CN117433549A

CN117433549A - Engineering machinery travel path planning method and related equipment

Info

Publication number: CN117433549A
Application number: CN202311277634.7A
Authority: CN
Inventors: 刘美岑; 周锐; 何伟城; 曹东璞; 周伟
Original assignee: Sany Automobile Hoisting Machinery Co Ltd
Current assignee: Sany Automobile Hoisting Machinery Co Ltd
Priority date: 2023-09-28
Filing date: 2023-09-28
Publication date: 2024-01-23

Abstract

The embodiment of the invention aims to provide a method and related equipment for planning a travel path of engineering machinery, which are used for solving the technical problem that no method for planning the travel path special for the engineering machinery exists in the prior art. Aiming at the characteristic of poor trafficability of engineering machinery, global path planning is performed once, then the global path is split to obtain a local path, and path feasibility verification is performed on the local path. The feasibility verification may enable verification of the throughput capacity of the construction machine, in particular for local paths, according to the characteristics of the construction machine. After the verification is passed, the path is adaptively adjusted according to the problems found in the verification to obtain a more reliable travel path.

Description

Engineering machinery travel path planning method and related equipment

Technical Field

The application relates to the technical field of engineering machinery, in particular to a planning method for an engineering machinery travel path and related equipment.

Background

With the development of scientific technology, the related technology of driving path planning is mature. The route can be planned according to the offline map, so that the optimal driving route can be planned in real time according to the real-time road conditions and the like.

However, the development direction of the driving path planning has not been developed specifically for the engineering machinery. Compared with a common automobile, the engineering machinery is more huge in size and irregular in shape. Therefore, the trafficability of the engineering machinery is far lower than that of a common automobile. There is no travel path planning method dedicated to the engineering machine, and if a travel path of the engineering machine is planned by using a travel path planning method based on a common automobile, it is actually impossible to ensure that the engineering machine can reach a destination through the planned path.

Disclosure of Invention

In view of the foregoing, embodiments of the present application are directed to providing a method and related apparatus for planning a travel path of an engineering machine, so as to solve the technical problem that there is no method for planning a travel path dedicated to an engineering machine in the prior art.

In a first aspect of an embodiment of the present application, a method for planning a travel path of an engineering machine is provided, including:

performing global path planning to obtain a global path of the engineering machine, wherein the global path is at least one route connecting a departure place of the engineering machine and a destination of the engineering machine;

splitting the global path to obtain at least three sections of local paths, wherein the at least three sections of local paths comprise a start section local path, an end section local path and at least one section of middle section path;

and carrying out post-processing on the local paths, splicing the post-processed local paths, and obtaining the final travelling path of the engineering machinery, wherein the post-processing comprises path feasibility verification and path adaptability adjustment.

Optionally, the path feasibility verification includes:

acquiring a starting traveling direction and an ending traveling direction of the engineering machinery;

and verifying whether the traveling direction of the engineering machinery after the engineering machinery finishes traveling along all the local paths is the same as the end traveling direction according to the local paths and the initial traveling direction.

Optionally, the engineering machine travel path planning method further includes:

acquiring environment data of the local path, wherein the environment data reflects the spatial relationship between the local path and surrounding objects;

and establishing a three-dimensional model of the local path according to the environment data.

Optionally, the path feasibility verification includes:

and verifying whether the engineering machinery collides with the local path and surrounding objects thereof in the running process along all the local paths according to the three-dimensional model.

Optionally, the path adaptation includes:

and carrying out smoothing adjustment on the position of the travelling direction change in the local path to obtain the local path with a smooth track.

Optionally, the path feasibility verification and path adaptation comprise:

acquiring a gear shifting point on the local path, wherein the gear shifting point is a special terrain positioned on the local path, and the special terrain comprises a steep slope and a parking point;

and marking the shift points on the local paths, wherein the marking content comprises the names of the shift points, the special terrain types and the travelling directions.

In a second aspect, an embodiment of the present application provides a device for planning a travel path of an engineering machine, including:

the global path planning unit is used for carrying out global path planning to obtain a global path of the engineering machine, wherein the global path is at least one route for connecting a departure place of the engineering machine and a destination of the engineering machine;

the splitting unit is used for splitting the global path to obtain at least three sections of local paths, wherein the at least three sections of local paths comprise a start section local path, an end section local path and at least one section of middle section path;

and the post-processing unit is used for carrying out post-processing on the local paths, splicing the post-processed local paths and obtaining the final travelling path of the engineering machinery, wherein the post-processing comprises path feasibility verification and path adaptability adjustment.

