Abstract: The present disclosure relates to a path planning method, apparatus and a crane, and relates to the technical field of construction machinery. The path planning method includes: obtaining an environmental image during a driving process of a vehicle; processing the environmental image by using a trained target detection model to identify an obstacle in an environment where the vehicle is located; in a case where an environmental point cloud corresponding to the environmental image is obtained and a system performance index meets a preset condition, determining a spatial position of the obstacle by using the environmental point cloud corresponding to the environmental image; and adjusting an initial driving path of the vehicle according to a current position of the vehicle, the spatial position of the obstacle, and a target position of the vehicle.

Abstract: The present application relates to the field of lifting equipment, in particular to a crane and a control method thereof.

Abstract: The present disclosure discloses a crane, including: a chassis; a rotatable platform, rotatably arranged on the chassis; a main arm, including a first end hinged with a first end of the rotatable platform, and a second end for lifting a weight; a mast, configured to luff the main arm, wherein a first end of the mask is hinged with the first end of the rotatable platform, and a second end of the mast is connected to the second end of the main arm and a second end of the rotatable platform; and a first independent counterweight system, including a first independent counterweight, and a connecting structure connected between the first independent counterweight and the rotatable platform, wherein the connecting structure is configured to enable the first independent counterweight to be in a partial working state, and in the partial working state, the first independent counterweight is supported on the ground and the weight of the first independent counterweight is supported jointly by the ground and the rotatable