Control method, device and equipment of unloading device, medium and program product

Abstract

The invention relates to a control method, device and equipment of an unloading device, a medium and a program product. The method comprises the steps that coordinate values, corresponding to generalized coordinates, of the unloading device in a target posture are obtained, wherein the coordinate values of the generalized coordinates comprise the lifting height of a slewing bearing; for each telescopic arm, a first distance from the mass center of the telescopic arm to the end part of the telescopic arm; a second distance from the mass center of the operating rod to the second end of the telescopic arm mechanism; the slewing bearing has a first slewing angle; the rotation angle of the operating rod; inputting the generalized coordinates into an unloading device control model constructed for the unloading device to obtain driving control data of the unloading device; and based on the driving control data, the unloading device is controlled to move to the target posture. By adopting the method, the control precision of the unloading device can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of unloading device control, and in particular to a control method, device, equipment, medium and program product for an unloading device. Background Art

[0002] As rail transport becomes increasingly important in bulk cargo logistics, efficient unloading of bulk cargo has become a key component in improving overall transportation efficiency. Traditional rail unloading methods, which rely primarily on manual operations or semi-automated equipment, suffer from low unloading efficiency, complex operations, and high labor costs. Furthermore, for large-scale bulk cargo, incomplete unloading and damage to railcars are common. These issues significantly limit the level of automation in rail transport. Especially given the high demand for freight and the diverse range of goods, traditional unloading methods struggle to adapt to the rapidly evolving demands of modern logistics.

[0003] To address the above issues, unloading devices have gradually become an important means to improve unloading efficiency. However, the traditional control method for unloading devices has the problem of low control accuracy, which affects the normal unloading progress. Summary of the Invention

[0004] Based on this, it is necessary to provide a control method, device, equipment, medium and program product for an unloading device to address the above technical problems.

[0005] In a first aspect, the present application provides a control method for a car unloading device, the car unloading device comprising a lifting mechanism, a slewing bearing, a telescopic arm mechanism, an operating rod, and a bucket; a first end of the telescopic arm mechanism is mounted on the lifting mechanism via a slewing bearing, the slewing axis of the slewing bearing being parallel to the lifting direction of the lifting mechanism; a second end of the telescopic arm mechanism is connected to the bucket via an operating rod; the operating rod is hinged to the telescopic arm mechanism, and the bucket is mounted on the operating rod so as to rotate along the axis of the operating rod; the telescopic arm mechanism comprises at least one telescopic arm; the control method for the car unloading device comprises:

[0006] Obtaining coordinate values of the unloading device corresponding to the generalized coordinates in the target posture, the generalized coordinate values including at least one of the following: a lifting height of the slewing bearing; a first distance from the center of mass of the telescopic arm to the end of the telescopic arm for each telescopic arm; a second distance from the center of mass of the operating lever to the second end of the telescopic arm mechanism; a first slewing angle of the slewing bearing; a rotation angle of the operating lever; and a second slewing angle of the bucket;

[0007] Inputting the generalized coordinates into the unloading device control model constructed for the unloading device to obtain the driving control data of the unloading device;

[0008] Based on the drive control data, the unloading device is controlled to move to the target posture.

[0009] In one embodiment, the control model of the unloading device is determined based on the following steps: determining a first association relationship with generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable; determining a second association relationship with generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable; determining the dynamic relationship between the total kinetic energy description data, the total potential energy description data and the drive control data of the unloading device; and determining the control model of the unloading device with generalized coordinates as the independent variable and the drive control data as the dependent variable based on the first association relationship, the second association relationship and the dynamic relationship.

[0010] In one embodiment, determining a first association relationship with generalized coordinates as independent variables and total kinetic energy description data of the unloading device as dependent variables includes: determining, for each telescopic arm, a first sub-association relationship with the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm in the generalized coordinates as independent variables, and the first kinetic energy description data of the telescopic arm center of mass of the telescopic arm as the dependent variable; determining a second sub-association relationship with the lifting height, the first rotation angle, the first distance, the second distance, and the rotation angle corresponding to each telescopic arm in the generalized coordinates as dependent variables, and the second kinetic energy description data of the center of mass of the operating rod as the dependent variable; determining a first rotation angle as the independent variable, and the first rotation kinetic energy data of the slewing support as the dependent variable. The third sub-association relationship of the variable; determine the fourth sub-association relationship with the rotation angle as the independent variable and the second rotational kinetic energy data of the operating lever as the dependent variable; determine the fifth sub-association relationship with the second rotation angle as the independent variable and the third rotational kinetic energy data of the bucket as the dependent variable; according to the first sub-association relationship, the second sub-association relationship, the third sub-association relationship, the fourth sub-association relationship and the fifth sub-association relationship corresponding to each telescopic arm, determine the first association relationship with the generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable; the total kinetic energy description data is the sum of the first kinetic energy description data, the second kinetic energy description data, the first rotational kinetic energy data, the second rotational kinetic energy data and the third rotational kinetic energy data.

[0011] In one embodiment, a first sub-association relationship is determined with the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm in generalized coordinates as independent variables and the first kinetic energy description data of the telescopic arm center of mass of the telescopic arm as the dependent variable, including: determining the coordinate position description data of the telescopic arm center of mass based on the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm; differentiating the coordinate position of the telescopic arm center of mass to obtain the velocity description data of the telescopic arm center of mass; determining the first sub-association relationship with the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm in generalized coordinates as independent variables and the first kinetic energy description data of the telescopic arm center of mass of the telescopic arm as the dependent variable based on the mass and velocity description data of the telescopic arm.

[0012] In one embodiment, determining a second association relationship with generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable includes: for each telescopic arm, determining a sixth sub-association relationship with the lifting height in generalized coordinates as the independent variable and the first potential energy description data of the telescopic arm's center of mass as the dependent variable; determining a seventh sub-association relationship with the lifting height and the second distance in generalized coordinates as the independent variables and the second potential energy description data of the operating rod's center of mass as the dependent variable; determining an eighth sub-association relationship with the lifting height in generalized coordinates as the independent variable and the third potential energy description data of the slewing bearing as the dependent variable; determining a second association relationship with the generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable based on the sixth sub-association relationship, the seventh sub-association relationship and the eighth sub-association relationship corresponding to each telescopic arm; the total potential energy description data is the sum of the first potential energy description data, the second potential energy description data and the third potential energy description data.

