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A platform for research: civil engineering, architecture and urbanism
Excavator tail end track control method and related equipment
The invention provides a tail end track control method of an excavator and related equipment, and relates to the field of automatic driving. The method comprises the step that when the tail end of an arm of the excavator starts to move, the movement process of at least one arm joint of the excavator is monitored in real time according to a control period. And at the ith control moment, the actual rotation angle of the arm joint relative to the initial state is obtained. And obtaining a target motion track corresponding to the tail end of the excavator arm. And determining a preset rotation angle of the arm joint corresponding to the ith target position and a preset angular velocity corresponding to the ith target position according to the target motion track. And determining a target angular velocity according to the actual rotation angle corresponding to the arm joint corresponding to the ith control moment, the preset rotation angle of the arm joint corresponding to the ith target position and the preset angular velocity corresponding to the ith target position. And in the (i + 1) th control period, the arm joints are controlled to move according to the target angular velocity.
本申请提供了一种关于挖掘机的末端轨迹控制方法及相关设备，涉及自动驾驶领域。该方法包括：当挖掘机手臂末端开始运动时，根据控制周期对挖掘机的至少一个手臂关节的运动过程进行实时监控。在第i个控制时刻，获取手臂关节相对于初始状态的实际转动角度。获取挖掘机手臂末端对应的目标运动轨迹。根据目标运动轨迹确定第i个目标位置对应的手臂关节的预设转动角度以及第i个目标位置对应的预设角速度。根据第i个控制时刻对应的手臂关节对应的实际转动角度、第i个目标位置对应的手臂关节的预设转动角度、以及第i个目标位置对应的预设角速度确定目标角速度。在第i+1个控制周期内，根据目标角速度控制手臂关节进行运动。
Excavator tail end track control method and related equipment
The invention provides a tail end track control method of an excavator and related equipment, and relates to the field of automatic driving. The method comprises the step that when the tail end of an arm of the excavator starts to move, the movement process of at least one arm joint of the excavator is monitored in real time according to a control period. And at the ith control moment, the actual rotation angle of the arm joint relative to the initial state is obtained. And obtaining a target motion track corresponding to the tail end of the excavator arm. And determining a preset rotation angle of the arm joint corresponding to the ith target position and a preset angular velocity corresponding to the ith target position according to the target motion track. And determining a target angular velocity according to the actual rotation angle corresponding to the arm joint corresponding to the ith control moment, the preset rotation angle of the arm joint corresponding to the ith target position and the preset angular velocity corresponding to the ith target position. And in the (i + 1) th control period, the arm joints are controlled to move according to the target angular velocity.
本申请提供了一种关于挖掘机的末端轨迹控制方法及相关设备，涉及自动驾驶领域。该方法包括：当挖掘机手臂末端开始运动时，根据控制周期对挖掘机的至少一个手臂关节的运动过程进行实时监控。在第i个控制时刻，获取手臂关节相对于初始状态的实际转动角度。获取挖掘机手臂末端对应的目标运动轨迹。根据目标运动轨迹确定第i个目标位置对应的手臂关节的预设转动角度以及第i个目标位置对应的预设角速度。根据第i个控制时刻对应的手臂关节对应的实际转动角度、第i个目标位置对应的手臂关节的预设转动角度、以及第i个目标位置对应的预设角速度确定目标角速度。在第i+1个控制周期内，根据目标角速度控制手臂关节进行运动。
Excavator tail end track control method and related equipment
一种关于挖掘机的末端轨迹控制方法及相关设备
CHEN GUANGDA (author) / GAN YINGHAO (author) / CHEN YINGFENG (author) / FAN CHANGJIE (author) / HU ZHIPENG (author)
2023-05-09
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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