an obstacle, random sampling is not performed directly within the search area. Instead, the spatial coordinates, orientation, and bounding box dimensions of the obstacle are considered. ( (For the obstacle set), calculate the required rotation angle θ from the previous sampling point towards the target point, and resample based on angle θ to ensure the sampling point avoids obstacles within the spatial path search area. Here, some bounding box algorithms will include both orientation and size information, such as OBB bounding boxes, while others will not include orientation, such as AABB bounding boxes. Therefore, orientation can be determined based on the vertex coordinates of the bounding box or obtained through the information of the bounding box. As shown in Figure 5, q i q represents the previous sampling point. target The black square represents the bounding box of obstacles, the dashed line represents the xOy plane, and θ represents the angle of rotation in the horizontal plane to avoid obstacles when sampling from the previous sampling point to the target point.

[0068] When the sampling point is positioned around the lateral perimeter of the obstacle, the angle θ can be calculated using the following formula:

[0069]

[0070] Where di represents the lateral edge distance from the previous sampling point to the bounding box of the obstacle, Ti represents the vertical distance from the previous sampling point to the bounding box of the obstacle, and ε represents the safety distance threshold.

[0071] When the sampling point spans the perimeter above the obstacle, the angle θ can be calculated using the following formula:

[0072]

[0073] Among them, h i T represents the distance from the previous sampling point to the top edge of the obstacle bounding box. i ε represents the vertical distance from the previous sampling point to the obstacle bounding box, and ε represents the safe distance threshold.

[0074] In one embodiment, the current planned path determined based on the sampling points of this search is fused with the first optimal planned path determined based on historical sampling points to determine the target planned path, including:

[0075] The first optimal planning path and the current planning path are merged to obtain the second optimal planning path. The length of the second optimal planning path is less than or equal to that of the first optimal planning path and the current planning path.

[0076] When the second optimal planning path meets the length convergence condition, the sampling ends and the second optimal planning path is taken as the target planning path.

[0077] If the second optimal planned path does not meet the length convergence condition, return to the step of randomly sampling path points from the starting point to the target point.

[0078] In one embodiment, the first optimal planning path and the current planning path are fused to obtain the second optimal planning path, including:

[0079] Determine the midpoint of the line connecting two sampling points whose distance between the first optimal planning path and the current planning path is less than a preset threshold;

[0080] Set the midpoint as the intersection of the first optimal planning path and the current planning path, and remove two sampling points whose distance is less than a preset threshold;

[0081] Obtain the first sub-path of the first optimal planned path from the starting point to the intersection point, the second sub-path of the first optimal planned path from the intersection point to the target point, the third sub-path of the current planned path from the starting point to the intersection point, and the fourth sub-path of the current planned path from the intersection point to the target point.

[0082] The shorter paths in the first and third sub-paths are combined with the shorter paths in the second and fourth sub-paths to obtain the second optimal planning path.

[0083] Here, path fusion refers to combining multiple planned paths to obtain a shorter, better path than the two planned paths combined. In each path search iteration, the current planned path is merged with the current optimal path (i.e., the first optimal planned path) to obtain a better planned path. After obtaining the current optimal path, another search is performed, and the planned path from this search is merged with the current optimal path to obtain a new optimal path, and so on. When the current optimal path meets the length convergence condition, sampling ends, and the current optimal planned path is used as the target planned path. When the current optimal path does not meet the length convergence condition, it is further determined whether the conditions for ending sampling are met. If yes, sampling ends; otherwise, the process returns to the step of randomly sampling path points from the starting point to the target point. The conditions for ending sampling include the sampling time reaching a preset time and the number of paths searched reaching a preset number, i.e., forcibly exiting sampling to ensure sampling efficiency.

[0084] Path fusion may specifically include the following steps:

[0085] Step 1: Calculate the intersection of the first optimal planned path and the current planned path, and divide both paths into multiple sub-paths. As shown in Figure 6, assume the first optimal planned path (P... optimal ) and the current planned path (P new If the path points of two paths do not completely overlap, and the distance between points q1 and q2 corresponding to the two paths is less than a preset threshold, then they are considered to overlap, and the midpoint q is set to q1. mid Set as the intersection of the first optimal planning path and the current planning path.

[0086] Step 2: Select a sub-path from the first optimal planned path and the current planned path to connect each intersection point. As shown in Figure 6, P new Connect q start and q near The subpath is more than P optimal Connect q start and q near The subpath is short, therefore, using Pnew subpaths to connect q start and q near； Similarly, P optimal Connect q near and q goal The subpath is more than P new Connect q near and q goal The subpath is short, therefore, use P optimal subpaths to connect q near and q goal， Where, q startrepresents the starting point of the planned path, q goal represents the end point of the planned path. In this way, two planned paths can be merged into a shorter path than the original one. By continuously merging the current optimal path with the newly generated random path, an optimal path can be quickly obtained.

