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Motion control method and device

A motion control and motion technology, applied in non-electric variable control, attitude control, transportation and packaging, etc., can solve the problems of unreasonable control scheme and long time consumption, and achieve the effect of reducing ineffective motion and improving the rationality of the scheme.

Pending Publication Date: 2022-02-01
HANGZHOU HIKVISION DIGITAL TECH
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Problems solved by technology

[0003] However, it generally takes a long time to plan the motion trajectory. During this time-consuming period, the device is still in motion, so the device has left the starting point of the motion trajectory. If the above control scheme is adopted, the device needs to return to the starting point of the motion trajectory, resulting in A period of invalid motion, the control scheme is unreasonable

Method used

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Embodiment approach

[0098] In this embodiment, it is assumed that the device performing motion control is a vehicle, or in other words, this embodiment can be understood as an automatic driving system, the positioning module 430 and the motion control module 420 are set in the vehicle control device, the trajectory planning module 410 and the environment The perception module 440 is set in the on-vehicle computing device, and the on-vehicle control device and the on-vehicle computing device can communicate through Ethernet. For the convenience of time comparison, the time in the following content is based on the internal time of the vehicle control equipment.

[0099] exist Figure 7 In step ①, when the internal time of the vehicle-mounted control device is 100 ms, the positioning module 430 obtains the positioning information and speed information of the vehicle in real time; 100ms are sent to the trajectory planning module 410 in the on-vehicle computing device, assuming that the communication...

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Abstract

The embodiment of the invention provides a motion control method and device. The method comprises the steps that: a motion track obtained through planning is obtained, and a corresponding track point mapped to the motion track at a current moment is determined as a starting track point; and equipment moves according to a track behind the starting track point in the motion track. Therefore, even if the time consumed for planning the motion track is long, the equipment does not directly start to move from the starting point of the track, but redetermines the starting track point in the track and starts to move from the starting track point, so that invalid motion is reduced, and the reasonability of the motion control method and device is improved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a motion control method and device. Background technique [0002] At present, some devices can automatically control their own motion, for example, vehicles that can drive themselves, robots that can move autonomously, drones, and so on. The automatic control scheme generally includes: combining the scene information and the motion state information of the equipment to plan the motion trajectory; and then controlling the equipment to move according to the motion trajectory from the starting point of the motion trajectory. [0003] However, it generally takes a long time to plan the motion trajectory. During this time-consuming period, the device is still in motion, so the device has left the starting point of the motion trajectory. If the above control scheme is adopted, the device needs to return to the starting point of the motion trajectory, resulting in A period of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/08G05D1/10
CPCG05D1/024G05D1/0242G05D1/0246G05D1/0257G05D1/0259G05D1/0223G05D1/0221G05D1/0278G05D1/0276G05D1/0808G05D1/101
Inventor 田涛涛孙杰褚栋
Owner HANGZHOU HIKVISION DIGITAL TECH
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