In a third aspect, an embodiment of the present application provides an engineering machine travel path planning apparatus, including a memory and a processor;

the memory is connected with the processor and used for storing programs;

the processor is configured to implement the engineering machine travel path planning method according to the first aspect by running the program in the memory.

In a fourth aspect, an embodiment of the present application provides an automobile crane, which is characterized by including a controller;

the controller is configured to execute the engineering machine travel path planning method according to the first aspect.

The application provides a planning method for an engineering machine travel path, which aims at the characteristic of poor trafficability of engineering machines, and comprises the steps of planning a global path once, splitting the global path to obtain a local path, and verifying the path feasibility of the local path. The feasibility verification may enable verification of the throughput capacity of the construction machine, in particular for local paths, according to the characteristics of the construction machine. After the verification is passed, the path is adaptively adjusted according to the problems found in the verification to obtain a more reliable travel path.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic flow chart of a method for planning a travel path of an engineering machine according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a planning apparatus for a travel path of an engineering machine in an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a planning apparatus for a travel path of a construction machine according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The method and the device are mainly applied to path planning of engineering machinery. In practice, a work machine may require travel path planning in a number of different situations. For example, the construction site is chaotic, and when a large amount of construction materials are piled up or obstacles exist to block travelling, a travelling route of the engineering machinery in the construction site needs to be planned; alternatively, when the construction machine needs to be transferred from one construction site to another construction site, a transfer path of the construction machine needs to be planned.

The first embodiment of the present application provides a method for planning a travel path of an engineering machine, as shown in fig. 1, including:

and 101, performing global path planning to obtain a global path of the engineering machine, wherein the global path is at least one route for connecting a departure place of the engineering machine and a destination of the engineering machine.

Since in practical applications, travel path planning is required in many cases. Therefore, the method for global path planning also needs to be adjusted according to the actual situation.

For example, a practical application is illustrated, such as a case of transferring only in a construction site or a case of entering a working position of the construction site from an entrance of the construction site, the construction machine only moves in the construction site. At this time, it is necessary to obtain the distribution of the obstacle in the construction site and plan the path in the construction site. Alternatively, one of several algorithms may be selected: and (3) carrying out path planning according to the algorithm A, the algorithm D, the RRT or the improved algorithm of the three algorithms, and obtaining a global path. The map used by the approach algorithm can be subjected to rasterization, and the subsequent calculation only needs to read the rasterized storage map, so that the calculation efficiency can be accelerated. For the rasterized map data, a path growth cost function can be set according to the requirement of the approach path, the cost value of each grid is calculated by comprehensively considering various factors in a weighting mode, an optimal grid path is found, and the fitted global path is preliminarily returned.

Another practical application is illustrated, such as the case where a construction machine is transferred between different construction sites. This case differs from the application case above in that: the path of the engineering machine can be divided into three sections of a path leaving the first construction site, a middle path and a path entering the second construction site, and the middle path part is a standard road such as a highway, and the road is generally free from factors which obstruct running. Therefore, when global path planning is performed, detailed acquisition of the distribution situation of the obstacles in the first and second construction sites is required, but the part of the intermediate path can be simplified, for example, planning can be performed directly by means of an existing map, and even an existing navigation system can be accessed directly.

The global path is at least one route connecting the departure place of the construction machine and the destination of the construction machine, wherein at least one Reeds-Shepps path (theoretical shortest travel distance path) exists. The Reeds-Shepps path has the highest processing priority path when the splitting and post-processing steps are performed later, and the rest paths are used as alternative paths when the Reeds-Shepps path verifies that the path fails.

A method for selectively searching Reeds-shemps paths includes building engineering machinery kinematics model, setting multiple single-step growth paths and proper step length, setting proper growth parameters, calculating to obtain global paths, and increasing the efficiency of path planning and the probability of searching Reeds-shemps curve paths.

Step 102, splitting the global path to obtain at least three sections of local paths, wherein the at least three sections of local paths comprise a start section local path, an end section local path and at least one section of intermediate section path.

Splitting the global path obtained in the previous step can also be understood as cutting each global path. Each global path is divided into at least three segments of local paths.

