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Motion control method and device of unmanned equipment, equipment and storage medium

A technology of motion control and equipment, applied in non-electric variable control, two-dimensional position/channel control, transportation and packaging, etc.

Pending Publication Date: 2021-07-09
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a motion control method, device, device, and storage medium for unmanned equipment, so as to solve the problem of previous work and manpower input required for trajectory repetition operations in the prior art, and realize the completion of the first time on unmanned equipment. After the controlled movement, autonomously control the unmanned equipment to repeat the trajectory

Method used

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  • Motion control method and device of unmanned equipment, equipment and storage medium
  • Motion control method and device of unmanned equipment, equipment and storage medium
  • Motion control method and device of unmanned equipment, equipment and storage medium

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Embodiment 1

[0085] figure 1 It is a flow chart of a motion control method for unmanned equipment provided by Embodiment 1 of the present invention. This embodiment of the present invention is applicable to the situation of motion control for unmanned equipment. This method can be controlled by the unmanned equipment provided by the embodiment of the present invention. It can be implemented by a motion control device, which can be realized by software and / or hardware, and can generally be integrated in unmanned equipment. Such as figure 1 As shown, the method of the embodiment of the present invention specifically includes:

[0086] Step 101, collecting position information of multiple original motion trajectory points of the unmanned device during the controlled motion process.

[0087] Optionally, the unmanned device may be an unmanned vehicle or a drone.

[0088] Optionally, the controlled motion process is a process in which the user manually controls the unmanned device to walk on ...

Embodiment 2

[0103] figure 2 It is a flow chart of a motion control method for unmanned equipment provided by Embodiment 2 of the present invention. The embodiment of the present invention can be combined with each optional solution in the above-mentioned one or more embodiments. In the embodiment of the present invention, before storing the position information in the memory, it may further include: according to the position information of multiple original motion track points, Determining a plurality of reference line segments, and determining position information of a plurality of new trajectory points according to the plurality of reference line segments; storing the position information to the memory may include: storing the position information of the original motion trajectory point and the new trajectory point to the memory.

[0104] Such as figure 2 As shown, the method of the embodiment of the present invention specifically includes:

[0105] Step 201, collecting position inf...

Embodiment 3

[0121] Figure 3a It is a flow chart of a motion control method for unmanned equipment provided by Embodiment 3 of the present invention. The embodiment of the present invention can be combined with each optional solution in the above-mentioned one or more embodiments. In the embodiment of the present invention, multiple reference line segments are determined according to the position information of multiple original motion trajectory points, and the multiple reference line segments , to determine the location information of multiple new trajectory points, including: generating a data sequence corresponding to each original motion trajectory point according to the order of collection time from far to near; determining multiple segmentation points according to the data sequence; Segment points generate a plurality of reference line segments, and determine a plurality of reference points on each reference line segment according to the first interval distance; determine position ...

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Abstract

The embodiment of the invention discloses a motion control method and device of unmanned equipment, equipment and a storage medium. The method comprises the following steps: acquiring position information of a plurality of original motion track points of the unmanned equipment in a controlled motion process; storing the location information to a memory; and in response to a command of repeatedly executing the motion trail corresponding to the position information, acquiring the position information from the memory to control the unmanned equipment to repeatedly move according to the motion trail. According to the embodiment of the invention, the problem that the track repetition operation in the prior art needs early-stage work input and human input is solved, the position information of the plurality of original motion track points in the controlled motion process of the unmanned equipment is collected and stored, and the motion track of the unmanned equipment in the controlled motion process is stored; and according to the stored position information, the unmanned equipment is controlled to repeat the motion trail of the controlled motion process, so that the unmanned equipment is autonomously controlled to repeat the trail after the unmanned equipment completes the first controlled motion.

Description

technical field [0001] Embodiments of the present invention relate to unmanned equipment technology, and in particular to a motion control method, device, equipment and storage medium for unmanned equipment. Background technique [0002] There are two ways of traditional unmanned equipment operations: single path execution and manual remote control. Single path execution means that the unmanned equipment patrols once according to the existing determined path. Manual remote control is to directly control the walking path of unmanned equipment with the remote control. [0003] Single-path execution is suitable for non-repetitive operations with a wide trajectory envelope area. This type of operation usually requires more accurate measurement work before the operation to support subsequent trajectory planning, such as plant protection operations. The manual remote control method does not require precise measurement and planning, and is suitable for occasions with a small oper...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05D1/10
CPCG05D1/0242G05D1/0263G05D1/028G05D1/0276G05D1/101
Inventor 吴斌刘登卫
Owner GUANGZHOU XAIRCRAFT TECH CO LTD