Controlling movement of a tracked vehicle

Abstract

An apparatus for controlling a tracked vehicle, the apparatus comprising: at least one processor; and at least one memory, the at least one memory comprising computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following: obtain information about a path to be followed by the tracked vehicle; obtaining information about at least one characteristic affecting movement control of the tracked vehicle; determining a position of a control point relative to the tracked vehicle based on the at least one characteristic; and controlling movement of the tracked vehicle based on the path and the control point, where the control point is configured to align with the path such that the tracked vehicle follows the path.

Description

Technical Field

[0001] Various example embodiments generally relate to the field of controlling tracked vehicles. Some example embodiments involve determining the location of control points for controlling the movement of a tracked vehicle along a path. Background Technology

[0002] In various technical fields (such as mining), it may be desirable to automatically control the movement of vehicles. For example, it may be desirable to control the movement of vehicles along a desired path. Different types of tracked vehicles can be configured for different purposes, such as rock drilling, loading, mesh installation, bolting, etc., and they can be equipped with appropriate tools. Summary of the Invention

[0003] The present invention is provided to present, in a simplified form, a selection of concepts further described in the detailed description below. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter.

[0004] According to a first aspect, an apparatus for controlling a tracked vehicle is disclosed. The apparatus may include: at least one processor; and at least one memory, the at least one memory including computer program code, the at least one memory and the computer program code being configured, together with the at least one processor, to cause the apparatus to perform at least the following operations: obtaining information about a path the tracked vehicle will follow; obtaining information about at least one characteristic affecting the movement control of the tracked vehicle; determining, based on the at least one characteristic, the position of a control point relative to the tracked vehicle; and controlling the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path.

[0005] According to a second aspect, a tracked vehicle is disclosed. The tracked vehicle can be configured to: obtain information about a path the tracked vehicle will follow; obtain information about at least one characteristic affecting the movement control of the tracked vehicle; determine the position of a control point relative to the tracked vehicle based on the at least one characteristic; and control the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path.

[0006] According to a third aspect, a method for controlling a tracked vehicle is disclosed. The method may include: obtaining information about a path the tracked vehicle will follow; obtaining information about at least one characteristic affecting the movement control of the tracked vehicle; determining a position of a control point relative to the tracked vehicle based on the at least one characteristic; and controlling the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path.

[0007] According to a fourth aspect, an apparatus is disclosed. The apparatus may include: means for obtaining information about a path that the tracked vehicle will follow; means for obtaining information about at least one characteristic affecting the movement control of the tracked vehicle; means for determining the position of a control point relative to the tracked vehicle based on the at least one characteristic; and means for controlling the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path.

[0008] According to a fifth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium is disclosed. The computer program, the computer program product, or the (non-transitory) computer-readable medium may include program instructions that, when executed by a device, cause the device to perform at least the following operations: obtain information about a path that the tracked vehicle will follow; obtain information about at least one characteristic affecting the movement control of the tracked vehicle; determine the position of a control point relative to the tracked vehicle based on the at least one characteristic; and control the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path.

[0009] Example embodiments of the foregoing aspects are described in the claims, description, and / or drawings. The subject matter of the independent claims is provided according to some aspects. Additional aspects are defined in the dependent claims. Many accompanying features will become more readily understood by referring to the following description, taken in conjunction with the accompanying drawings. Attached Figure Description

[0010] The accompanying drawings, which are included to provide a further understanding of the exemplary embodiments and form part of this specification, illustrate exemplary embodiments and, together with the detailed description, help to explain the exemplary embodiments. In the figures: Figure 1 An example of a tracked vehicle is shown; Figure 2An example of a tracked vehicle is shown that is communicatively connected to a remote control device; Figure 3 An example of a flowchart for controlling a tracked vehicle is shown; Figure 4 An example of controlling a tracked vehicle to follow a path is shown; Figure 5 An example of adjusting the position of the control point relative to the tracked vehicle is shown; Figure 6 An example of the deviation of the control point's location from the desired path is shown; Figure 7 An example of the deviation of the tracked vehicle's heading from the trajectory of the tracked vehicle's control points is shown; Figure 8 Examples of apparatuses configured to practice one or more example embodiments are shown; and Figure 9 An example of a method for controlling a tracked vehicle is shown.