[0013] In one embodiment, determining the dynamic relationship between the total kinetic energy description data, the total potential energy description data and the drive control data of the unloading device includes: determining the energy difference description data between the total kinetic energy description data and the total potential energy description data; determining the system internal force description data of the unloading device based on the energy difference description data and the generalized coordinates; obtaining external disturbance data; determining the correlation relationship between the system internal force description data, the drive control data and the external disturbance data, and using the correlation relationship as the dynamic relationship between the total kinetic energy description data, the total potential energy description data and the drive control data of the unloading device.

[0014] In a second aspect, the present application further provides a control device for a car unloading device, the car unloading device comprising a lifting mechanism, a slewing bearing, a telescopic arm mechanism, an operating rod, and a bucket; the first end of the telescopic arm mechanism is mounted on the lifting mechanism via a slewing bearing, the slewing axis of the slewing bearing being parallel to the lifting direction of the lifting mechanism; the second end of the telescopic arm mechanism is connected to the bucket via an operating rod; the operating rod is hinged to the telescopic arm mechanism, and the bucket is mounted on the operating rod so as to rotate along the axis of the operating rod; the telescopic arm mechanism comprises at least one telescopic arm; the control device for the car unloading device comprises:

[0015] The first acquisition module is configured to acquire coordinate values of the unloading device corresponding to the generalized coordinates in the target posture, wherein the coordinate values of the generalized coordinates include at least one of the following: a lifting height of the slewing bearing; a first distance from the center of mass of each telescopic arm to the end of the telescopic arm; a second distance from the center of mass of the operating lever to the second end of the telescopic arm mechanism; a first slewing angle of the slewing bearing; a rotation angle of the operating lever; and a second slewing angle of the bucket;

[0016] A first input module is used to input the generalized coordinates into a vehicle unloading device control model constructed for the vehicle unloading device to obtain driving control data of the vehicle unloading device;

[0017] The first control module is used to control the unloading device to move to a target posture based on the driving control data.

[0018] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method of the first aspect described above in various situations are implemented.

[0019] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method of the first aspect in various situations.

[0020] In a fifth aspect, the present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method of the first aspect in various situations.

[0021] The control method, device, apparatus, medium, and program product for the unloading device described above achieve a transition from position control to attitude-mechanical coordinated control of the unloading device by introducing the coordinate values of the unloading device corresponding to the generalized coordinates at the target posture, thereby improving control accuracy. By constructing an unloading device control model for the unloading device and inputting the generalized coordinates into the unloading device control model constructed, the drive control of the unloading device can be quickly and accurately obtained, thereby controlling the unloading device to move to the target posture based on the drive control data. Furthermore, since the generalized coordinates include the lifting height of the slewing bearing; the first distance from the center of mass of the telescopic arm to the end of the telescopic arm for each telescopic arm; the second distance from the center of mass of the operating lever to the second end of the telescopic arm mechanism; the first rotation angle of the slewing bearing; the rotation angle of the operating lever; and the second rotation angle of the bucket, a data basis is provided for controlling the spatial posture of the unloading device. Furthermore, by introducing the center of mass position in the generalized coordinates, it is easier to determine the force distribution of each joint of the unloading device, further improving the control accuracy of the unloading device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a schematic structural diagram of an unloading device in one embodiment;

[0024] Figure 2AA schematic flow chart of a control method for a vehicle unloading device according to an embodiment;

[0025] Figure 2B A simplified schematic diagram of an unloading device in one embodiment;

[0026] Figure 3 1 is a flow chart of a method for constructing a control model of an unloading device in one embodiment;

[0027] Figure 4A Schematic diagram of tracking results of the first target in one embodiment;

[0028] Figure 4B Schematic diagram of the tracking structure of the second target in one embodiment;

[0029] Figure 5 A schematic flow chart of a control method for a vehicle unloading device in another embodiment;

[0030] Figure 6 This is a structural block diagram of a control device for an unloading device in one embodiment;

[0031] Figure 7 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0033] The control method of the unloading device provided in the embodiment of the present application can be applied to Figure 1 The unloading device shown in FIG. The unloading device includes a traveling mechanism, a lifting mechanism 200 , a slewing bearing, a telescopic arm mechanism 300 , an operating rod 400 and a bucket.

[0034] Exemplarily, the traveling mechanism includes a chassis, a chassis drive motor 101 mounted on the chassis, a chassis traveling assembly 102 connected to the chassis, a hydraulic system heat sink 103 mounted on the chassis, a hydraulic system control box 104 mounted on the chassis, a power battery cabinet 105 mounted on the chassis, and an electrical control cabinet 106 mounted on the chassis.

[0035] Among them, the chassis drive motor 101 can be used to drive the chassis walking component 102 to perform walking movements; the hydraulic system can be used to provide hydraulic power for at least one of the lifting mechanism, slewing bearing, telescopic arm mechanism and operating lever; the hydraulic system heat sink 103 can be used to dissipate heat for the hydraulic system; the hydraulic system control box 104 is used to adjust and control the hydraulic system; the power battery cabinet 105 can be used to power the unloading device; and the electrical control cabinet 106 is used to electrically control the unloading device.

[0036] For example, the lifting mechanism 200 may be installed on a chassis, and the lifting mechanism 200 is used to lift and lower in a direction perpendicular to the chassis to adjust the lifting height of the bucket.

[0037] Illustratively, the first end of the telescopic arm mechanism 300 is mounted on the lifting mechanism 200 via a slewing bearing, and the slewing axis of the slewing bearing is parallel to the lifting direction of the lifting mechanism; the second end of the telescopic arm mechanism 300 is connected to the bucket via an operating rod 400 .