When the splitting is performed, a splitting basis is required to be selected according to the actual application condition. The case where the construction machine is transferred between different construction sites in step 101 is exemplified again, in which case a simpler split method is to take the path leaving the first construction site as the initial section local path, the path traveling on the standard road as the intermediate section path, and the path entering the second construction site as the final section path. The resolution is based on the following steps: the construction machine is different from the standard road in terms of trafficability at the construction site. The engineering machinery generally mainly pays attention to the problems of length, height, turning radius, collision of irregular obstacles and the like of a vehicle body in a construction site, and the engineering machinery mainly pays attention to the problems of speed limit, height limit, weight limit, vehicle type limit and the like of a standard road on the standard road. Splitting the paths with different focuses facilitates targeted pass verification of the different paths.

And 103, performing post-processing on the local paths, and splicing the post-processed local paths to obtain the final traveling path of the engineering machinery, wherein the post-processing comprises path feasibility verification and path adaptability adjustment.

And after the path splitting is completed, carrying out post-processing on the local path. The post-processing includes path feasibility verification, but the content of path feasibility verification also differs for different local paths. For example, as illustrated in step 102, where the work machine is transferred between different construction sites and the global path is split into three segments, the verification of the feasibility of the local path for the start segment and the local path for the end segment may include verifying whether the work machine can complete a turn at each turn based on the length of the vehicle body. The feasibility verification for the mid-section path may include querying a steep slope angle in the mid-section path and determining whether the human engineering machine is capable of traveling at the steep slope angle.

Then, the verified path is adaptively adjusted. The adaptation adjustment may include two parts, where the first part is to remove the paths that cannot pass through, and reserve feasible paths, and if in this step, any segment of local paths obtained by splitting the global path Reeds-Shepps paths cannot pass through the feasibility verification, it is necessary to consider that other standby paths are continuously used for post-processing. The second part is to optimize the feasible path, and the optimization direction can be to increase the visibility of the path or increase the driving information of the path.

The second embodiment of the present application further defines the engineering machine travel path planning method in the first embodiment in more detail and specifically, and some or all of the technical features in the second embodiment may be combined, replaced, etc. with the first embodiment alone or in combination, so as to obtain more feasible engineering machine travel path planning methods. The following describes the engineering machine travel path planning method in the second embodiment of the present application in detail:

optionally, path feasibility verification includes: acquiring the turning radius of the engineering machinery; and according to the turning radius, verifying whether the engineering machinery can change direction and travel at the position where the travelling direction changes in the local path.

The location of the change in direction of travel in the local path may be interpreted in a more colloquial manner as a "turn". Namely, the method provided by the embodiment can detect the turning position in the travelling path so as to avoid the problem that the engineering machinery cannot pass through the turning. The method in the embodiment is often applied to feasibility verification in scenes such as construction sites.

In this embodiment, the passing capability of the engineering machine at the turning position of the path can be rapidly and conveniently verified through the turning radius, and if the minimum turning radius of the engineering machine is greater than the maximum allowable turning radius of the turning position in the path, the engineering machine cannot pass through the turning, and the path where the turning is located cannot pass through. Further, according to the attributes of the length and the width of the vehicle body of the engineering machine, the width of the road and the like, a model can be built to more accurately verify the trafficability of the engineering machine at the turning position.

Optionally, path feasibility verification includes: acquiring a starting traveling direction and an ending traveling direction of engineering machinery; and verifying whether the traveling direction of the engineering machinery after the engineering machinery finishes traveling along all the local paths is the same as the end traveling direction according to the local paths and the initial traveling direction.

The working machine needs to have the correct orientation (posture) to work normally, for example, the loader has a bucket, if the loader enters the working position of the end point in the direction of the tail surface facing the material, and the space of the end point cannot turn around any more, the bucket of the loader cannot scoop up the material to work.

The starting travel direction of the construction machine is fixed, and the final travel direction is the travel direction in which the construction machine is expected to reach the final point. Therefore, the travelling direction of the engineering machinery after the engineering machinery finishes travelling along all the partial paths needs to be simulated, whether the travelling direction is the same as the travelling direction of the end point or not is verified, and if the travelling direction is the same, the travelling direction passes the verification. If the space of the destination is different, whether the space of the destination meets the requirement that the engineering machinery turns around in situ or not can be further judged, if the space meets the requirement, the path adaptability adjustment can be carried out, and a section of turning around path is added at the end point; if the space of the destination does not meet the requirement that the engineering machinery makes a turn around in situ, the feasibility verification of the section of path is not passed.

