Control method and device for forcible entry device and storage medium

Abstract

The invention relates to a control method and device for a forcible entry device and a storage medium. The method comprises the following steps: acquiring an initial position and a course of a forcible entry device, and planning a linear motion track of the forcible entry device based on a kinematic model of the forcible entry device; in the process that the forcible entry device moves along the linear motion track, double motors of the forcible entry device are kept at the same speed based on a PID control method; and responding to deviation generated between the current position and the target position of the linear motion track, and correcting the forcible entry device to the target position based on the deviation.

Description

Technical Field

[0001] The present disclosure is applicable to the technical field of demolition devices, and specifically relates to a control method and system for a demolition device that automatically travels in a straight line. Background Art

[0002] Among the demolition devices, demolition robots are widely used in mining, firefighting, tunnels, trenches, emergency rescue and other fields due to their small size and strong demolition force. During the driving process of the demolition robot, leakage of the hydraulic system, differences in motor structural parameters and nonlinear friction resistance, performance differences of displacement control components, and differences in loads on the motors on both sides will eventually cause motor synchronization errors, resulting in deviation problems in straight-line driving, affecting the demolition efficiency.

[0003] At present, most demolition robots use manual two-hand remote control to operate the dual-track chassis, and the degree of automation is not high. In addition, the deviation is required to be less than 5% during driving, which requires the operator to correct the deviation of the demolition vehicle at all times. As time goes by, long-term operation can easily cause physical and mental fatigue to the operator, thereby increasing the risk of accidents. Summary of the invention

[0004] In order to solve the problem of automatic control of straight-line travel of demolition equipment including a demolition robot, the present disclosure proposes a control method, device and storage medium for the demolition equipment.

[0005] According to a first aspect of an embodiment of the present disclosure, a control method for a demolition device is provided, comprising: acquiring an initial position and heading of the demolition device, and planning a straight-line motion trajectory of the demolition device based on a kinematic model of the demolition device; in the process of the demolition device moving along the straight-line motion trajectory, maintaining the same speed of dual motors of the demolition device based on a proportional-integral-differential (PID) control method; and in response to a deviation between a current position and a target position of the straight-line motion trajectory, correcting the demolition device to the target position based on the deviation.

[0006] In some embodiments, a sensing device built into or placed beside the demolition device is used to obtain the current position and heading of the demolition device.

[0007] In some embodiments, an encoder is used to obtain speed data of the dual motors.

[0008] In some embodiments, the kinematic model is established based on the speed data, the current position and heading of the demolition device.

[0009] In some embodiments, the target speed of the dual motors is set based on the linear motion trajectory and the kinematic model.

[0010] In some embodiments, the corresponding proportional valve openings of the dual motors are driven based on the PID control method with the target speed as the control variable.

[0011] In some embodiments, the flow rate of the hydraulic valve is determined in response to the opening of the proportional valve, the dual motor is driven by the flow rate, and the actual speed of the dual motor is fed back via an encoder.

[0012] In some embodiments, an equation for the deviation between the target position and the current position is established, wherein the deviation includes the heading deviation and the lateral deviation of the demolition device.

[0013] In some embodiments, the heading deviation and the lateral deviation are used as input quantities, and the target speed of the dual motors is used as output quantity to control the demolition device to travel in a straight line.

[0014] In some embodiments, in response to a heading deviation of the demolition device, the relative position of the demolition device on the linear motion trajectory is determined, and the corresponding motor of the dual motor is controlled based on the relative position.

[0015] In some embodiments, in response to a lateral deviation of the demolition device, a relative angle between the demolition device and the linear motion trajectory is determined, and a corresponding motor of the dual motor is controlled based on the relative angle.

[0016] According to a second aspect of an embodiment of the present disclosure, a control device for a demolition device is provided, comprising: a sensing unit, configured to obtain an initial position and heading of the demolition device, and plan a straight-line motion trajectory of the demolition device based on a kinematic model of the demolition device; a motor execution unit, configured to keep dual motors of the demolition device at the same speed based on a proportional-integral-differential (PID) control method during the movement of the demolition device along the straight-line motion trajectory; and a control unit, configured to correct the demolition device to the target position based on a deviation between a current position and a target position of the straight-line motion trajectory in response to the deviation.