[0038] Optionally, the telescopic arm mechanism 300 may include at least one telescopic arm. Exemplarily, the telescopic arm mechanism 300 may include a primary telescopic arm and a secondary telescopic arm connected to the primary telescopic arm; one end of the primary telescopic arm is mounted on the lifting mechanism via a slewing bearing, the other end of the primary telescopic arm is connected to the second telescopic arm, and the secondary telescopic arm is spaced apart from one end of the primary telescopic arm and connected to the bucket via an operating lever 400. The telescopic arm's telescopic direction may be parallel to the plane of the chassis. It should be noted that this application does not impose any restrictions on the specific number of telescopic arms.

[0039] For example, the operating rod 400 is hinged to the telescopic arm mechanism 300 , and the bucket is mounted on the operating rod 400 so as to be rotatable along the axis of the operating rod 400 .

[0040] In an exemplary embodiment, Figure 2A As shown, a control method for an unloading device is provided, which is applied to Figure 1 The unloading device in the embodiment is taken as an example to illustrate, which includes the following steps:

[0041] S210. Obtain the coordinate values of the generalized coordinates corresponding to the unloading device in the target posture, where the coordinate values of the generalized coordinates include at least one of the following: the lifting height of the slewing bearing; for each telescopic arm, a first distance from the center of mass of the telescopic arm to the end of the telescopic arm; a second distance from the center of mass of the operating lever to the second end of the telescopic arm mechanism; a first slewing angle of the slewing bearing; a rotation angle of the operating lever; and a second slewing angle of the bucket.

[0042] The generalized coordinates corresponding to the target posture describe the spatial position and orientation of the unloading mechanism at the target posture. The target posture can be understood as the combined position and orientation of each component in the unloading mechanism. Specifically, when the unloading mechanism needs to perform a specific action, such as unloading to a specific location or adjusting to a specific working angle, the parameter combination of each component (such as the lifting mechanism, telescopic arm mechanism, slewing bearing, operating lever, and bucket) together constitutes the target posture.

[0043] Among them, the lifting height of the slewing bearing can be understood as the vertical distance between the slewing bearing and the ground or chassis; the first distance corresponding to the telescopic arm can include the distance from the center of mass of the telescopic arm to one end of the telescopic arm close to the slewing bearing; the first rotation angle can be understood as the rotation angle of the telescopic arm mechanism along the first rotation axis of the slewing bearing, and the first rotation axis is parallel to the lifting direction of the lifting mechanism; the second rotation angle can be understood as the rotation angle of the bucket along the second rotation axis, and the second rotation axis is parallel to the operating lever; the rotation angle of the operating lever can be understood as the angle between the operating lever and the first rotation axis, that is, the angle between the operating lever and the vertical direction.

[0044] For easier understanding, refer to Figure 2B The figure shows a simplified schematic diagram of the unloading device. A spatial rectangular coordinate system can be established for the unloading device, with the slewing bearing serving as the origin. The x- and y-axes of the spatial rectangular coordinate system are parallel to the chassis or ground, and the z-axis is parallel to the lifting direction of the lifting mechanism 200 and the first axis of rotation of the slewing bearing.

[0045] Continue to refer Figure 2B , Figure 2B The figure shows that the lifting height of the slewing support is x1; the first rotation angle of the slewing support is The telescopic arm mechanism includes a first-stage telescopic arm and a second-stage telescopic arm. The length of the first-stage telescopic arm is l1, the mass is m1, and the first distance corresponding to the first-stage telescopic arm is x2; the length of the second-stage telescopic arm is l2, the mass is m2, and the first distance corresponding to the second-stage telescopic arm is x3. The length of the operating rod is l3, the mass of the operating rod is m3, the second distance corresponding to the operating rod is x4, and the rotation angle of the operating rod is The second rotation angle of the bucket is .

[0046] Exemplarily, the first moment of inertia of the slewing bearing is J1, the second moment of inertia of the operating lever is J2, and the third moment of inertia of the bucket is J3.

[0047] S220: Input the generalized coordinates into a control model of the unloading device constructed for the unloading device to obtain driving control data of the unloading device.

[0048] In an optional embodiment, the unloading device control model can be expressed by the following formula:

[0049] ;

[0050] in, represents the inertia force matrix; represents the non-inertial force matrix, which can include centripetal force and Coriolis force; represents the gravity matrix; F represents the drive control data; Represents external disturbance data.

[0051] For example, the coordinate value q of the generalized coordinate q i It can be expressed as:

[0052] ;

[0053] in, Indicates the first rotation angle of the slewing support; Indicates the second rotation angle of the bucket; Indicates the rotation angle of the operating lever; Indicates the lifting height of the slewing bearing; Indicates the first distance corresponding to the first-level telescopic arm; Indicates the first distance corresponding to the secondary telescopic arm; Indicates the second distance corresponding to the operating stick.

[0054] For example, the inertia force matrix It can be expressed as:

[0055]

[0056]

[0057]

[0058]

[0059]

[0060]

[0061]

[0062]

[0063] Among them, the inertia force matrix The remaining matrix elements in are 0.

[0064] For example, the non-inertial force matrix It can be expressed as:

[0065]

[0066] ;

[0067]

[0068]

[0069]

[0070]

[0071] Among them, the non-inertia force matrix The remaining matrix elements in are 0.

[0072] For example, the gravity term matrix It can be expressed as:

[0073] ;

[0074] Among them, g1, g2, g3, g4, g5, g6, and g7 represent the acceleration due to gravity.

[0075] Exemplary, external perturbation data It can be expressed as:

[0076] ;

[0077]

[0078] in, 、 、 Indicates the preset Coulomb friction coefficient; 、 、 、 、 、 、 Indicates the preset damping coefficient; Represents the preset smoothing parameter; tanh represents the hyperbolic tangent function.

[0079] Exemplarily, the drive control data F can be expressed in a matrix form, namely:

[0080] .

[0081] S230: Based on the drive control data, control the unloading device to move to the target posture.

