Path planning method and device and crane

The invention relates to a path planning method and device and a crane, and relates to the technical field of engineering machinery. The path planning method comprises the following steps: acquiring an environment image in a vehicle driving process; using a trained target detection model to process the environment image so as to identify an obstacle in the environment where the vehicle is located; when an environment point cloud corresponding to the environment image is obtained and a system performance index satisfies a preset condition, determining a spatial position of the obstacle by using the environment point cloud corresponding to the environment image; according to the current position of the vehicle, the spatial position of the obstacle and the target position of the vehicle, the initial driving path of the vehicle is adjusted. Through the method, the driving path of the crane can be automatically planned, and the flexibility and the planning effect of planning the driving path of the crane are impro