It should be noted that, the above description is based on the normal driving, that is, the driving mode of "the direction of the driver facing the cab is the same as the direction of travel of the construction machine" in the conventional cognition, and if the construction machine uses a special driving mode, for example, the direction of the driver facing the construction machine in the cab is opposite to the direction of travel of the construction machine, the driver actually drives the construction machine through the rearview mirror, or directly turns around to observe the situation, and at this time, the situation is similar to the "reversing" situation of the ordinary automobile, or the direction of the cab of the construction machine itself is opposite to the direction of travel most commonly used by the construction machine, further adaptive adjustment is required according to the actual situation, for example, the above driving mode is additionally specified to always use the direction of the driver facing the construction machine in the cab as the "forward direction" and describe, so as to avoid the problem of direction confusion.

The starting traveling direction and the end traveling direction of the engineering machine, or the heading angles of the engineering machine at the starting point and the end point, can be used as splitting basis to split the global path. For example, since it is necessary to verify the start traveling direction and the end traveling direction of the construction machine, even if the construction machine moves in only one construction site, it is necessary to divide the global path into three segments and verify the traveling direction of the local path at the end segment.

Optionally, the engineering machine travel path planning method further includes: acquiring environment data of the local path, wherein the environment data reflects the spatial relationship between the local path and surrounding objects; and establishing a three-dimensional model of the local path according to the environmental data.

It should be noted that the methods mentioned in the foregoing embodiments and the first embodiment may be processed based on the 2D processing method. For example, when verifying the traveling direction of the engineering machine, a plane model may be established, the engineering machine is simplified into a rectangle in the plane model, one end of the rectangle is marked as a headstock, after the rectangle reaches the destination along the path, the traveling direction of the engineering machine when the destination is reached can be determined by observing the position of the rectangle mark.

In the alternative embodiment, the three-dimensional model of the local path is built by acquiring the environmental data, so that the engineering machinery can be conveniently further subjected to the passing verification. For example, by means of a three-dimensional model, it is possible to record the areas of ground irregularities and steep slopes in the path, and in combination with the power available to the working machine, it is possible to verify whether the working machine can pass these areas of ground irregularities and steep slopes.

Of course, in some cases, it is somewhat superfluous to build a model of the global path of the engineering machine, for example, in the case that the engineering machine is transferred between different construction sites, the running distance of the engineering machine on the standard road is generally longer, and the risk of obstacle collision is less, so that it is difficult to acquire data and occupy a lot of resources when building a three-dimensional model of the standard road, and it is not recommended to perform three-dimensional modeling on the standard road, so that only the three-dimensional model of the local path where the two construction sites are located needs to be built in this case.

An alternative way of building a three-dimensional model is: and obtaining high-resolution aerial images of the local paths through unmanned aerial vehicle digital aerial photography, generating a three-dimensional live-action model, and placing engineering machinery. And generating a point cloud map according to the three-dimensional live-action model, and extracting barrier information. When the model is built, the map initial range is set in a stepped mode, different axial boundary ranges are set according to the straight line distance of the initial point, the maximum and minimum values of the boundary ranges cannot exceed the maximum and minimum values of the map boundary, and the optimized boundary range coefficient is set, so that the model building time is shortened.

Optionally, path feasibility verification includes: and according to the three-dimensional model, verifying whether the engineering machinery collides with the local path and surrounding objects in the running process of the engineering machinery along all the local paths.

After the three-dimensional model is established, whether the engineering machinery collides with the obstacle in the running process along the planned path or not can be verified according to the three-dimensional model. The method of the alternative embodiment has great significance for verifying the path feasibility of the engineering machine in the construction site.

Optionally, the path adaptation comprises: and carrying out smoothing adjustment on the position of the travelling direction change in the local path to obtain the local path with a smooth track.

In this embodiment, the purpose of performing path adaptation is to enhance the visibility of the path, and the global path obtained by the algorithm is generally a connection line between multiple path points, and the obtained path is a polyline path. Then, the local path obtained by further splitting is not adjusted in the path shape either. Therefore, the position of the turning part in the local path is smoothed, so that the path is more fit with the actual running track, and the visibility of the path is enhanced.

Smoothing adjustment can be conveniently realized through interpolation and fitting, for example: selecting the interval step length of the discrete points, and interpolating the discrete points into a smooth track by using a segmented spline. Specifically, polynomial piecewise spline interpolation can be selected, and smoothing adjustment can be performed in one of a quintic polynomial interpolation, a B-spline fitting and interpolation.

Optionally, the path feasibility verification and path adaptation comprise: acquiring a gear shifting point on a local path, wherein the gear shifting point is a special terrain positioned on the local path, and the special terrain comprises a steep slope and a parking point; the shift points are marked by marks on the local path, and the mark content comprises the names of the shift points, the special terrain types and the travelling directions.

