The invention provides a moving trajectory control method and device, equipment and a storage medium. The method comprises the following steps: pre-aiming a target trajectory at a first trajectory point to determine a second trajectory point; wherein the target track is a track planned for a loading operation device of the operation machine in advance; acquiring a plurality of third track points, wherein the plurality of third track points comprise a second track point and at least one track point behind the second track point; inputting the plurality of third track points into a preset calculation model to obtain a target control quantity from the first track point to the second track point; wherein the calculation model is used for determining a plurality of control quantities respectively corresponding to the plurality of third trajectory points, predicting a plurality of fourth trajectory points respectively corresponding to the plurality of third trajectory points based on the plurality of control quantities, and constructing a target function about the plurality of control quantities based on the plurality of third trajectory points and the plurality of fourth trajectory points, a target control quantity is obtained by solving the target function; and controlling the loading operation device to operate by adopting the target control quantity.
本申请提供一种运行轨迹的控制方法、装置、设备及存储介质,方法包括:在第一轨迹点对目标轨迹进行预瞄确定第二轨迹点;其中,目标轨迹是预先为作业机械的上装作业装置规划的轨迹;获取多个第三轨迹点,多个第三轨迹点包括第二轨迹点和位于第二轨迹点之后的至少一个轨迹点;将多个第三轨迹点输入到预设的计算模型中,得到从第一轨迹点到达第二轨迹点的目标控制量;其中,计算模型用于确定多个第三轨迹点分别对应的多个控制量,基于多个控制量预测与多个第三轨迹点分别对应的多个第四轨迹点,基于多个第三轨迹点和多个第四轨迹点构建关于多个控制量的目标函数,并通过求解目标函数得到目标控制量;采用目标控制量控制上装作业装置运行。
Control method and device of moving trajectory, equipment and storage medium
一种运行轨迹的控制方法、装置、设备及存储介质
27.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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