[0087] In one embodiment, after determining the target planned path, it further includes:

[0088] Determine the target position according to the target planned path;

[0089] Perform closed-loop control on the movement position of the boom according to the current position and the target position of the boom;

[0090] Output the target speed according to the closed-loop control;

[0091] Perform closed-loop control on the movement speed of the boom according to the current speed and the target speed of the boom.

[0092] Here, according to the target planned path, the target planned path includes the time information corresponding to the movement position of the boom, that is, a curve with the X-axis being time and the Y-axis being position.

[0093] Send the target position of the boom, that is, the path point, to the controller at a certain frequency. The controller performs closed-loop control on the movement position of the boom with the target position and the current position feedback by the encoder. The position closed-loop control will output a target speed. The controller performs closed-loop control on the movement speed of the boom with the target speed and the current speed feedback by the encoder.

[0094] The speed closed-loop control will output a current control value. This current control value is processed by the acceleration and deceleration ramp, emergency stop module, and speed grading module in the controller and finally input to the current loop of the controller. The actual current of the current loop is Ir, and the target current is Ia. The current loop performs closed-loop control with Ir and Ia. When |Ir - Ia| < X, output Ir to make the execution joint move, so that the boom moves along the ideal path.

[0095] In this way, by adopting the speed and position double closed-loop control strategy, the execution joint of the boom tracks the speed and acceleration more smoothly, and the position control is more accurate, realizing the accurate and smooth tracking control of the path.

[0096] Based on the same inventive concept as the foregoing embodiments, this application provides an electronic device, as shown in FIG7. The electronic device includes a processor 110 and a memory 111 for storing a computer program capable of running on the processor 110. The processor 110 illustrated in FIG7 does not refer to a single processor 110, but only to the positional relationship of the processor 110 relative to other devices. In practical applications, there can be one or more processors 110. Similarly, the memory 111 illustrated in FIG7 has the same meaning, that is, it only refers to the positional relationship of the memory 111 relative to other devices. In practical applications, there can be one or more memory 111. When the processor 110 runs the computer program, it implements the boom path planning method.

[0097] The electronic device may also include at least one network interface 112. The various components of the electronic device are coupled together via a bus system 113. It is understood that the bus system 113 is used to enable communication between these components. In addition to a data bus, the bus system 113 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus system 113 in Figure 7.

[0098] The memory 111 can be volatile memory or non-volatile memory, or both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); the magnetic surface memory can be disk storage or magnetic tape storage. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 111 described in the embodiments of this application is intended to include, but is not limited to, these and any other suitable types of memory.

[0099] The memory 111 in this embodiment is used to store various types of data to support the operation of the electronic device. Examples of this data include: any computer programs used to operate on the electronic device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as the framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment can be included in the application.

[0100] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer storage medium storing a computer program. The computer storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer storage medium is executed by a processor, it implements the boom path planning method described above. The specific steps implemented when the computer program is executed by the processor are described in the embodiment shown in Figure 1, and will not be repeated here.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0103] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A boom path planning method, wherein, The method includes: Obtain the starting point and target point positions; Starting from the starting point, random sampling of path points is performed towards the target point. When a collision between a sampling point and an obstacle is detected, the sampling angle is adjusted according to the obstacle information and sampling is performed again so that the sampling point avoids the obstacle. The current planned path determined based on the sampling points of this search will be merged with the first optimal planned path determined based on historical sampling points to determine the target planned path.

2. The boom path planning method as described in claim 1, wherein, Before randomly sampling path points from the starting point to the target point, the method further includes: The spatial path search area is determined based on the starting point position, the target point position, the obstacle information, and the joint obstacle avoidance strategy of the boom. The step of randomly sampling path points from the starting point to the target point includes: Starting from the starting point, random sampling of path points is performed towards the target point within the spatial path search area.

3. The boom path planning method as described in claim 2, wherein, The step of determining the spatial path search area based on the starting point position, the target point position, the obstacle information, and the boom's joint obstacle avoidance strategy includes: Determine whether there is an obstacle between the starting point and the target point based on the obstacle information; If there are no obstacles, a regular spatial region is determined as the spatial path search region based on the starting point position and the target point position.

4. The boom path planning method as described in claim 3, wherein, The method includes: If obstacles exist, a regular spatial region is determined as the initial search region based on the starting point position and the target point position. The initial search region is constrained based on the joint obstacle avoidance strategy of the boom and the obstacle information to determine the spatial path search region.