[0082] In an optional embodiment, the unloading device can be controlled to move to a target posture by driving control data. Optionally, the drive control data can be error-corrected, and the unloading device can be controlled to move to a target posture based on the error-corrected drive control data. Exemplarily, the drive control data can be error-corrected based on a traditional error correction method, or PD (Proportional-Deriwative) control can be loaded on the unloading device control model to adjust the drive control data. Among them, PD control can adopt a traditional PD control method, and the specific control method of PD control in this application is not limited in any way. Exemplarily, the control target can be defined as:

[0083]

[0084]

[0085] PD control is performed based on the following formula:

[0086] ;

[0087] in, Indicates the coordinate value of the generalized coordinate under the actual posture; q d Represents the coordinate value of the corresponding generalized coordinate under the target posture; k1 is the proportional gain and k2 is the differential gain.

[0088] The above-mentioned control method for the unloading device achieves a transition from position control to attitude-mechanical coordinated control of the unloading device by introducing the coordinate values of the unloading device corresponding to the generalized coordinates at the target posture, which is conducive to improving control accuracy. By constructing an unloading device control model for the unloading device and inputting the generalized coordinates into the unloading device control model constructed, the drive control of the unloading device can be quickly and accurately obtained, and thus the unloading device can be controlled to move to the target posture based on the drive control data. At the same time, because the generalized coordinates include the lifting height of the slewing bearing; for each telescopic arm, the first distance from the center of mass of the telescopic arm to the end of the telescopic arm; the second distance from the center of mass of the operating lever to the second end of the telescopic arm mechanism; the first rotation angle of the slewing bearing; the rotation angle of the operating lever; and the second rotation angle of the bucket, it provides a data basis for controlling the spatial posture of the unloading device. At the same time, the introduction of the center of mass position in the generalized coordinates facilitates the determination of the force distribution of each joint of the unloading device, further improving the control accuracy of the unloading device.

[0089] Based on the above embodiment, a method for constructing a control model of a vehicle unloading device is also provided. Figure 3 The following shows the construction method of the unloading device control model, including:

[0090] S310: Determine a first association relationship with the generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable.

[0091] The total kinetic energy description data can be understood as the sum of the kinetic energy of each moving component in the unloading device. Each moving component can include at least one component of a telescopic arm, an operating lever, a slewing bearing, and a bucket.

[0092] In an optional embodiment, the total kinetic energy description data of the unloading device may include the first kinetic energy description data corresponding to the center of mass of each telescopic arm, the second kinetic energy description data of the center of mass of the operating lever, the first rotational kinetic energy data of the slewing bearing, the second rotational kinetic energy data of the operating lever and the third rotational kinetic energy data of the bucket.

[0093] In an optional embodiment, for each telescopic arm, a first sub-association relationship can be determined with the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm in generalized coordinates as independent variables, and the first kinetic energy description data of the telescopic arm's center of mass of the telescopic arm as the dependent variable; a second sub-association relationship can be determined with the lifting height, the first rotation angle, the first distance corresponding to each telescopic arm, the second distance and the rotation angle in generalized coordinates as dependent variables, and the second kinetic energy description data of the center of mass of the operating rod as the dependent variable; a third sub-association relationship can be determined with the first rotation angle as the independent variable and the first rotational kinetic energy data of the slewing support as the dependent variable; and a third sub-association relationship can be determined with the rotation angle as the independent variable and the first rotational kinetic energy data of the slewing support as the dependent variable. As the independent variable, the fourth sub-association relationship is determined with the second rotational kinetic energy data of the operating lever as the dependent variable; the fifth sub-association relationship is determined with the second rotation angle as the independent variable and the third rotational kinetic energy data of the bucket as the dependent variable; according to the first sub-association relationship, the second sub-association relationship, the third sub-association relationship, the fourth sub-association relationship and the fifth sub-association relationship corresponding to each telescopic arm, the first association relationship is determined with the generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable; the total kinetic energy description data is the sum of the first kinetic energy description data, the second kinetic energy description data, the first rotational kinetic energy data, the second rotational kinetic energy data and the third rotational kinetic energy data.

[0094] Below Figure 1 Taking the unloading device shown as an example, the steps for determining the first association relationship are exemplarily described. The telescopic arm mechanism of the unloading device may include a primary telescopic arm and a secondary telescopic arm. It should be noted that this should not be construed as limiting the specific steps for determining the first association relationship.

[0095] For example, the first sub-association relationship corresponding to the center of mass of the first-level telescopic arm can be expressed as:

[0096]

[0097] Wherein, T1 represents the first kinetic energy description data of the center of mass of the first-stage telescopic arm; m1 represents the mass of the first-stage telescopic arm; x2 represents the distance from the center of mass of the first-stage telescopic arm to the end of the first-stage telescopic arm close to the slewing bearing, that is, the first distance corresponding to the first-stage telescopic arm; It represents the first rotation angle of the slewing support; x1 represents the lifting height of the slewing support.

[0098] For example, the first sub-association relationship corresponding to the mass center of the secondary telescopic arm can be expressed as:

[0099]

[0100] Wherein, T2 represents the first kinetic energy description data of the center of mass of the secondary telescopic arm; m2 represents the mass of the secondary telescopic arm; x2 represents the distance from the center of mass of the primary telescopic arm to the end of the primary telescopic arm close to the slewing bearing, i.e., the first distance corresponding to the primary telescopic arm; x3 represents the distance from the center of mass of the secondary telescopic arm to the end of the secondary telescopic arm close to the slewing bearing, i.e., the first distance corresponding to the secondary telescopic arm; It represents the first rotation angle of the slewing support; x1 represents the lifting height of the slewing support.

