Excavator control method and device, excavator and storage medium: Fid-Bau Portal

Excavator control method and device, excavator and storage medium

GAO JINGWEI / ZHAO BIN / AI YUNFENG / YANG CHAO

The invention provides an excavator control method and device, an excavator and a storage medium, and relates to the field of motion planning. The method comprises the following steps: determining an initial pose, a first transition point pose, a second transition point pose and a tail end pose of the excavator in the process from digging to unloading according to the position and height information of a transport vehicle and the position information of the excavator; calculating first angle information of each joint at each moment from the initial pose to the first transition point pose of the excavator by utilizing a linear motion planning algorithm; calculating second angle information of each joint at each moment from the first transition point pose to the second transition point pose of the excavator by utilizing a curvilinear motion planning algorithm; calculating third angle information of each joint at each moment from the second transition point pose to the tail end pose of the excavator by utilizing a linear motion planning algorithm; and on the basis of the first angle information, the second angle information and the third angle information, all joints of the excavator are controlled to move so as to execute excavation operation.

本公开提供了一种挖掘机控制方法、装置、挖掘机和存储介质，涉及运动规划领域。该方法包括：根据运输车位置和高度信息、以及挖掘机的位置信息，确定挖掘机从挖料到卸料完成过程中的初始位姿、第一过渡点位姿、第二过渡点位姿和末端位姿；利用直线运动规划算法，计算挖掘机从初始位姿到第一过渡点位姿，每个关节在各时刻的第一角度信息；利用曲线运动规划算法，计算挖掘机从第一过渡点位姿到第二过渡点位姿，每个关节在各时刻的第二角度信息；利用直线运动规划算法，计算挖掘机从第二过渡点位姿到末端位姿，每个关节在各时刻的第三角度信息；以及基于第一角度信息、第二角度信息和第三角度信息，控制挖掘机的各个关节运动，以执行挖掘作业。

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