[0017] According to a third aspect of an embodiment of the present disclosure, a control device for a demolition device is provided, comprising: a processor; and a memory storing computer executable instructions, wherein when the computer executable instructions are executed by the processor, the processor executes the control method for a demolition device according to the first aspect of the embodiment of the present disclosure.

[0018] According to a fourth aspect of an embodiment of the present disclosure, a non-transitory computer-readable storage medium storing computer-executable instructions is provided. When the computer-executable instructions are executed by a processor, the processor enables the processor to implement the control method for a demolition device according to the first aspect of an embodiment of the present disclosure.

[0019] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising computer program instructions, which, when executed by a processor, implement the control method for a demolition device according to the first aspect of an embodiment of the present disclosure.

[0020] The advantage of the embodiments disclosed herein is that the driving trajectory of the chassis of the demolition device is automatically planned according to the initial position, target position and kinematic relationship of the demolition device, and then the demolition device is automatically driven according to the trajectory based on PID control, thereby solving the problem of low degree of automated control of straight-line driving, and transforming the straight-line driving behavior of the demolition device into intelligent and automated driving, which truly improves work efficiency and reduces the workload of operators.

[0021] Another advantage of the embodiments disclosed herein is that the demolition device can perform autonomous deviation correction based on the heading deviation and the lateral deviation, so that the chassis of the demolition device can achieve autonomous deviation correction when it is moving, thereby solving the problem of the demolition device running off the track when driving in a straight line and effectively improving work efficiency.

[0022] It should be appreciated that the above advantages do not need to be all realized in one or some specific embodiments, but may be partially dispersed in different embodiments according to the present disclosure. The embodiments according to the present disclosure may have one or some of the above advantages, or may have other advantages alternatively or additionally. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The foregoing and other features and advantages of the present disclosure will become apparent from the following description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are incorporated herein and form a part of the specification, and are further used to explain the principles of the present disclosure and enable those skilled in the art to make and use the present disclosure. Among them:

[0024] Figure 1 A flow chart of a control method for a demolition device according to an embodiment of the present disclosure is shown;

[0025] Figure 2 A schematic diagram showing a kinematic model of a demolition device according to an embodiment of the present disclosure is shown;

[0026] Figure 3 A flow chart showing speed control of a demolition device according to an embodiment of the present disclosure is shown;

[0027] Figure 4 A flow chart showing the autonomous deviation correction of the demolition device according to an embodiment of the present disclosure is shown;

[0028] Figure 5 An exemplary block diagram of a control device for a demolition device according to an embodiment of the present disclosure is shown;

[0029] Figure 6 An exemplary configuration of a computing device that can implement an embodiment according to the present disclosure is shown.

[0030] Note that in the embodiments described below, sometimes the same reference numerals are used in common between different drawings to represent the same parts or parts with the same functions, and their repeated descriptions are omitted. In some cases, similar numbers and letters are used to represent similar items, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0031] For ease of understanding, the position, size, range, etc. of each structure shown in the drawings and the like may not represent the actual position, size, range, etc. Therefore, the present disclosure is not limited to the position, size, range, etc. disclosed in the drawings and the like. DETAILED DESCRIPTION

[0032] Various exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0033] The following description of at least one exemplary embodiment is in fact merely illustrative and is in no way intended to limit the present disclosure and its application or use. That is, the structures and methods herein are shown in an exemplary manner to illustrate different embodiments of the structures and methods in the present disclosure. However, those skilled in the art will appreciate that they merely illustrate exemplary ways of the present disclosure that can be implemented, rather than exhaustive ways. In addition, the drawings need not be drawn to scale, and some features may be enlarged to illustrate the details of specific components.

[0034] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0035] In the technical field of demolition devices, demolition robots are widely used. However, due to the differences in hydraulic systems and motor structures and nonlinear friction resistance, the dual motors of demolition robots may not be able to maintain the same speed in real time, which affects the effect of straight-line driving. Specifically, represented by demolition robots, the chassis of demolition devices has dual tracks, which are generally operated by manual two-hand remote control. It is difficult to keep the deflection of the dual motors below the specified threshold range for a long time. In view of the above problems, the present disclosure provides a demolition device control method and device that can achieve automatic straight-line driving, which can not only reduce the operator's workload, but also improve work efficiency and safety.