[0101] For example, the second sub-association relationship corresponding to the centroid of the joystick can be expressed as:

[0102]

[0103] Wherein, T3 represents the first kinetic energy description data of the center of mass of the operating rod; m3 represents the mass of the operating rod; x2 represents the distance from the center of mass of the telescopic arm of the first telescopic arm to the end of the first telescopic arm close to the slewing bearing, i.e., the first distance corresponding to the first telescopic arm; x3 represents the distance from the center of mass of the telescopic arm of the second telescopic arm to the end of the second telescopic arm close to the slewing bearing, i.e., the first distance corresponding to the second telescopic arm; x4 represents the second distance from the center of mass of the operating rod to the second end of the telescopic arm mechanism; Indicates the rotation angle of the operating lever; It represents the first rotation angle of the slewing support; x1 represents the lifting height of the slewing support.

[0104] For example, the third sub-association relationship corresponding to the slewing bearing can be expressed as:

[0105] ;

[0106] Among them, T R Indicates the first rotational kinetic energy data of the slewing bearing; J1 indicates the first moment of inertia of the slewing bearing; Indicates the first rotation angle of the slewing support.

[0107] For example, the fourth sub-association relationship corresponding to the operating lever can be expressed as:

[0108]

[0109] Among them, T w represents the second rotational kinetic energy data of the operating lever; J2 represents the second rotational inertia of the operating lever; Indicates the rotation angle of the operating lever.

[0110] For example, the fifth sub-association of the bucket can be expressed as:

[0111]

[0112] Among them, T B represents the third rotational kinetic energy data of the bucket; J3 represents the third rotational inertia of the bucket; Indicates the second rotation angle of the bucket.

[0113] For example, by adding the first kinetic energy description data, the second kinetic energy description data, the first rotational kinetic energy data, the second rotational kinetic energy data, and the third rotational kinetic energy data, a first correlation relationship can be obtained with the generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable. The first correlation relationship can be expressed as:

[0114] .

[0115] S320. Determine a second association relationship with the generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable.

[0116] In an optional embodiment, the total potential energy description data of the unloading device may include first potential energy description data corresponding to the center of mass of each telescopic arm, second potential energy description data corresponding to the center of mass of the operating lever, and third potential energy description data corresponding to the slewing bearing.

[0117] The total potential energy description data can be understood as the sum of the potential energies of all moving parts in the unloading device.

[0118] In an optional embodiment, for each telescopic arm, a sixth sub-association relationship can be determined with the lifting height in generalized coordinates as the independent variable and the first potential energy description data of the telescopic arm's center of mass as the dependent variable; a seventh sub-association relationship can be determined with the lifting height and the second distance in generalized coordinates as the independent variables and the second potential energy description data of the operating lever's center of mass as the dependent variable; an eighth sub-association relationship can be determined with the lifting height in generalized coordinates and the third potential energy description data of the slewing bearing as the dependent variable; based on the sixth sub-association relationship, the seventh sub-association relationship and the eighth sub-association relationship corresponding to each telescopic arm, a second association relationship can be determined with the generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable; the total potential energy description data is the sum of the first potential energy description data, the second potential energy description data and the third potential energy description data.

[0119] Below is Figure 1 Taking the unloading device shown as an example, the steps for determining the second association relationship are exemplarily described.

[0120] For example, the sixth sub-association relationship corresponding to the center of mass of the first-level telescopic arm can be expressed as:

[0121]

[0122] Among them, V1 represents the first potential energy description data of the center of mass of the first-stage telescopic arm; m1 represents the mass of the first-stage telescopic arm; g represents the acceleration of gravity; and x1 represents the lifting height of the slewing bearing.

[0123] For example, the sixth sub-association relationship corresponding to the mass center of the secondary telescopic arm can be expressed as:

[0124]

[0125] Among them, V2 represents the first potential energy description data of the center of mass of the secondary telescopic arm; m2 represents the mass of the secondary telescopic arm; g represents the acceleration of gravity; and x1 represents the lifting height of the slewing bearing.

[0126] For example, the seventh sub-association relationship corresponding to the center of mass of the joystick can be expressed as:

[0127]

[0128] Wherein, V3 represents the second potential energy description data of the center of mass of the operating rod; m3 represents the mass of the operating rod; g represents the acceleration due to gravity; x1 represents the lifting height of the slewing bearing; x4 represents the second distance from the center of mass of the operating rod to the second end of the telescopic arm mechanism; Indicates the rotation angle of the operating lever.

[0129] For example, the eighth sub-association relationship corresponding to the slewing bearing can be expressed as:

[0130] =

[0131] Among them, V R It represents the third potential energy description data of the slewing bearing; m0 represents the mass of the slewing bearing; g represents the acceleration of gravity; x1 represents the lifting height of the slewing bearing.

[0132] For example, by adding the first potential energy description data, the second potential energy description data, and the third potential energy description data, a second correlation relationship can be determined with the generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable. The second correlation relationship can be expressed as:

[0133] .

[0134] S330: Determine the dynamic relationship between the total kinetic energy description data, the total potential energy description data, and the driving control data of the unloading device.

[0135] In an optional embodiment, the energy difference description data between the total kinetic energy description data and the total potential energy description data can be determined; based on the energy difference description data and the generalized coordinates, the system internal force description data of the unloading device can be determined; the external disturbance data can be obtained; the correlation between the system internal force description data, the drive control data and the external disturbance data can be determined, and the correlation relationship can be used as the dynamic relationship between the total kinetic energy description data, the total potential energy description data and the drive control data of the unloading device.

[0136] For example, the total kinetic energy description data and the total potential energy description data can be subtracted based on the Lagrangian function to obtain energy difference description data, wherein the energy difference description data L can be expressed as: L=TV.

[0137] For example, external disturbance data can be obtained; and the correlation between the system internal force description data, the drive control data, and the external disturbance data can be determined. The correlation can be expressed in the form of the Lagrange equation as follows:

[0138]

[0139]

[0140] Among them, L represents the energy difference description data; represents the coordinate value of the generalized coordinate; F represents the drive control data; f represents the external disturbance data, that is, the external disturbance data F S .

[0141] S340. Determine a control model for the unloading device with the generalized coordinates as independent variables and the drive control data as dependent variables based on the first association relationship, the second association relationship, and the dynamic relationship.

