CN-121979027-A - Control method for working equipment and related device

CN121979027ACN 121979027 ACN121979027 ACN 121979027ACN-121979027-A

Abstract

The application discloses a control method and a related device for operation equipment, and relates to the technical field of operation equipment. The control method comprises the steps of determining a driving path and a target end point based on environmental information acquired by operation equipment, determining a first distance between the current position of the operation equipment and the target end point, driving the operation equipment to move by adopting a first control strategy or a second control strategy based on a comparison result between the first distance and a preset threshold value, wherein the first control strategy is adopted to track the driving path when the first distance is larger than the preset threshold value, and the second control strategy is switched to when the first distance is smaller than or equal to the preset threshold value so as to enable the operation equipment to move to the target end point. The application can improve the operation precision of the unmanned forklift in a complex outdoor scene.

Inventors

CHENG XIUYUAN
LUO XINLIANG
CHEN KAI
ZHANG GAOHUI

Assignees

湖南中联重科智能高空作业机械有限公司

Dates

Publication Date: 20260505
Application Date: 20251230

Claims (10)

1. A control method for a working apparatus, characterized by comprising: Determining a driving path and a target destination based on environmental information acquired by the operation equipment; Determining a first distance between a current location of the work equipment and the target endpoint; based on a comparison result between the first distance and a preset threshold value, a first control strategy or a second control strategy is adopted to drive the operation equipment to move; Under the condition that the first distance is larger than the preset threshold value, adopting the first control strategy to track the path along the running path; and switching to the second control strategy under the condition that the first distance is smaller than or equal to the preset threshold value so as to enable the working equipment to move to the target end point.
2. The control method according to claim 1, wherein the performing path tracking along the travel path using the first control strategy in the case where the first distance is greater than the preset threshold value includes: determining a pre-aiming distance based on the real-time speed of the working equipment; determining a pretightening point on the travel path based on the pretightening distance; acquiring a second distance between a rear wheel center point of the working equipment and a nearest point on the running path; calculating based on the pre-aiming point, the driving path and the second distance to obtain a front wheel corner of the working equipment; And controlling the movement of the working equipment based on the front wheel steering angle so as to enable the working equipment to track the path along the running path.
3. The control method according to claim 2, wherein the calculating based on the pre-aiming point, the travel path, and the second distance, to obtain the front wheel turning angle of the working device, includes: calculating by using a first formula to obtain the front wheel rotation angle of the operation equipment, wherein the first formula is as follows: Wherein, the Is a front wheel corner, Is the pretarget distance, Is the wheelbase of the operation equipment, Is the second distance.
4. The control method according to claim 1, wherein the switching to the second control strategy to move the working equipment to the target destination in the case where the first distance is less than or equal to the preset threshold value includes: Determining a pose error according to the deviation between the real-time pose of the operation equipment and the end pose of the target end point, wherein the pose error comprises a transverse displacement error and a course angle error; Generating a first control component according to the pose error, wherein the first control component is used for adjusting the front wheel corner of the working equipment; generating a second control component according to a longitudinal displacement error between the real-time position of the working equipment and the target end point, wherein the second control component is used for adjusting the speed of the working equipment; And driving the working equipment to move towards the target end point and stop based on the first control component and the second control component.
5. The control method of claim 4, wherein the generating for a first control component from the pose error comprises: respectively acquiring at least one first historical error value corresponding to the transverse displacement error and the course angle error; And performing incremental calculation based on the transverse displacement error, the course angle error and the first historical error value to obtain the first control component.
6. The control method of claim 4, wherein the generating a second control component based on a longitudinal displacement error between the real-time position of the work equipment and the target destination comprises: acquiring at least one second historical error value corresponding to the longitudinal displacement error; And performing incremental calculation based on the longitudinal displacement error and the second historical error value to obtain a second control component.
7. The control method according to any one of claims 4 to 6, characterized in that the real-time pose of the working equipment is determined by: acquiring longitudinal acceleration information and wheel speed information of the operation equipment; and based on the longitudinal acceleration information and the wheel speed information, carrying out fusion processing through a state estimation algorithm to obtain the real-time pose.
8. A control device for a working apparatus, characterized in that the control device comprises: the first determining module is used for determining a driving path and a target destination based on the environmental information acquired by the working equipment; a second determining module configured to determine a first distance between a current position of the work equipment and the target destination; the driving module is used for driving the operation equipment to move by adopting a first control strategy or a second control strategy based on a comparison result between the first distance and a preset threshold value; Under the condition that the first distance is larger than the preset threshold value, adopting the first control strategy to track the path along the running path; and switching to the second control strategy under the condition that the first distance is smaller than or equal to the preset threshold value so as to enable the working equipment to move to the target end point.
9. A work machine includes a processor and a memory storing computer program instructions; The processor, when executing the computer program instructions, implements the control method of any one of claims 1-7.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the control method according to any one of claims 1 to 7.