5. The boom path planning method as described in claim 4, wherein, The joint obstacle avoidance strategy includes a slewing obstacle avoidance strategy, a hoisting obstacle avoidance strategy, and a luffing obstacle avoidance strategy. The joint obstacle avoidance strategy based on the boom and the obstacle information constrains the initial search area to determine the spatial path search area, including: When it is determined that the obstacle can be crossed based on the hoisting obstacle avoidance strategy and the obstacle information, the search direction is determined to be upward; The spatial path search area is determined based on the search direction.

6. The boom path planning method as described in claim 5, wherein, The method includes: When it is determined that the obstacle is uncrossable based on the hoisting obstacle avoidance strategy and the obstacle information, the search direction is determined based on the turning obstacle avoidance strategy and the variable amplitude obstacle avoidance strategy; The spatial path search area is determined based on the search direction.

7. The boom path planning method as described in claim 6, wherein, Determining the search direction based on the turning obstacle avoidance strategy and the variable amplitude obstacle avoidance strategy includes: Based on the positional relationship between the target point and the obstacle, the turning search direction is determined according to the turning obstacle avoidance strategy. If an obstacle exists in the slewing search direction, the variable amplitude search direction is determined based on the relationship between the distance from the target point to the slewing center of the boom and the distance from the current search position to the slewing center of the boom, according to the variable amplitude obstacle avoidance strategy.

8. The boom path planning method as described in claim 2, wherein, When a collision between a sampling point and an obstacle is detected, the sampling angle is adjusted and resampling is performed based on the obstacle information to ensure that the sampling point avoids the obstacle, including: When a collision between the sampling point and the obstacle is detected, the angle of rotation required to avoid the obstacle is calculated based on the spatial coordinates, orientation, and bounding box size of the obstacle, from the previous sampling point to the target point. Resampling is performed based on the angle so that the sampling point avoids obstacles within the spatial path search area.

9. The boom path planning method as described in claim 8, wherein, When a collision between the sampling point and the obstacle is detected, the angle required to rotate to avoid the obstacle when sampling from the previous sampling point to the target point is calculated based on the spatial coordinates, orientation, and bounding box size of the obstacle, including at least one of the following: Based on the vertical distance and horizontal edge distance from the previous sampling point to the bounding box, calculate the angle required to rotate in the horizontal plane to avoid the obstacle when sampling from the previous sampling point to the target point; Based on the vertical distance from the previous sampling point to the bounding box and the distance from the top edge, calculate the angle required to rotate in the vertical plane to avoid the obstacle when sampling from the previous sampling point to the target point.

10. The boom path planning method as described in claim 1, wherein, The process of fusing the current planned path determined based on the sampling points of this search with the first optimal planned path determined based on historical sampling points to determine the target planned path includes: The first optimal planning path and the current planning path are merged to obtain a second optimal planning path, the length of which is less than or equal to the length of the first optimal planning path and the current planning path. When the second optimal planning path meets the length convergence condition, the sampling ends, and the second optimal planning path is taken as the target planning path.

11. The boom path planning method as described in claim 10, wherein, The method includes: If the second optimal planned path does not meet the length convergence condition, return to the step of randomly sampling path points from the starting point to the target point.

12. The boom path planning method as described in claim 10, wherein, The step of fusing the first optimal planning path and the current planning path to obtain the second optimal planning path includes: Determine the midpoint of the line connecting two sampling points whose distance between the first optimal planning path and the current planning path is less than a preset threshold. The midpoint is set as the intersection of the first optimal planning path and the current planning path, and the two sampling points whose distance is less than a preset threshold are removed. Obtain the first sub-path of the first optimal planned path from the starting point to the intersection point, the second sub-path of the first optimal planned path from the intersection point to the target point, the third sub-path of the current planned path from the starting point to the intersection point, and the fourth sub-path of the current planned path from the intersection point to the target point. The shorter path among the first and third sub-paths is merged with the shorter path among the second and fourth sub-paths to obtain the second optimal planning path.

13. The boom path planning method as described in claim 1, wherein, After determining the target planning path, the process also includes: Determine the target location based on the target planning path; Based on the current position of the boom and the target position, the movement position of the boom is controlled in a closed loop. Based on the closed-loop control, the target speed is output; The movement speed of the boom is controlled in a closed loop based on the current speed of the boom and the target speed.

14. An electronic 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, it implements the steps of the boom path planning method as described in any one of claims 1 to 13.

15. A computer storage medium storing a computer program, wherein, When the computer program is executed by a processor, it implements the steps of the boom path planning method as described in any one of claims 1 to 13.

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