[0142] For example, the first correlation relationship and the second correlation relationship can be substituted into the energy difference description data of the kinetic relationship, that is, the energy difference description data L can be expressed as:

[0143]

[0144] Finally, the unloading device control model can be obtained as follows:

[0145] .

[0146] It can be seen that the left side of the equal sign in the above formula represents the internal force of the system, which is composed of inertial force, non-inertial force (including centripetal force and Coriolis force) and gravity; the right side of the equal sign represents the external force of the system, which is composed of drive control data and external disturbance data.

[0147] Based on the above embodiments, in some embodiments, the steps for determining the first sub-association are further refined. The steps for determining the first sub-association may include: determining coordinate position description data of the telescopic arm's center of mass based on the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm; differentiating the coordinate position of the telescopic arm's center of mass to obtain velocity description data of the telescopic arm's center of mass; and determining, based on the telescopic arm's mass and velocity description data, a first sub-association with the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm in generalized coordinates as independent variables and the first kinetic energy description data of the telescopic arm's center of mass as the dependent variable.

[0148] The following uses the first-level telescopic arm and the second-level telescopic arm as examples to illustrate the steps of determining the first sub-association relationship.

[0149] In an optional embodiment, the coordinate position description data of the telescopic arm center of mass of the first-level telescopic arm can be expressed as:

[0150]

[0151] The velocity description data obtained by differentiating the coordinate position of the center of mass of the first-stage telescopic arm can be expressed as:

[0152]

[0153] According to the velocity description data of the center of mass of the first-level telescopic arm and the mass of the first-level telescopic arm, the first sub-association relationship corresponding to the first-level telescopic arm can be obtained, namely:

[0154] .

[0155] In an optional embodiment, the coordinate position description data of the telescopic arm center of mass of the secondary telescopic arm can be expressed as:

[0156]

[0157] The velocity description data obtained by differentiating the coordinate position of the center of mass of the secondary telescopic arm can be expressed as:

[0158]

[0159] According to the velocity description data of the secondary telescopic arm's center of mass and the mass of the secondary telescopic arm, the first sub-association relationship corresponding to the secondary telescopic arm can be obtained, namely:

[0160]

[0161] Similarly, the coordinate position description data of the center of mass of the joystick can be determined; the coordinate position of the center of mass of the joystick is derived to obtain the velocity description data of the center of mass of the joystick; and the second sub-association relationship is determined based on the velocity description data of the center of mass of the joystick and the mass of the joystick.

[0162] The coordinate position description data of the center of mass of the joystick can be expressed as:

[0163]

[0164] The velocity description data of the center of mass of the joystick can be expressed as:

[0165]

[0166] The coordinate position description data and speed description data have been explained above and will not be repeated here.

[0167] Based on the above embodiment, a verification embodiment is also provided.

[0168] In this verification example, the first target (i.e. aim1) is: ; In the first PD control mode , Take this as an example to illustrate.

[0169] refer to Figure 4A As shown in the schematic diagram of the tracking result of the first target, by loading the first PD control into the unloading device control model, the tracking of the first target is effectively achieved, that is, the first target aim1 and the corresponding output output1 coincide with each other.

[0170] In this verification example, the second target (i.e. aim2) is: ; In the second PD control mode , Take this as an example to illustrate.

[0171] refer to Figure 4BThe tracking result diagram of the second target is shown in the figure, which also effectively realizes the tracking of the second target. Figure 4A and Figure 4B It can be seen that the tracking effect is also achieved for target trajectories with different periods, that is, the second target aim2 and the corresponding output output2 coincide. By constructing a control model for the unloading device and inputting the generalized coordinates into the control model, the drive control data is obtained, thereby effectively improving the control accuracy.

[0172] Based on the above embodiment, the control method of the unloading device is described in detail. Figure 5 Another embodiment of the unloading device control method includes:

[0173] S501, determining a first association relationship with the generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable;

[0174] S502, determining a second association relationship with the generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable;

[0175] S503, determining energy difference description data between the total kinetic energy description data and the total potential energy description data;

[0176] S504, determining the system internal force description data of the unloading device based on the energy difference description data and the generalized coordinates;

[0177] S505, obtaining external disturbance data;

[0178] S506: Determine the correlation between the system internal force description data, the drive control data, and the external disturbance data, and use the correlation as the dynamic relationship between the total kinetic energy description data, the total potential energy description data, and the drive control data of the unloading device.

[0179] S507: Determine a control model for the unloading device with the generalized coordinates as independent variables and the drive control data as dependent variables based on the first association relationship, the second association relationship, and the dynamic relationship;

[0180] S508: Obtain the coordinate values of the unloading device corresponding to the generalized coordinates in the target posture.

[0181] The coordinate values of the generalized coordinates include at least one of the following: a lifting height of the slewing bearing; a first distance from the center of mass of the telescopic arm to the end of the telescopic arm for each telescopic arm; a second distance from the center of mass of the operating lever to the second end of the telescopic arm mechanism; a first slewing angle of the slewing bearing; a rotation angle of the operating lever; and a second slewing angle of the bucket;

[0182] S509: Input the generalized coordinates into the unloading device control model constructed for the unloading device to obtain driving control data of the unloading device;

[0183] S510: Based on the drive control data, control the unloading device to move to a target posture.

[0184] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0185] Based on the same inventive concept, embodiments of the present application further provide a control device for a vehicle unloading device for implementing the aforementioned control method for a vehicle unloading device. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more of the following control device embodiments for a vehicle unloading device can be found in the aforementioned limitations of the control method for a vehicle unloading device, and will not be further elaborated here.

[0186] In an exemplary embodiment, Figure 6 As shown, a control device for a vehicle unloading device is provided, comprising: a first acquisition module 610, a first input module 620 and a first control module 630, wherein:

[0187] The first acquisition module 610 is used to obtain the coordinate values of the generalized coordinates corresponding to the unloading device in the target posture, and the coordinate values of the generalized coordinates include at least one of the following: the lifting height of the slewing bearing; for each telescopic arm, the first distance from the center of mass of the telescopic arm to the end of the telescopic arm; the second distance from the center of mass of the operating lever to the second end of the telescopic arm mechanism; the first rotation angle of the slewing bearing; the rotation angle of the operating lever; and the second rotation angle of the bucket.