In this embodiment, the shift point is a shift point that needs to be specifically reminded, for example, if the engineering machine needs to perform a reversing operation at the destination, the path track may overlap due to the reversing operation to affect the judgment of the driver on the path, and the driver may be prompted to shift to the reverse gear by marking the shift point to assist the driver in understanding the path planning. Or the driver is timely prompted at the steep slope to change the power gear so as to avoid the condition that the engineering machinery cannot go up the slope due to insufficient power.

Correspondingly, the third embodiment of the present application further provides a device for planning a travel path of a construction machine, as shown in fig. 2, where the device includes:

the global path planning unit 201 is configured to perform global path planning to obtain a global path of the engineering machine, where the global path is at least one route connecting a departure place of the engineering machine and a destination of the engineering machine;

a splitting unit 202, configured to split the global path to obtain at least three sections of local paths, where the at least three sections of local paths include a start section local path, an end section local path, and at least one section of intermediate section path;

and the post-processing unit 203 is configured to post-process the local paths, splice the post-processed local paths, and obtain a final travel path of the engineering machine, where the post-processing includes path feasibility verification and path adaptability adjustment.

Optionally, the path feasibility verification includes:

Optionally, the path adaptation includes:

Optionally, the path feasibility verification and path adaptation comprise:

The engineering machine travel path planning device provided by the embodiment belongs to the same application conception as the engineering machine travel path planning method provided by the embodiment of the application, and the engineering machine travel path planning method provided by any embodiment of the application can be executed, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in the present embodiment may refer to specific processing content of the engineering machinery travel path planning method provided in the foregoing embodiments of the present application, and are not described herein again.

The functions implemented by the global path planning unit 201, the splitting unit 202, and the post-processing unit 203 may be implemented by the same or different processors, respectively, and the embodiments of the present application are not limited.

It will be appreciated that the elements of the above apparatus may be implemented in the form of processor-invoked software. For example, the device includes a processor, where the processor is connected to a memory, and the memory stores instructions, and the processor invokes the instructions stored in the memory to implement any of the methods above or to implement functions of each unit of the device, where the processor may be a general-purpose processor, such as a CPU or a microprocessor, and the memory may be a memory within the device or a memory outside the device. Alternatively, the units in the apparatus may be implemented in the form of hardware circuits, and the functions of some or all of the units may be implemented by designing hardware circuits, which may be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are implemented by designing the logic relationships of the elements in the circuit; for another example, in another implementation, the hardware circuit may be implemented by a PLD, for example, an FPGA may include a large number of logic gates, and the connection relationship between the logic gates is configured by a configuration file, so as to implement the functions of some or all of the above units. All units of the above device may be realized in the form of processor calling software, or in the form of hardware circuits, or in part in the form of processor calling software, and in the rest in the form of hardware circuits.

In the embodiment of the application, the processor is a circuit with signal processing capability, and in one implementation, the processor may be a circuit with instruction reading and running capability, such as a CPU, a microprocessor, a GPU, or a DSP, etc.; in another implementation, the processor may implement a function through a logical relationship of hardware circuitry that is fixed or reconfigurable, e.g., a hardware circuit implemented by the processor as an ASIC or PLD, such as an FPGA, or the like. In the reconfigurable hardware circuit, the processor loads the configuration document, and the process of implementing the configuration of the hardware circuit may be understood as a process of loading instructions by the processor to implement the functions of some or all of the above units. Furthermore, a hardware circuit designed for artificial intelligence may be provided, which may be understood as an ASIC, such as NPU, TPU, DPU, etc.

It will be seen that each of the units in the above apparatus may be one or more processors (or processing circuits) configured to implement the above method, for example: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

Furthermore, the units in the above apparatus may be integrated together in whole or in part, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of an SOC. The SOC may include at least one processor for implementing any of the methods above or for implementing the functions of the units of the apparatus, where the at least one processor may be of different types, including, for example, a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, and the like.

The fourth embodiment of the present application further provides a device for planning a travel path of a construction machine, as shown in fig. 3, where the device includes:

a memory 300 and a processor 310;

wherein the memory 300 is connected to the processor 310, and is used for storing a program;

the processor 310 is configured to implement the engineering machine travel path planning method disclosed in any of the foregoing embodiments by running a program stored in the memory 300.

Specifically, the engineering machine travel path planning apparatus may further include: a bus, a communication interface 320, an input device 330, and an output device 340.

