Intelligent crane three-dimensional lifting path planning, most of the use of navigation system to achieve, but in essence, path planning technology is an important part of the perfect realization of navigation, the need to establish a three-dimensional autonomous mobile bridge crane system, the system includes vision system, planning system and control system, can achieve the identification of obstacles and online path planning. The planning part is to locate the obstacle according to the ultrasonic sensor, determine the feasible space according to the obstacle, initial position and target position, and then plan the path according to the objective function.