[0036] The control method and device for a demolition device according to various embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It is understood that the actual control method for a demolition device may also include other steps, but in order to avoid blurring the main points of the present disclosure, these other steps are not discussed herein and the accompanying drawings do not show these other steps. In addition, for reference purposes only, the "first", "second", "third", "fourth" and other similar terms used herein are used to distinguish between multiple subjects and are not intended to be limiting. For example, unless the context clearly indicates, the words "first", "second", "third", "fourth" and other such numerical words referring to structures or elements do not imply an order or sequence.

[0037] First reference Figure 1 , Figure 1 A flow chart of a control method for a demolition device according to an embodiment of the present disclosure is shown. It can be understood that the control method of the present disclosure can be applied to one or more demolition devices having dual motors to provide speed, and is described by taking a dual-track demolition robot as an example without limitation. Wherein, in step S101, the initial position and heading of the demolition device are obtained, and the linear motion trajectory of the demolition device is planned based on the kinematic model of the demolition device. In step S102, during the movement of the demolition device along the linear motion trajectory, the dual motors of the demolition device are kept at the same speed based on a proportional integral differential (PID: Proportional Integral Derivative) control method. And in step S103, in response to a deviation between the current position and the target position of the linear motion trajectory, the demolition device is corrected to the target position based on the deviation.

[0038] Specifically, for step S101, firstly, the sensor data is acquired, the position and heading angle of the demolition vehicle are acquired by the combined navigation system, and the speed data of the dual motors are acquired by the encoder; secondly, a kinematic model of the demolition device is established, including establishing a kinematic relationship between the state quantity and the control quantity for describing the demolition device, wherein the target speed is set to half of the sum of the left and right motor speeds; finally, a straight line trajectory is automatically planned according to the current position of the demolition device, and the given target position and direction.

[0039] In some embodiments, please refer to Figure 2 , which shows the kinematic model of the demolition device 10 established in the world coordinate system according to the embodiment of the present disclosure. Use the sensing device built into or placed beside the demolition device or the current position (x, y) and heading θ of the demolition device, including the initial position (x0, y0) and heading θ0 before starting the movement; and use the encoder to obtain the speed data of the dual motors 120 of the demolition device, where the speed provided by the left motor 120-1 is v L , the speed provided by the right motor 120-2 is vR .

[0040] Based on this, a kinematic model of the chassis 110 of the demolition device 10 is established, wherein the state quantity is:

[0041]

[0042] The control quantity is:

[0043] u=[v L v R ] T

[0044] The travel speed is:

[0045]

[0046] but:

[0047]

[0048] Where v is the forward speed of the demolition device 10, v L and v R is the speed of the left and right crawler wheels provided by the dual motors 120, W is the center distance of the left and right crawler tracks of the chassis 110, O r is the center of gravity of the chassis, θ is the yaw angle, is the velocity in the x direction, is the velocity in the y direction.

[0049] At this time, since the demolition device 10 needs to maintain a straight line, according to the initial position (x0, y0) and the target position (x, y) of the demolition device 10, taking the x direction as an example, the time is t, and a non-restrictive straight line trajectory is planned as follows:

[0050]

[0051] Return to reference Figure 1 , further, for step S102, the target speed of the dual motors is set according to the kinematic relationship of the demolition device and the above-mentioned planned straight line trajectory. Among them, the given target speed is used as the control quantity, the actual speed is controlled by using the standard PID control method, and a PWM signal is output to the proportional valve opening, so that the flow output by the compression pump of the hydraulic system is delivered to the corresponding motor through the proportional valve opening, thereby driving the motor to move, and then the actual speed of the dual motors and the setting of the PID parameters are fed back through the encoder, so that the left and right motors finally reach the same speed, and the control is stable and the effect is good.