[0011] In the accompanying drawings, the same reference numerals are used to denote the same parts. Detailed Implementation

[0012] Reference will now be made to embodiments, examples of which are illustrated in the accompanying drawings. The detailed description provided below, in conjunction with the drawings, is intended as a description of the presented examples and is not intended to represent only the forms in which the presented examples can be constructed or utilized. This specification sets forth the functionality of the examples and the sequence of steps for constructing and operating the examples. However, the same or equivalent functionality and sequence can be achieved through different examples.

[0013] Figure 1 An example of a tracked vehicle is shown. Although the tracked vehicle 100 is shown as a surface drill, the exemplary embodiments of this disclosure can also be applied to other types of tracked vehicles, tracked machines or tracked equipment, such as underground drills, mining trucks, mining loaders, anchor-drilling mining machines, tunnel boring machines or multi-tasking machines.

[0014] Tracked vehicle 100 can be an automated tracked vehicle or a semi-autonomous tracked vehicle, such as a remotely controlled tracked vehicle. Automated tracked vehicles can be equipped with tools configured for specific tasks (e.g., drilling, loading, or anchor bolting). Automated tracked vehicles operating in automatic mode can be configured to, for example, receive tasks to be performed, perceive the environment of the automated tracked vehicle, and autonomously perform tasks while taking the environment into account. Automated tracked vehicles operating in automatic mode can be configured to operate independently, but can be operated under external control by a human operator in certain operating areas or conditions (such as during emergencies).

[0015] exist Figure 1 In the example, tracked vehicle 100 includes a drill. The drill may include a movable carrier 110 and a drill rig 130. Tracked vehicle 100 may include a controller 112. The position and / or orientation of the drill rig 130 may be controlled by the controller 112, for example, to place the drill rig 130 in a suitable position / or orientation to perform a task, or to move the drill to perform a task at another location. For example, the tilt angle (α) of the drill rig 130 may be adjusted. The tilt angle may include the angle between the drill rig 130 and a vertical axis (z). The vertical axis (z) may be parallel to the gravity vector. However, it should be noted that any other suitable drill rig tilt measurement may be applied. For example, due to different weight distributions, the position / orientation of the drill rig 130 may affect the characteristics controlling the movement of the drill.

[0016] The drilling rig may include tracks 120, which can be connected to a movable carrier 110. The movable carrier 110 may include equipment for moving or stabilizing the drilling rig, such as motors, wheels, or stabilizing outriggers. Although Figure 1 Two tracks 120 are shown, but a drilling machine can generally include multiple (e.g., two, four, etc.) tracks 120. Tracked vehicle 100 can include one or more of the components described above, or other tools or equipment associated with other types of tracked vehicles. For example, tracked vehicle 100 can be configured with one or more booms instead of drill rig 130, and the example embodiments associated with drill rig 130 can be alternatively applied to booms.

[0017] Tracked vehicle 100 may include pivot point 140. Pivot point 140 may correspond to the tracked vehicle 100 in a coordinate system (e.g., an external coordinate system). F ext The pivot point 140, in the case of no non-rotational translation, is the pivot point in the coordinate system of the tracked vehicle 100, which may be stationary relative to the ground. Therefore, the pivot point 140 may include the following point about which the tracked vehicle 100 rotates when it is not moving in the forward or backward direction. For example, when the tracked vehicle 100 is rotated by moving the tracks 120 in opposite directions at the same speed, the pivot point 140 may be stationary relative to the external coordinate system. The pivot point 140 may be defined in the coordinate system of the tracked vehicle 100 (…). F vehicle In this coordinate system, the coordinate system can be stationary relative to the tracked vehicle at 100°.

[0018] The controller 112 can be provided as a software application residing in memory and capable of being executed by a processor. Figure 8Examples of apparatuses suitable for implementing controller 112 are provided. Controller 112 may include or be communicatively coupled to various functions, blocks, or applications for implementing the functionality of controller 112. For example, controller 112 may include or be communicatively coupled to a data management server that may be configured to store information about: functions to be performed by tracked vehicle 100, paths to be followed, tunnel lines, point clouds or mesh representations of tunnel lines or contours, mine map point clouds, etc.; or more generally, a representation of the operating environment of tracked vehicle 100.