[0188] The first input module 620 is used to input the generalized coordinates into the unloading device control model constructed for the unloading device to obtain the driving control data of the unloading device.

[0189] The first control module 630 is used to control the unloading device to move to a target posture based on the driving control data.

[0190] In one embodiment, the method further includes: a construction module for constructing a control model of the unloading device.

[0191] In one embodiment, the construction module includes: a first determination unit, used to determine a first association relationship with generalized coordinates as independent variables and the total kinetic energy description data of the unloading device as dependent variables; a second determination unit, used to determine a second association relationship with generalized coordinates as independent variables and the total potential energy description data of the unloading device as dependent variables; a third determination unit, used to determine the dynamic relationship between the total kinetic energy description data, the total potential energy description data and the drive control data of the unloading device; a fourth determination unit, used to determine a control model of the unloading device with generalized coordinates as independent variables and the drive control data as dependent variables based on the first association relationship, the second association relationship and the dynamic relationship.

[0192] In one embodiment, the first determination unit includes: a first determination subunit, for determining, for each telescopic arm, a first sub-association relationship with the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm in the generalized coordinates as independent variables, and the first kinetic energy description data of the telescopic arm center of mass of the telescopic arm as the dependent variable; a second determination subunit, for determining the second sub-association relationship with the lifting height, the first rotation angle, the first distance corresponding to each telescopic arm, the second distance and the rotation angle in the generalized coordinates as dependent variables, and the second kinetic energy description data of the center of mass of the operating rod as the dependent variable; a third determination subunit, for determining a third sub-association relationship with the first rotation angle as the independent variable, and the first rotation kinetic energy data of the slewing support as the dependent variable; a fourth determination subunit, for determining a third sub-association relationship with the first rotation angle as the independent variable, and the first rotation kinetic energy data of the slewing support as the dependent variable. The sub-unit is used to determine the fourth sub-association relationship with the rotation angle as the independent variable and the second rotational kinetic energy data of the operating lever as the dependent variable; the fifth determination sub-unit is used to determine the fifth sub-association relationship with the second rotation angle as the independent variable and the third rotational kinetic energy data of the bucket as the dependent variable; the sixth determination sub-unit determines the first association relationship with the generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable based on the first sub-association relationship, the second sub-association relationship, the third sub-association relationship, the fourth sub-association relationship and the fifth sub-association relationship corresponding to each telescopic arm; the total kinetic energy description data is the sum of the first kinetic energy description data, the second kinetic energy description data, the first rotational kinetic energy data, the second rotational kinetic energy data and the third rotational kinetic energy data.

[0193] In one embodiment, the first determination subunit is specifically used to determine the coordinate position description data of the center of mass of the telescopic arm based on the lifting height, the first rotation angle and the first distance corresponding to the telescopic arm; to differentiate the coordinate position of the center of mass of the telescopic arm to obtain the velocity description data of the center of mass of the telescopic arm; and to determine the first sub-association relationship based on the mass and speed description data of the telescopic arm, with the lifting height, the first rotation angle and the first distance corresponding to the telescopic arm in the generalized coordinates as independent variables and the first kinetic energy description data of the center of mass of the telescopic arm of the telescopic arm as the dependent variable.

[0194] In one embodiment, the second determination unit includes: a seventh determination subunit, which is used to determine, for each telescopic arm, a sixth sub-association relationship with the lifting height in generalized coordinates as the independent variable and the first potential energy description data of the telescopic arm's center of mass as the dependent variable; an eighth determination subunit, which is used to determine a seventh sub-association relationship with the lifting height and the second distance in generalized coordinates as the independent variables and the second potential energy description data of the operating rod's center of mass as the dependent variable; a ninth determination subunit, which is used to determine an eighth sub-association relationship with the lifting height in generalized coordinates as the independent variable and the third potential energy description data of the slewing bearing as the dependent variable; a tenth determination subunit, which is used to determine, based on the sixth sub-association relationship, the seventh sub-association relationship and the eighth sub-association relationship corresponding to each telescopic arm, a second association relationship with the generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable; the total potential energy description data is the sum of the first potential energy description data, the second potential energy description data and the third potential energy description data.

[0195] In one embodiment, the third determination unit includes: an eleventh determination subunit, used to determine the energy difference description data between the total kinetic energy description data and the total potential energy description data; a twelfth determination subunit, used to determine the system internal force description data of the unloading device based on the energy difference description data and the generalized coordinates; a first acquisition subunit, used to acquire external disturbance data; a thirteenth determination subunit, used to determine the correlation relationship between the system internal force description data, the drive control data and the external disturbance data, and use the correlation relationship as the dynamic relationship between the total kinetic energy description data, the total potential energy description data and the drive control data of the unloading device.

[0196] Each module in the control device of the unloading device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0197] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 6As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless means. The wireless means can be implemented via Wi-Fi, a mobile cellular network, near-field communication (NFC), or other technologies. When executed by the processor, the computer program implements a method for controlling a truck unloading device. The display unit of the computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0198] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0199] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0200] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0201] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0202] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0203] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0204] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A control method for an unloading device, characterized in that: The unloading device includes a lifting mechanism, a slewing bearing, a telescopic arm mechanism, an operating rod, and a bucket; the first end of the telescopic arm mechanism is mounted on the lifting mechanism via the slewing bearing, and the slewing axis of the slewing bearing is parallel to the lifting direction of the lifting mechanism; the second end of the telescopic arm mechanism is connected to the bucket via the operating rod; the operating rod is hinged to the telescopic arm mechanism, and the bucket is mounted on the operating rod so as to rotate along the axis of the operating rod; the telescopic arm mechanism includes at least one telescopic arm; the method includes: Obtaining coordinate values of the unloading device corresponding to generalized coordinates in a target posture, the coordinate values of the generalized coordinates including at least one of the following: a lifting height of the slewing bearing; a first distance from the center of mass of each telescopic arm to the end of the telescopic arm; a second distance from the center of mass of the operating lever to the second end of the telescopic arm mechanism; a first slewing angle of the slewing bearing; a rotation angle of the operating lever; and a second slewing angle of the bucket; Inputting the generalized coordinates into a vehicle unloading device control model constructed for the vehicle unloading device to obtain driving control data of the vehicle unloading device; Based on the driving control data, the unloading device is controlled to move to the target posture.