[0052] In some embodiments, the target speed v of the dual motor is mainly determined based on the aforementioned kinematic model and the straight line trajectory. At this time, the dual motor proportional valve is driven to open based on the PID control method with the given target speed v as the control variable, and the PID output value, i.e., the current I driving the proportional valve, is:

[0053]

[0054] Among them, e(t) is the difference between the target speed and the actual speed, k p is the proportional gain coefficient, k i is the integral gain coefficient, k d is the differential gain coefficient.

[0055] Specifically, please refer to Figure 3 , Figure 3 A flow chart of speed control of a demolition device according to an embodiment of the present disclosure is shown. First, in step S201, a target speed of the demolition device is given, and the speed control of the demolition device includes PID control (step S202). The PID output value is directly transmitted to the proportional valve of the hydraulic system, and the corresponding pulse width modulation (PWM: Pulse Width Modulation) signal is output by current to drive the opening of the proportional valve (step S203). In step S204, the flow rate is determined according to the proportional valve opening, wherein the larger the current value, the larger the PWM output value; the larger the proportional valve opening, the larger the flow rate. Furthermore, the output flow rate affects the actual speed of the demolition device (step S205), thereby controlling the corresponding motor movement (step S206), and the current speed of the motor is fed back to the PID control link through the encoder (step S210), thereby realizing automatic speed control.

[0056] Additionally, in response to the actual speed feedback to the PID control link (S202) in step S210, if the difference between the actual speed and the target speed (S201) is large, the PID output value increases, and then the flow rate is increased through the proportional valve opening (S204), thereby increasing the actual speed of the rescue device. In response to the actual speed feedback in step S210, if the difference between the actual speed and the target speed is small, the PID output value decreases, thereby ensuring a stable output of the flow rate, thereby maintaining the actual speed of the rescue device. Finally, the left and right motors are synchronized through the feedback control of the encoder to achieve effective control.

[0057] Return to reference Figure 1, further, for step S103, the autonomous deviation correction method based on heading deviation and lateral deviation mainly includes establishing heading deviation and lateral deviation equations between the target position and the actual position, taking the heading deviation and lateral deviation of the demolition device as the input of the controller, and taking the speed of the dual motors as the output, to control the demolition device to travel in a straight line. Among them, during the driving process of the demolition device, the position and heading angle of the demolition device are obtained in real time by a combined navigation system. When a lateral deviation occurs, it is determined whether the current position of the demolition device is on the left or right side of the trajectory point. When it is on the left side, the left motor accelerates and the right motor speed remains unchanged; when it is on the right side, the right motor accelerates and the left motor speed remains unchanged. When a heading deviation occurs, it is determined whether the angle between the current direction and the initial direction is on the left or right side. When it is on the left side, the left motor accelerates and the right motor speed remains unchanged; when it is on the right side, the right motor accelerates and the left motor speed remains unchanged.

[0058] Please refer to Figure 4 , Figure 4 The flowchart of the autonomous deviation correction of the demolition device according to the embodiment of the present disclosure is shown. The process starts in step S401, and firstly, in step S402, the deviation equation between the target position and the actual position is established:

[0059]

[0060] Among them, when x e is the lateral deviation from the x-direction trajectory, y e is the lateral deviation from the y-direction trajectory, θ e is the heading deviation.

[0061] Therefore, it is determined in steps S403 and S404 whether the demolition device has a lateral deviation and a heading deviation compared to the original straight line trajectory. In response to the fact that the demolition device currently has a lateral deviation (step S403 is "yes"), it is further determined in step S4031 whether the current position of the demolition device is on the left or right side of the trajectory point of the original straight line, and the corresponding motor drive speed change is controlled in step S4032 according to the judgment result. Specifically, if it is determined that the current position of the demolition device is on the left side of the trajectory point, the left motor is controlled to accelerate, while the right motor remains unchanged; if it is determined that the current position is on the right side of the trajectory point, the right motor is controlled to accelerate, while the left motor remains unchanged. The adjustment in step S4032 is used to return the demolition device to the position of the original trajectory, and then the judgment is performed again in step S403 to confirm that the lateral deviation of the demolition device has been corrected.