[0019] The controller 112 may include a navigation application configured to control or enable a human operator to control the navigation of the tracked vehicle 100, for example, to move the tracked vehicle 100 along a desired path to a desired location, for example, to perform a function. The position of the tracked vehicle 100 may be referred to as the navigation position. It may be relative to an external coordinate system (…). F ext Provides navigation location.

[0020] Controller 112 may alternatively be located external to tracked vehicle 100 and configured for remote control of tracked vehicle 100. For example, controller 112 may be located at remote control device 200, which may be external to tracked vehicle 100, such as... Figure 2 As shown. The remote control device 200 may include a server or other computing device located remotely from the tracked vehicle 100, such as at a remote operator station. The functionality of the controller 112 may be located at the tracked vehicle 100, the remote control device 200, or distributed between the tracked vehicle 100 and the remote control device 200. Information can be exchanged between the controller 112 and the tracked vehicle 100 via a data communication interface including any suitable wireless or wired connection. Reference Figure 8 An example of a suitable communication interface is described.

[0021] Tracked vehicle 100 may include a positioning system comprising positioning devices such as a Global Positioning System (GPS) receiver, a Global Navigation Satellite System (GNSS) receiver, other satellite positioning devices, and / or non-satellite positioning devices. The positioning devices may be configured to determine the current navigation position of tracked vehicle 100. For example, the positioning devices may be coupled to a specific part of tracked vehicle 100 and thus configured to determine the position of that part of tracked vehicle 100 as the navigation position. Alternatively, controller 112 may be configured to determine the navigation position based on data received from multiple positioning devices of tracked vehicle 100, such as the center point of the position detected by the positioning devices. Therefore, the navigation position may include a reference point of tracked vehicle 100 in an external coordinate system (…).F ext The location within the tracked vehicle 100. The reference point can be called the positioning reference point. The positioning reference point can be located within the tracked vehicle 100.

[0022] Figure 3 An example flowchart for controlling a tracked vehicle is shown. As described above, controller 112 can be configured to control tracked vehicle 100 locally or remotely via a communication interface. Controller 112 may include a user interface for enabling human users to provide user input for controlling the movement of tracked vehicle 100, such as providing a desired path (route) for tracked vehicle 100.

[0023] At operation 301, controller 112 can be configured to obtain information about the path that tracked vehicle 100 will follow. Controller 112 can be configured to receive this information via a user interface, through a communication interface (e.g., from a remote server), or from memory (e.g., a portable memory configured to be connected to controller 112). Figure 4 An example of the path that the tracked vehicle 100 will follow is provided. The path can be defined by an external coordinate system ( F ext Multiple points are represented in the coordinate system. These points can together define the desired path of the tracked vehicle 100. However, any suitable representation of the path can be used. Information about the path to be followed can typically be included in a representation of the path in a coordinate system stationary relative to the ground. The controller 112 can be configured to control the movement of the tracked vehicle 100 such that the control point 401 is aligned with the path, as will be further described with reference to operation 305.

[0024] At operation 302, controller 112 can be configured to obtain the default control point of tracked vehicle 100. Figure 5 An example of a default control point is shown. Default control point 501 may include pivot point 140, that is, the pivot point of the tracked vehicle 100 as follows: in the external coordinate system ( F ext The pivot point in the coordinate system of the tracked vehicle 100 without any non-rotational translation. The position of the default control point 501 can be defined, for example, relative to the positioning reference point of the tracked vehicle 100 detected by the positioning system in the coordinate system of the tracked vehicle 100. F vehicle )middle.

[0025] The location of the default control point 501 can be pre-configured in the memory of the tracked vehicle 100 or the remote control device 200. The controller 112 can be configured to obtain the location of the default control point 501 by retrieving its location from memory. If the controller 112 is located at the remote control device 200, it can be configured to obtain the default control point 501 by receiving it from the tracked vehicle 100. The default control point 501 can be located within the tracked vehicle 100. Note that obtaining the default control point 501 can be optional. For example, the controller 112 can be configured to directly determine control point 401 without using the default control point, as will be further described with reference to operation 304.

