The invention relates to a path planning method and device based on collision detection and a storage medium. The method comprises the following steps: acquiring an obstacle bounding box of a static obstacle in a target scene; an initial moving track of the target hoisting object in the target scene and an object bounding box of the target hoisting object are obtained, the target hoisting object is an object to be hoisted by the hoisting equipment, and the initial moving track is a planned moving track of the target hoisting object in the target scene; according to the obstacle bounding boxes and the initial moving track, risk bounding boxes in the obstacle bounding boxes are determined, and the risk bounding boxes are bounding boxes of static obstacles possibly colliding with the target hanging object; according to the risk bounding box and the article bounding box, determining a collision detection result of the static obstacle and the target hanging object; and adjusting the initial movement track according to a collision detection result to obtain a target movement track. The technical problem of low collision detection efficiency caused by detection of all bounding boxes in the collision detection process of the hoisting equipment is solved.
本申请涉及一种基于碰撞检测的路径规划方法、装置以及存储介质。该方法包括:获取目标场景内的静态障碍物的障碍物包围盒;获取目标吊物在目标场景内的初始移动轨迹和目标吊物的物品包围盒,其中,目标吊物为起重设备要起重的物品,初始移动轨迹为规划的目标吊物在目标场景内的移动轨迹;根据障碍物包围盒和初始移动轨迹,确定障碍物包围盒中的风险包围盒,其中,风险包围盒为可能与目标吊物发生碰撞的静态障碍物的包围盒;根据风险包围盒与物品包围盒,确定静态障碍物与目标吊物的碰撞检测结果;根据碰撞检测结果调整初始移动轨迹,得到目标移动轨迹。本申请解决了起重设备碰撞检测过程中,对所有包围盒进行检测造成的碰撞检测效率低的技术问题。
Path planning method and device based on collision detection and storage medium
基于碰撞检测的路径规划方法、装置以及存储介质
2024-10-15
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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