[0062] Additionally or alternatively, in response to the current heading deviation of the demolition device ("yes" in step S404), it is further determined in step S4041 whether the angle between the current direction of the demolition device and the initial direction is on the left or right, and the corresponding motor drive speed change is controlled in step S4042 according to the determination result. Specifically, if it is determined that the angle between the current direction of the demolition device and the initial direction is on the left, the left motor is controlled to accelerate, while the right motor remains unchanged; if it is determined that the angle is on the right, the right motor is controlled to accelerate, while the left motor remains unchanged. The adjustment in step S4042 is used to return the demolition device to the initial direction, and then the judgment is performed again in step S404 to confirm that the heading deviation of the demolition device has been corrected.

[0063] Furthermore, in response to the fact that the demolition device currently has no lateral deviation and heading deviation (both step S403 and step S404 are "No"), the process proceeds to step S405 to keep the dual motors of the demolition device at the same speed. Thus, the demolition device reaches the target point along the straight line trajectory of automatic deviation correction (step S406), and the process ends in step S407.

[0064] It should be understood that Figure 1 , Figure 3 and Figure 4 The division of each step in the figure is only for illustration and not for limitation of the embodiments of the present application. These steps can be completed by each of the illustrated subjects individually, by two or more of them together, or by an external system not shown in cooperation with the illustrated subject, and are not limited to the illustrated distribution method, and can be completed in sequence according to the illustrated order or in parallel in accordance with the data flow direction and system operation rules, and can be completed in steps or in combination.

[0065] Please refer to the following Figure 5 , Figure 5 An exemplary block diagram of a control device for a demolition device according to an embodiment of the present disclosure is shown.

[0066] In some embodiments, the control method for the demolition device can be implemented by a control device 5000, which may include a processor 5100. The processor 5100 may provide various functions of the control device 5000. The processor may refer to various implementations of a digital circuit system, an analog circuit system, or a mixed signal (a combination of analog and digital) circuit system that performs functions in a computing system. The processing circuit may include, for example, circuits such as an integrated circuit (IC), an application specific integrated circuit (ASIC), a portion or circuit of a separate processor core, an entire processor core, a separate processor, a programmable hardware device such as a field programmable gate array (FPGA), and / or a system including multiple processors.

[0067] In some embodiments, the control device 5000 for the demolition device may further include a memory (not shown in the figure). The memory of the control device 5000 may store information generated by the processor 5100 and programs and data for processor operation. The memory may be a volatile memory and / or a non-volatile memory. For example, the memory may include, but is not limited to, a random access memory (RAM), a dynamic random access memory (DRAM), a static random access memory (SRAM), a read-only memory (ROM), and a flash memory. Generally, the processor may be configured to execute instructions stored on the memory to implement the control method for the demolition device as described above.

[0068] Specifically, Figure 5 As shown, in some embodiments, the control device 5000 for a demolition device according to an embodiment of the present disclosure may include a sensing unit 5010, a motor execution unit 5020, a control unit 5030, and a communication unit 5040. It should be understood that Figure 5 The various functional units of the control device for the demolition device shown are only logical modules divided according to the specific functions they implement, and are not used to limit the specific implementation method. In actual implementation, the above modules can be implemented as independent physical entities, or can also be implemented by a single entity (for example, a processor (CPU or DSP, etc.), an integrated circuit, etc.).

[0069] In some embodiments, the sensing unit 5010 is configured to obtain the initial position and heading of the demolition device, and plan the linear motion trajectory of the demolition device based on the kinematic model of the demolition device. The sensing unit 5010 is also configured to use a sensing device built into or placed beside the demolition device to obtain the current position and heading of the demolition device, as well as the speed data of the dual motors, such as a combined navigation system containing multiple sensors and a speed measuring encoder. Furthermore, the sensing unit 5010 is also configured to establish a kinematic model of the demolition device based on the acquired speed data, position and heading data to describe the kinematic relationship between the state quantity and the control quantity of the demolition device.

[0070] In some embodiments, the motor execution unit 5020 is configured to keep the dual motors of the rescue device at the same speed based on the PID control method when the rescue device moves along the linear motion trajectory. The motor execution unit 5020 is also configured to drive the corresponding proportional valve opening of the dual motors based on the PID control method with the target speed as the control amount, thereby outputting a certain flow to drive the motor to move, and then feedback the actual speed of the motor through the encoder, so that the left and right motors can automatically move in a straight line along the trajectory at the same speed.