[0026] At operation 303, controller 112 can be configured to obtain vehicle characteristics that affect the movement control of tracked vehicle 100, such as information regarding physical, operational, or environmental characteristics. For example, controller 112 can be configured to determine the physical or operational configuration of tracked vehicle 100, or the current situational conditions of tracked vehicle 100. Physical characteristics affecting the movement control of tracked vehicle 100 may include, for example, the mass of tracked vehicle 100, the current drill rig position, or the current boom position. Operational characteristics may include, for example, the direction of travel of tracked vehicle 100, such as whether tracked vehicle 100 is moving or about to move in a forward or backward direction. Environmental characteristics may include, for example, the type of the current travel surface of tracked vehicle 100, such as whether the current travel surface is rock, sand, snow, or ice. The above characteristics affect the interaction between track 120 and the travel surface, and therefore they may also affect the movement control of tracked vehicle 100.

[0027] At operation 304, controller 112 can be configured to determine and / or adjust the position of control point 401. Control point 401 can be configured to align with a path so that tracked vehicle 100 follows the path. Therefore, the position of control point 401 relative to tracked vehicle 100 affects the extent to which tracked vehicle 100 accurately follows the path. Control point 401 can be defined in the coordinate system of tracked vehicle 100 (…). F vehicle )middle.

[0028] Controller 112 can be configured to determine / adjust the position of control point 401 based on at least one of the characteristics obtained at operation 303. This provides the benefit of improved movement control of tracked vehicle 100, as incorporating these characteristics into determining the position of control point 401 allows tracked vehicle 100 to be controlled to more accurately follow the path. The position of control point 401 can be relative to tracked vehicle 100, for example, relative to a positioning reference point of tracked vehicle 100. The position of control point 401 can be inside or outside tracked vehicle 100. Limiting the position of control point 401 relative to the positioning reference point enables control of movement of tracked vehicle 100, thereby aligning control point 401 with the path, as the positioning system tracks the position of the positioning reference point. In one example, the default control point 501 is the same point as the positioning reference point.

[0029] As described above, controller 112 can be configured to determine control point 401 directly or by adjusting the position of default control point 501. When controller 112 is configured to determine the control point directly, it can be configured to determine the position of control point 401 based on a mapping between the characteristics obtained at operation 303 and the positions of the corresponding control points. This mapping can be pre-configured at controller 112 or received by controller 112 via a communication interface.

[0030] As an example of mapping, the first position of control point 401 may be associated with the forward direction of travel of tracked vehicle 100, or more generally, with a first direction of travel of tracked vehicle 100. The second (different) position of control point 401 may be associated with the reverse direction of travel of tracked vehicle 100, or more generally, with a second direction of travel of tracked vehicle 100. When the first and second positions of control point 401 are associated with the forward and reverse directions of travel, respectively, the first position may be closer to the front of tracked vehicle 100 than the second position. For example, the first position may be located from the center of mass of tracked vehicle 100 toward the front end of tracked vehicle 100. The second position may be located from the center of mass of tracked vehicle 100 toward the rear end of tracked vehicle 100.

[0031] The controller 112 can typically be configured to adjust the position of the control point toward the direction of travel of the tracked vehicle 100 (e.g., forward or backward). This provides the benefit of more accurate motion control, as the adjustment of the control point 401 toward the direction of travel reduces the deviation of the tracked vehicle 100 from the desired path.

[0032] Different tilt angles of the drill rig 130 or boom can be associated with corresponding positions of control point 401. Controller 112 can be configured to determine the current tilt angle based on sensor information measured by the tracked vehicle 100 or based on control inputs provided by controller 112 for controlling the tilt angle. Controller 112 can be configured to determine the position of control point 401 based on the current tilt angle of the drill rig 130 or boom of the tracked vehicle 100. Controller 112 can, for example, be configured to select the position of control point 401 by finding the control point position corresponding to the current tilt angle.