The processor 310, the memory 300, the communication interface 320, the input device 330 and the output device 340 are interconnected by a bus. Wherein:

a bus may comprise a path that communicates information between components of a computer system.

The processor 310 may be a general-purpose processor, such as a general-purpose Central Processing Unit (CPU), microprocessor, etc., or may be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. But may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.

Processor 310 may include a host processor, and may also include a baseband chip, modem, and the like.

The memory 300 stores programs for implementing the technical scheme of the present invention, and may also store an operating system and other key services. In particular, the program may include program code including computer-operating instructions. More specifically, memory 300 may include read-only memory (ROM), other types of static storage devices that may store static information and instructions, random access memory (random access memory, RAM), other types of dynamic storage devices that may store information and instructions, disk storage, flash, and the like.

The input device 330 may include means for receiving data and information entered by a user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor, among others.

Output device 340 may include means, such as a display screen, printer, speakers, etc., that allow information to be output to a user.

Communication interface 320 may include devices that use any type of transceiver to communicate with other devices or communication networks, such as an ethernet, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), etc.

The processor 310 executes the program stored in the memory 300 and invokes other devices, which may be used to implement the steps of any of the engineering machine travel path planning methods provided in the embodiments of the present application.

The fifth embodiment of the present application further proposes an automobile crane, including a controller;

the controller is used for executing the engineering machinery traveling path planning method as in the embodiment part of the method.

The mobile crane provided in this embodiment belongs to the same application concept as the engineering machinery travel path planning method provided in the foregoing embodiments of the present application, and may implement the engineering machinery travel path planning identification method provided in any of the foregoing embodiments of the present application, and has a functional module and beneficial effects corresponding to the engineering machinery travel path planning method. Technical details not described in detail in the present embodiment may refer to specific processing content of the engineering machinery travel path planning method provided in the foregoing embodiments of the present application, and are not described herein again.

For the foregoing method embodiments, for simplicity of explanation, the methodologies are shown as a series of acts, but one of ordinary skill in the art will appreciate that the present application is not limited by the order of acts described, as some acts may, in accordance with the present application, occur in other orders or concurrently. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. For the apparatus class embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference is made to the description of the method embodiments for relevant points.

The steps in the method of each embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs, and the technical features described in each embodiment can be replaced or combined.

The modules and sub-modules in the device and the terminal of the embodiments of the present application may be combined, divided, and deleted according to actual needs.

In the embodiments provided in the present application, it should be understood that the disclosed terminal, apparatus and method may be implemented in other manners. For example, the above-described terminal embodiments are merely illustrative, and for example, the division of modules or sub-modules is merely a logical function division, and there may be other manners of division in actual implementation, for example, multiple sub-modules or modules may be combined or integrated into another module, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

The modules or sub-modules illustrated as separate components may or may not be physically separate, and components that are modules or sub-modules may or may not be physical modules or sub-modules, i.e., may be located in one place, or may be distributed over multiple network modules or sub-modules. Some or all of the modules or sub-modules may be selected according to actual needs to achieve the purpose of the embodiment.

In addition, each functional module or sub-module in each embodiment of the present application may be integrated in one processing module, or each module or sub-module may exist alone physically, or two or more modules or sub-modules may be integrated in one module. The integrated modules or sub-modules may be implemented in hardware or in software functional modules or sub-modules.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software unit executed by a processor, or in a combination of the two. The software elements may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The engineering machinery travel path planning method is characterized by comprising the following steps of:

2. The construction machine travel path planning method according to claim 1, characterized in that the path feasibility verification includes:

acquiring the turning radius of the engineering machinery;

and verifying whether the engineering machine can change direction to travel at the position with the changed travelling direction in the local path according to the turning radius.

3. The construction machine travel path planning method according to claim 1, characterized in that the path feasibility verification includes:

4. The construction machine travel path planning method according to claim 1, characterized in that the construction machine travel path planning method further comprises:

5. The method of claim 4, wherein the path feasibility verification comprises:

6. The method of claim 1, wherein the path adaptation comprises:

7. The construction machine travel path planning method according to claim 1, characterized in that the path feasibility verification and path adaptation comprise:

8. An engineering machine travel path planning device, characterized by comprising:

9. The engineering machinery travel path planning device is characterized by comprising a memory and a processor;

the memory is connected with the processor and used for storing programs;

the processor is configured to implement the working machine travel path planning method according to any one of claims 1 to 7 by running a program in the memory.

10. An automobile crane is characterized by comprising a controller;

the controller configured to execute the construction machine travel path planning method according to any one of claims 1 to 7.