[0071] In some embodiments, the control unit 5030 is configured to correct the demolition device to the target position in response to a deviation between the current position and the target position of the linear motion trajectory based on the deviation. The control unit 5030 establishes an equation for the deviation between the target position and the current position to describe the heading deviation and lateral deviation of the demolition device, and uses these deviations as inputs and the target speed of the dual motors as outputs to control the demolition device to travel in a straight line.

[0072] In some embodiments, the control device 5000 further includes a communication unit 5040. The communication unit 5040 is configured to implement communication such as a controller area network bus (CAN) between various functional units. Without limitation, during the driving process of the demolition device, the sensing unit 5010 acquires the position data, heading data, speed data, etc. of the demolition device in real time, and these data are transmitted from the sensing unit 5010 to the control unit 5030 via the communication unit 5040. Additionally or alternatively, the driving data and speed data of the dual-motor drive unit 5020 can also be sent to the control unit 5030 via the communication unit 5040. Thus, the control device 5000 can implement negative feedback closed-loop regulation of the dual-motor speed of the demolition device.

[0073] Additionally, the control device 5000 for the demolition device may also have a built-in or external input unit and an output unit (not shown in the figure). The input unit may include a device for inputting various data or instructions by a user or a manager, such as an operating device such as a button, a touch pad, a keyboard, a microphone, a switch, and other devices capable of receiving input by methods such as sound and action. In addition, for example, the input unit may be a remote control device with infrared light or other radio waves, or may be a mobile device suitable for the operation of the control device 5000. Based on the data or instructions input by the user, for example, the input unit generates an input signal and supplies the input signal to other functional units in the control device 5000.

[0074] The output unit includes a device that can output visual information or auditory information to the user or manager of the control device 5000. For example, the output unit includes a display screen, a speaker, a buzzer, a projector, a lamp, etc. The display device included in the output unit can be a device with a normal display, or a device that displays visual information to other systems, etc. Based on this, the control device 5000 can display the position data, speed data, and generated trajectory data of the demolition device as visual information such as graphic data or auditory information such as voice prompts, so that the user or manager can obtain the corresponding information or adjust the corresponding operation.

[0075] The present disclosure also provides a control device for a demolition device, which may include a processor and a memory storing computer executable instructions, which, when executed by the processor, causes the processor to execute a control method for a demolition device according to any of the aforementioned embodiments of the present disclosure. The processor may be a central processing unit (CPU) of the control device, which may be any type of general-purpose processor, or may be a processor specifically designed to control a demolition device, such as an application-specific integrated circuit ("ASIC"). The memory may include various computer-readable media accessible by the processor.

[0076] The present disclosure also provides a non-transitory computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, enables the processor to implement the control method for a demolition device according to any of the aforementioned embodiments of the present disclosure.

[0077] The present disclosure also provides a computer program product, comprising computer executable instructions, which, when executed by a processor, enable the processor to implement the control method for a demolition device according to any of the aforementioned embodiments of the present disclosure.

[0078] Figure 6 An exemplary configuration of a computing device that can implement an embodiment of the present disclosure is shown. The computing device includes one or more processors 601, an input / output interface 605 connected to the processor 601 via a bus 604, and memories 602 and 603 connected to the bus 604. In some embodiments, the memory 602 may be a read-only memory (ROM), and the memory 603 may be a random access memory (RAM).

[0079] Processor 601 may be any kind of processor, and may include, but is not limited to, one or more general-purpose processors or special-purpose processors (such as special-purpose processing chips). Memories 602 and 603 may be any non-transitory storage device that can implement data storage, and may include, but is not limited to, disk drives, optical storage devices, solid-state memories, floppy disks, flexible disks, hard disks, tapes or any other magnetic media, compressed disks or any other optical media, cache memories and / or any other storage chips or modules, and / or any other media from which a computer can read data, instructions and / or codes.