[0033] Different driving surfaces can be associated with corresponding locations of control point 401. Controller 112 can be configured to receive, for example, an indication of the type of the current driving surface via a user interface. Controller 112 can be configured to determine the location of control point 401 based on the mapping between different types of the current driving surface and the corresponding locations of control point 401. Controller 112 can be configured, for example, to select the location of control point 401 by finding the control point location corresponding to the current driving surface (e.g., rock, sand, snow, or ice).

[0034] The mapping between different physical, operational, or environmental characteristics and the corresponding locations of control point 401 can be determined based on experimental data, obtained, for example, by observing the movement of tracked vehicle 100 under corresponding configurations and / or conditions. The mapping can be pre-configured (e.g., manually) at controller 112 or provided to controller 112 via a communication interface.

[0035] The controller 112 can be configured to determine the position of the control point 401 based on combinations of different characteristics. For example, instead of the corresponding position of the control point 401, each characteristic can be mapped to a corresponding position offset, and the position of the control point 401 can be determined as, for example, a combination of position offsets starting from the default control point 501, as referenced. Figure 5 As further described.

[0036] Figure 5An example of adjusting the position of the default control point is shown. Controller 112 can be configured to determine the position of control point 401 by adjusting the position of the default control point 501 based on characteristics obtained at operation 303. For example, controller 112 can be configured to adjust the position of the default control point 501 toward the travel direction of the tracked vehicle 100 to determine the position of control point 401. For example, if the tracked vehicle 100 moves or is about to move in the forward travel direction, controller 112 can be configured to adjust the position of the default control point 501 to obtain control point 401-1. If the tracked vehicle 100 moves or is about to move in the reverse travel direction, controller 112 can be configured to adjust the position of the default control point 501 to obtain control point 401-2.

[0037] Controller 112 can be configured to apply a first control point offset distance (offset 1) to adjust the position of control point 401 from the default control point 501 toward the forward travel direction, or generally, toward a first travel direction. Controller 112 can be configured to apply a second control point offset distance (offset 2) to adjust the position of control point 401 from the default control point 501 toward the reverse travel direction, or generally, toward a second travel direction. The first control point offset distance can be different from the second control point offset distance. This provides the benefit of taking into account the different movement characteristics of the tracked vehicle 100 during movement in different directions. Therefore, the accuracy of movement control of the tracked vehicle 100 can be improved.

[0038] Controller 112 can be configured to adjust the position of default control point 501 based on the current tilt angle of the drill rig 130 or boom of tracked vehicle 100 to determine the position of control point 401. Controller 112 can be configured to determine a control point offset corresponding to the current tilt angle of drill rig 130 or boom. Controller 112 can be configured to determine the control point offset based on a mapping between different tilt angles of drill rig 130 or boom and corresponding control point offsets. Controller 112 can be configured to adjust the position of default control point 501 based on the determined control point offset. For example, controller 112 can be configured to adjust the position of default control point 501 depending on the current tilt angle to obtain either control point 401-1 or 401-2. The mapping between control point offsets can be pre-configured at controller 112 or received by controller 112 via a communication interface. Control point offsets can include position offsets, such as the coordinate system of tracked vehicle 100 ( F vehicle Vectors in ).

[0039] As described above, controller 112 can be configured to determine the position of control point 401 based on applied control point offsets (e.g., vectors in the coordinate system of tracked vehicle 100) associated with multiple different characteristics. Therefore, applying a default control point 501 provides the benefit of offset-based determination of control point 401, allowing many characteristics obtained at operation 303 to be taken into account. The mapping between different physical, operational, or environmental characteristics and corresponding control point offsets can be determined based on experimental data, obtained, for example, by observing the movement of tracked vehicle 100 under appropriate configurations and / or conditions. This mapping can then be (e.g., manually) pre-configured in the memory of controller 112, tracked vehicle 100, or remote control device 200.