Description

Control method for working equipment and related device Technical Field The application relates to the technical field of operation equipment, in particular to a control method and a related device for operation equipment. Background In the field of industrial logistics, a forklift is used as operation equipment for carrying goods, and is widely applied to various scenes such as storage, ports and goods yards, and along with the development trend of intelligent and unmanned logistics, the application scene of the forklift is gradually expanded from an indoor highly structured environment to an outdoor complex environment. In an outdoor scene, factors such as relief, illumination change, random distribution of obstacles and the like, higher requirements are put forward on track control and positioning accuracy of the forklift, and an unmanned forklift becomes a key direction for solving the problems of outdoor conveying efficiency and safety by virtue of the automatic operation capability of the unmanned forklift. Currently, the mainstream automation control method mostly depends on global application of a single algorithm. For example, the geometric path tracking algorithm such as pure tracking has simple structure and good real-time performance, and is stable in performance in the path following stage, but the algorithm has poor convergence near the end point, and is difficult to realize high-precision pose fixed-point control. Therefore, a single control algorithm cannot achieve both the stability of tracking the long first distance track and the accuracy of stopping at the end position, so that the operation accuracy of the unmanned forklift in a complex outdoor scene is low. Disclosure of Invention The embodiment of the application aims to provide a control method and a related device for operation equipment, which are used for solving the problem of lower operation precision of the existing unmanned forklift in a complex outdoor scene. In order to achieve the above object, a first aspect of the present application provides a control method for a working apparatus, the control method including: Determining a driving path and a target destination based on environmental information acquired by the operation equipment; Determining a first distance between a current location of the work equipment and the target endpoint; based on a comparison result between the first distance and a preset threshold value, a first control strategy or a second control strategy is adopted to drive the operation equipment to move; Under the condition that the first distance is larger than the preset threshold value, adopting the first control strategy to track the path along the running path; and switching to the second control strategy under the condition that the first distance is smaller than or equal to the preset threshold value so as to enable the working equipment to move to the target end point. A second aspect of the present application provides a control device for a working apparatus, the control device comprising: the first determining module is used for determining a driving path and a target destination based on the environmental information acquired by the working equipment; a second determining module configured to determine a first distance between a current position of the work equipment and the target destination; the driving module is used for driving the operation equipment to move by adopting a first control strategy or a second control strategy based on a comparison result between the first distance and a preset threshold value; Under the condition that the first distance is larger than the preset threshold value, adopting the first control strategy to track the path along the running path; and switching to the second control strategy under the condition that the first distance is smaller than or equal to the preset threshold value so as to enable the working equipment to move to the target end point. A third aspect of the application provides a work apparatus comprising a processor and a memory storing computer program instructions; The processor, when executing the computer program instructions, implements the control method according to any one of the first aspects. A fourth aspect of the application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the control method according to the first aspect. A fifth aspect of the application provides a computer program product, instructions in which, when executed by a processor of an electronic device, cause the electronic device to perform a control method for a work device as described above. In the application, a travel path and a target destination are firstly planned, and the control strategy is autonomously decided and dynamically switched by continuously calculating the distance between the current position and the destination and comparing the distance with a preset threshold value. When the d