[0080] The bus 604 may include, but is not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an Enhanced ISA (EISA) bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0081] In some embodiments, the input / output interface 605 is connected to an input unit 606 configured by an input device such as a keyboard and a mouse for a user to input an operation command, an output unit 607 that outputs a processing operation screen and an image of a processing result to a display device, a storage unit 608 including a hard disk drive and the like for storing programs and various data, and a communication unit 609 including a local area network (LAN) adapter and the like and performing communication processing via a network represented by the Internet. In addition, a drive 610 that reads and writes data from and on a removable storage medium 611 is connected.

[0082] Various aspects, embodiments, implementations or features of the foregoing embodiments may be used alone or in any combination. Various aspects of the foregoing embodiments may be implemented by software, hardware or a combination of hardware and software.

[0083] For example, the foregoing embodiments may be embodied as computer readable code on a computer readable medium. A computer readable medium is any data storage device that can store data that can thereafter be read by a computer system. Examples of computer readable media include read-only memory, random access memory, CD-ROM, DVD, magnetic tape, hard drive, solid state drive, and optical data storage device. The computer readable medium may also be distributed in a network coupled computer system so that the computer readable code is stored and executed in a distributed manner.

[0084] For example, the aforementioned embodiments may be in the form of hardware circuits. The hardware circuits may include any combination of combinational logic circuits, clock storage devices (such as floppy disks, flip-flops, latches, etc.), finite state machines, memories such as static random access memories or embedded dynamic random access memories, custom designed circuits, programmable logic arrays, etc.

[0085] In one embodiment, hardware circuits according to the present disclosure may be implemented by coding and designing one or more integrated circuits using a hardware description language (HDL) such as Verilog or VHDL, or in combination using discrete circuits.

[0086] The terms used herein are only for describing specific exemplary embodiments and are not intended to limit the present disclosure. Unless the context clearly indicates otherwise, the singular forms of "one" and "the" used herein are intended to include plural forms as well. It should also be understood that when the word "including" is used in this article, it indicates the existence of the indicated features, wholes, steps, operations, units and / or components, but does not exclude the existence or increase of one or more other features, wholes, steps, operations, units and / or components and / or their combinations. In addition, in the description of the present disclosure, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or order. In addition, in the description of the present disclosure, unless otherwise specified, the meaning of "multiple" is two or more.

[0087] References to "embodiments" or similar expressions in this specification refer to specific features, structures, or characteristics described in conjunction with the embodiment as being included in at least one specific embodiment of the present disclosure. Therefore, the appearance of "in an embodiment of the present disclosure" and similar expressions in this specification does not necessarily refer to the same embodiment.

[0088] Those skilled in the art will appreciate that the present disclosure may be implemented in various forms, such as a complete hardware embodiment, a complete software embodiment (including firmware, resident software, microprogram code, etc.), or a combination of software and hardware, which will be referred to below as a "circuit," "module," "unit," or "system." In addition, the present disclosure may also be implemented in any tangible media form as a computer program product having a computer-usable program code stored thereon.

[0089] The relevant description of the present disclosure is described with reference to the flowchart and / or block diagram of the system, device, method and computer program product according to the specific embodiment of the present disclosure. It can be understood that each block in each flowchart and / or block diagram, and any combination of blocks in the flowchart and / or block diagram, can be implemented using computer program instructions. These computer program instructions can be executed by a machine composed of a processor of a general-purpose computer or a special computer or other programmable data processing device, and the instructions are processed by a computer or other programmable data processing device to implement the functions or operations described in the flowchart and / or block diagram.

[0090] The accompanying drawings show the flow charts and block diagrams of the architecture, functions and operations that can be implemented by the systems, devices, methods and computer program products according to various embodiments of the present disclosure. Therefore, each block in the flow chart or block diagram can represent a module, segment, or part of the program code, which includes one or more executable instructions to implement the specified logical function. It should also be noted that in some other embodiments, the functions described in the blocks may not be performed in the order shown in the figure. For example, two blocks connected to each other in the figure can actually be executed simultaneously, or in some cases according to the functions involved, they can also be executed in the opposite order of the icons. It should also be noted that each block diagram and / or flow chart block, as well as the combination of blocks in the block diagram and / or flow chart, can be implemented by a system based on special hardware, or by a combination of special hardware and computer instructions to perform specific functions or operations.