[0040] At operation 305, controller 112 can be configured to control the movement of tracked vehicle 100 to follow the path obtained at 301. Controller 112 can be configured to control the movement of tracked vehicle 100 based on the path and control point 401. Controller 112 can be configured to control the movement of tracked vehicle 100 to align control point 401 with the path, such as... Figure 4 As shown. Aligning control point 401 with the path can include controlling the movement of tracked vehicle 100 such that, as tracked vehicle 100 moves along the path, control point 401 coincides with the path, or that control point 401 is at a desired relative position to the path (e.g., within a predetermined distance from the path). Therefore, controller 112 can be configured to cause tracked vehicle 100 to follow the path.

[0041] When controller 112 is located at tracked vehicle 100, controller 112 can be configured to control the movement of tracked vehicle 100 by providing control commands to mobile carrier 110, such that movement of tracked vehicle 100 is caused, for example, by track 120. When controller 112 is located at remote control device 200, remote control device 200 can be configured to control the movement of tracked vehicle 100 by transmitting control commands provided by controller 112 to tracked vehicle 100, thereby causing movement of tracked vehicle 100.

[0042] At operation 306, controller 112 can be configured to detect deviations of the position of control point 401 from the path, or to detect deviations between the current heading of tracked vehicle 100 and the direction of the trajectory of control point 401. Controller 112 can be configured to detect deviations at curves in the trajectory. Controller 112 can be configured to determine whether the deviation is toward the inside or outside of the curve. If the curve is to the left, controller 112 can be configured to determine that a leftward deviation is toward the inside of the curve, and a rightward deviation is toward the outside of the curve. Controller 112 can be configured to determine the magnitude of the deviation, such as the distance of control point 401 from the path or the angle between the heading of tracked vehicle 100 and the direction of the trajectory. Controller 112 can be configured to base its determination on the tracked vehicle 100 in an external coordinate system (…). F ext The heading of the tracked vehicle 100 is determined either by its previous position in the external coordinate system or by its orientation in the external coordinate system. The direction of the trajectory may include the tangent to the trajectory, for example, in the external coordinate system (…). F ext The point closest to control point 401 in the ().

[0043] At operation 307, controller 112 can be configured to adjust the position of control point 401 based on detected deviations (e.g., the direction and / or magnitude of the deviation). Controller 112 can be configured to determine the direction of adjustment based on the direction of the deviation (e.g., based on which side of the path the deviation occurs on). For example, if controller 112 detects a deviation toward the inside of a turn, controller 112 can be configured to adjust the position of control point 401 opposite to the direction of travel. If controller 112 detects a deviation toward the outside of a turn, controller 112 can be configured to adjust the position of control point 401 toward the direction of travel. Adjustment distance (reference) Figure 5 The “offset” can be proportional to the magnitude of the deviation, such as the distance between control point 401 and the path. Controller 112 can be configured to calculate the deviation for multiple points along the frame of tracked vehicle 100 to determine adjustments.

[0044] As described above, controller 112 may alternatively or additionally be configured to detect the deviation between the heading of tracked vehicle 100 and the direction of the trajectory of control point 401. Controller 112 may be configured to record the position of control point 401 during movement of tracked vehicle 100 to determine the trajectory of control point 401. Controller 112 may be configured to adjust the position of control point 401 at one or more points on the trajectory (e.g., at point 701) based on the deviation between the heading of tracked vehicle 100 and the direction of the trajectory of control point 401. Controller 112 may be configured to select points on the trajectory, determine the direction of the trajectory by the tangent of the trajectory at the selected point, and compare the heading of tracked vehicle 100 at the selected point with the direction of the tangent at the selected point.

[0045] Controller 112 can be configured to adjust the position of control point 401 in response to detecting a deviation of the tracked vehicle 100's heading from the direction of its trajectory towards the inside of a turn on the trajectory, opposite to the travel direction of the tracked vehicle 100. Controller 112 can also be configured to adjust the position of control point 401 in response to detecting a deviation of the tracked vehicle 100's heading from the direction of its trajectory towards the outside of a turn on the trajectory, opposite to the travel direction of the tracked vehicle 100. Adjustment distance (reference) Figure 5 The “offset” can be proportional to the magnitude of the deviation, which in this example is the angle of deviation between the heading of the tracked vehicle 100 and the direction of the trajectory. Monitoring the deviation allows for dynamic adjustment of the position of the control point 401, thereby improving the movement control of the tracked vehicle 100 during its movement.