2. The method according to claim 1, characterized in that The unloading device control model is determined based on the following steps: Determine a first association relationship with the generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable; Determine a second association relationship with the generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable; Determining a dynamic relationship between the total kinetic energy description data, the total potential energy description data, and the drive control data of the unloading device; According to the first association relationship, the second association relationship and the dynamic relationship, a control model of the unloading device is determined with generalized coordinates as independent variables and drive control data as dependent variables.

3. The method according to claim 2, characterized in that The determining of the first association relationship with the generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable includes: For each telescopic arm, determining a first sub-association with the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm in the generalized coordinates as independent variables and the first kinetic energy description data of the telescopic arm center of mass of the telescopic arm as a dependent variable; Determine a second sub-association with the lifting height, the first rotation angle, the first distance corresponding to each telescopic arm, the second distance, and the rotation angle in the generalized coordinates as dependent variables, and the second kinetic energy description data of the center of mass of the operating rod as the dependent variable; determining a third sub-association relationship with the first rotation angle as an independent variable and the first rotational kinetic energy data of the slewing bearing as a dependent variable; determining a fourth sub-association relationship with the rotation angle as an independent variable and the second rotational kinetic energy data of the operating lever as a dependent variable; determining a fifth sub-association with the second rotation angle as an independent variable and the third rotational kinetic energy data of the bucket as a dependent variable; According to the first sub-association relationship, the second sub-association relationship, the third sub-association relationship, the fourth sub-association relationship and the fifth sub-association relationship corresponding to each telescopic arm, a first association relationship with the generalized coordinates as the independent variable and the total kinetic energy description data of the unloading device as the dependent variable is determined; the total kinetic energy description data is the sum of the first kinetic energy description data, the second kinetic energy description data, the first rotational kinetic energy data, the second rotational kinetic energy data and the third rotational kinetic energy data.

4. The method according to claim 3, characterized in that The determining of the first sub-association relationship with the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm in the generalized coordinates as independent variables and the first kinetic energy description data of the telescopic arm center of mass of the telescopic arm as the dependent variable includes: Determining coordinate position description data of the center of mass of the telescopic arm according to the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm; Derivative the coordinate position of the telescopic arm's center of mass to obtain velocity description data of the telescopic arm's center of mass; According to the mass of the telescopic arm and the speed description data, a first sub-association relationship is determined with the lifting height, the first rotation angle, and the first distance corresponding to the telescopic arm in the generalized coordinates as independent variables and the first kinetic energy description data of the telescopic arm center of mass of the telescopic arm as the dependent variable.

5. The method according to claim 2, characterized in that The determining of the second association relationship with the generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable includes: For each telescopic arm, determining a sixth sub-association with the lifting height in the generalized coordinates as an independent variable and the first potential energy description data of the telescopic arm center of mass of the telescopic arm as a dependent variable; Determining a seventh sub-association with the lifting height and the second distance in the generalized coordinates as independent variables and the second potential energy description data of the operating rod center of mass of the operating rod as a dependent variable; Determine an eighth sub-association with the lifting height in the generalized coordinates as an independent variable and the third potential energy description data of the slewing bearing as a dependent variable; According to the sixth sub-association relationship, the seventh sub-association relationship and the eighth sub-association relationship corresponding to each telescopic arm, a second association relationship is determined with the generalized coordinates as the independent variable and the total potential energy description data of the unloading device as the dependent variable; the total potential energy description data is the sum of the first potential energy description data, the second potential energy description data and the third potential energy description data.

6. The method according to any one of claims 2 to 5, characterized in that: Determining the dynamic relationship between the total kinetic energy description data, the total potential energy description data, and the drive control data of the unloading device includes: Determining energy difference description data between the total kinetic energy description data and the total potential energy description data; Determining system internal force description data of the unloading device according to the energy difference description data and the generalized coordinates; Obtain external disturbance data; Determine the correlation between the system internal force description data, the drive control data and the external disturbance data, and use the correlation as the dynamic relationship between the total kinetic energy description data, the total potential energy description data and the drive control data of the unloading device.

7. A control device for an unloading device, characterized in that: The unloading device includes a lifting mechanism, a slewing bearing, a telescopic arm mechanism, an operating rod, and a bucket; the first end of the telescopic arm mechanism is mounted on the lifting mechanism via the slewing bearing, and the slewing axis of the slewing bearing is parallel to the lifting direction of the lifting mechanism; the second end of the telescopic arm mechanism is connected to the bucket via the operating rod; the operating rod is hinged to the telescopic arm mechanism, and the bucket is mounted on the operating rod so as to rotate along the axis of the operating rod; the telescopic arm mechanism includes at least one telescopic arm; the device includes: A first acquisition module is configured to acquire coordinate values of the unloading device corresponding to generalized coordinates in a target posture, wherein the coordinate values of the generalized coordinates include at least one of the following: a lifting height of the slewing bearing; a first distance from the center of mass of each telescopic arm to the end of the telescopic arm; a second distance from the center of mass of the operating lever to the second end of the telescopic arm mechanism; a first slewing angle of the slewing bearing; a rotation angle of the operating lever; and a second slewing angle of the bucket; a first input module, configured to input the generalized coordinates into a vehicle unloading device control model constructed for the vehicle unloading device to obtain driving control data of the vehicle unloading device; The first control module is used to control the unloading device to move to the target posture based on the driving control data.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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