[0091] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to market technologies, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A control method for a demolition device, comprising: Obtaining the initial position and heading of the demolition device, and planning the linear motion trajectory of the demolition device based on the kinematic model of the demolition device; When the demolition device moves along the linear motion trajectory, the dual motors of the demolition device are kept at the same speed based on a proportional-integral-differential (PID) control method; and In response to a deviation between the current position and the target position of the linear motion trajectory, the demolition device is corrected to the target position based on the deviation.

2. The control method according to claim 1, wherein: The current position and heading of the demolition device are obtained using a sensing device built into or placed beside the demolition device.

3. The control method according to claim 2, wherein: An encoder is used to obtain speed data of the dual motors.

4. The control method according to claim 3, wherein: The kinematic model is established based on the speed data, the current position and heading of the demolition device.

5. The control method according to claim 1, wherein: The target speed of the dual motor is set based on the linear motion trajectory and the kinematic model.

6. The control method according to claim 5, wherein: The corresponding proportional valve openings of the dual motors are driven based on the PID control method with the target speed as the control variable.

7. The control method according to claim 6, wherein: The flow rate of the hydraulic valve is determined in response to the opening of the proportional valve, the dual motor is driven by the flow rate, and the actual speed of the dual motor is fed back through an encoder.

8. The control method according to claim 1, wherein: An equation for the deviation between the target position and the current position is established, wherein the deviation includes the heading deviation and the lateral deviation of the demolition device.

9. The control method according to claim 8, wherein: The heading deviation and the lateral deviation are used as input quantities, and the target speed of the dual motors is used as output quantity to control the demolition device to move in a straight line.

10. The control method according to claim 9, wherein: In response to a heading deviation of the demolition device, a relative position of the demolition device on the linear motion trajectory is determined, and a corresponding motor of the dual motor is controlled based on the relative position.

11. The control method according to claim 9, wherein: In response to a lateral deviation of the demolition device, a relative angle between the demolition device and the linear motion trajectory is determined, and a corresponding motor of the dual motor is controlled based on the relative angle.

12. A control device for a demolition device, comprising: A sensing unit is configured to obtain an initial position and heading of the demolition device, and plan a linear motion trajectory of the demolition device based on a kinematic model of the demolition device; The motor execution unit is configured to keep the dual motors of the rescue device at the same speed based on a proportional integral differential (PID) control method during the movement of the rescue device along the linear motion trajectory; as well as The control unit is configured to, in response to a deviation between a current position and a target position of the linear motion trajectory, correct the demolition device to the target position based on the deviation.

13. The control device according to claim 12, wherein: The sensing unit is also configured to obtain the current position and heading of the demolition device using a sensing device built into or placed beside the demolition device.

14. The control device according to claim 13, wherein: The sensing unit is further configured to obtain speed data of the dual motors using an encoder.

15. The control device according to claim 14, wherein: The sensing unit is also configured to establish the kinematic model based on the speed data, the current position and heading of the demolition device, wherein the kinematic model is used to describe the kinematic relationship between the state quantity and the control quantity of the demolition device.

16. The control device according to claim 12, wherein: The motor execution unit is further configured to drive the corresponding proportional valve opening of the dual motor based on the PID control method with the target speed as the control amount.

17. The control device according to claim 16, wherein: The control unit is also configured to establish an equation for the deviation between the target position and the current position, wherein the deviation includes the heading deviation and lateral deviation of the demolition device, and to use the heading deviation and lateral deviation as input quantities and the target speed of the dual motor as output quantity to control the demolition device to travel in a straight line.

18. A control device for a demolition device, comprising: processor; as well as A memory storing computer executable instructions, wherein when the computer executable instructions are executed by the processor, the processor executes the control method for a demolition device according to any one of claims 1 to 11.

19. A non-transitory computer-readable storage medium storing computer-executable instructions, wherein when the computer-executable instructions are executed by a processor, the processor implements the control method for a demolition device according to any one of claims 1 to 11.

20. A computer program product, comprising computer executable instructions, which, when executed by a processor, enable the processor to implement the control method for a demolition device according to any one of claims 1 to 11.

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