[0046] Controller 112 can be configured to, for example, calculate the heading (direction of movement) of a plurality of control points of the tracked vehicle 100 during a control period. Controller 112 can be configured to determine the positions of the plurality of control points based on the output of a positioning device of the tracked vehicle 100. The plurality of control points may be located at the positions of the respective positioning devices. Controller 112 can be configured to determine or adjust the position of control point 401 (i.e., the control point for controlling the movement of the tracked vehicle 100) based on errors (differences) in the headings of the plurality of control points. Controller 112 can be configured to determine, for example, a combined heading error of the plurality of control points based on the determined average heading of the plurality of control points. Controller 112 can be configured to determine the heading error in the headings of the plurality of control points based on the deviations between the headings of the plurality of control points and their average value. Controller 112 can be configured to adjust the position of control point 401 based on the combined heading error, for example as described above. For example, controller 112 can be configured to adjust the position of control point 401 in response to detecting a heading error toward the inside of a turn, opposite to the direction of travel. This reduces heading errors at the plurality of control points and deviations of the tracked vehicle 100 from the desired path. Controller 112 can be configured to monitor heading errors at the plurality of control points and dynamically adjust the positions of the control points to minimize errors. In other words, controller 112 can be configured to determine the position of control point 401 by identifying the point that gives the minimum distance error relative to the average direction of travel.

[0047] It should also be noted that any method used to determine the deviation or error between the expected and observed positions of control point 401, the heading of tracked vehicle 100 and the direction of the trajectory of control point 401, or the position of the control point and the heading of tracked vehicle 100 based on positioning, can be applied over a period of time (e.g., averaging over a control period). This provides the benefit of improving the movement control of tracked vehicle 100 in the presence of noisy positioning data.

[0048] Figure 3 The example operation demonstrates the benefits of improved motion control for the tracked vehicle 100. Although in Figure 3 A specific sequence of operations is shown, but it should be understood that the operations can be performed in any suitable order, and some operations may be absent in some example embodiments. For example, operations 302, 306, and 307 may be optional.

[0049] Figure 6 An example of the deviation (Δ) between control point 401 and the desired path (dashed line) is shown. On the left, the deviation is towards the outside of the turn. Therefore, controller 112 can be configured to operate in the coordinate system of tracked vehicle 100 ( Fvehicle The position of the control point 401 is relative to the travel direction adjustment control point. Note that even a relatively small deviation between the control point 401 and the desired path can cause another point of the tracked vehicle 100 (e.g., the rear end) to deviate relatively large from the desired path, as shown on the left. On the right, the deviation is towards the inside of the turn. Therefore, the controller 112 can be configured to be positioned opposite to the travel direction adjustment control point 401.

[0050] Figure 7 An example of the deviation of the heading of the tracked vehicle 100 from the trajectory of its control point is shown. The deviation (Δ) can include the angle between the heading of the tracked vehicle 100 and the direction of the trajectory of the control point 401, represented by the tangent to the trajectory. On the left, the deviation is also towards the outside of the turn. Therefore, the controller 112 can be configured to adjust the position of the control point 401 towards the direction of travel. On the right, the deviation is towards the inside of the turn. Therefore, the controller 112 can be configured to adjust the position of the control point 401 opposite to the direction of travel.

[0051] Figure 8 Examples of apparatuses configured to practice one or more exemplary embodiments are shown. Apparatus 800 may be or include tracked vehicle control devices, such as a server communicatively coupled to tracked vehicle 100, a control device located at tracked vehicle 100, controller 112, tracked vehicle 100 itself, or any device or system generally configured to implement the functions described herein. Although apparatus 800 is shown as a single device, it should be understood that, where applicable, the functionality of apparatus 800 may be distributed across multiple devices.

[0052] The device 800 may include at least one processor 802. The at least one processor 802 may include one or more processing devices, such as coprocessors, microprocessors, controllers, digital signal processors (DSPs), processing circuitry with or without an accompanying DSP, or various other processing devices including integrated circuits, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontroller units (MCUs), hardware accelerators, dedicated computer chips, etc.

[0053] The apparatus 800 may also include at least one memory 804. The at least one memory 804 may be configured to store, for example, computer program code, such as operating system software and application software. The at least one memory 804 may include one or more volatile memory devices, one or more non-volatile memory devices, and / or combinations thereof. For example, the memory may be implemented as a magnetic storage device (such as a hard disk drive), an optical-magnetic storage device, or a semiconductor memory (such as a mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM (random access memory), etc.). Examples of providing memory 804 as a (non-transitory) computer-readable medium are as follows: As used herein, the term "non-transitory" is a limitation on the medium itself (i.e., tangible, not tactile), and not a limitation on the persistence of data storage (e.g., RAM versus ROM). The at least one memory 804 may also be implemented separately from the apparatus 800, for example as a computer-readable (storage) medium, examples of which include memory sticks, optical discs (CDs), etc.

[0054] When device 800 is configured to perform a certain function, one or more components of device 800 (e.g., the at least one processor 802 and / or the at least one memory 804) may be configured to perform that function. Furthermore, when the at least one processor 802 is configured to perform a certain function, that function may be implemented using, for example, program code 806 included in the at least one memory 804.

[0055] The functions described herein can be performed, at least in part, by one or more computer program product components, such as software components. According to an example embodiment, device 800 includes a processor or processor circuitry, such as a microcontroller, configured by program code 806, which, when executed, performs embodiments of the operations and functions described herein. Program code 806 is provided as an example of instructions that, when executed by the at least one processor 802, cause device 800 to execute.

[0056] For example, controller 112 may be implemented at least partially as program code configured to cause device 800 to perform the functions of controller 112. Similarly, the transmission or reception of data (e.g., sensor data or commands) via the internal or external communication interface of tracked vehicle 100 may be controlled by software.

[0057] Alternatively or otherwise, the functions described herein may be performed at least in part by one or more hardware logic components. For example, but not limited to, illustrative types of hardware logic components that may be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), graphics processing units (GPUs), neural processing units (NPUs), tensor processing units (TPUs), and the like.

[0058] Device 800 may include a communication interface 808 configured to enable device 800 to transmit and / or receive information. Communication interface 808 may include internal or external communication interfaces, such as a radio interface between tracked vehicle 100 and controller 112, or an internal control bus within tracked vehicle 100. Device 800 may also include other components and / or functions, such as a user interface (not shown) including at least one input device and / or at least one output device. Input devices may take various forms, such as a keyboard, touchscreen, or one or more embedded control buttons, joysticks, or other types of manual controllers. Output devices may include, for example, a display, a speaker, etc. The user interface may be configured to enable an operator to monitor various functions, data, etc.

[0059] Apparatus 800 may be configured to perform or cause any aspect of the methods described herein to be performed. Furthermore, a computer program or computer program product may include instructions that, when executed by apparatus 800, cause apparatus 800 to perform any aspect of the methods described herein. Additionally, apparatus 800 may include means for performing any aspect of the methods described herein. In one example, the means includes the at least one processor 802 and the at least one memory 804 including program code 806 (instructions) configured to cause apparatus 800 to perform the method when executed by the at least one processor 802. Typically, computer program instructions can be executed on a device that provides general-purpose processing capabilities. Such a device may be embedded, for example, in a computer, server, etc. The method can therefore be computer-implemented, for example based on an algorithm executable by general-purpose processing capabilities, an example of which is the at least one processor 802. Apparatus 800 may include means for transmitting or receiving information, such as one or more wired or wireless (e.g., radio) transmitters or receivers that may be coupled to or configured to be coupled to one or more antennas or wired communication interfaces.

[0060] According to a first aspect, an apparatus for controlling a tracked vehicle is disclosed. The apparatus may include: at least one processor; and at least one memory, the at least one memory including computer program code, the at least one memory and the computer program code being configured, together with the at least one processor, to cause the apparatus to perform at least the following operations: obtaining information about a path the tracked vehicle will follow; obtaining information about at least one characteristic affecting the movement control of the tracked vehicle; determining, based on the at least one characteristic, the position of a control point relative to the tracked vehicle; and controlling the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path.

[0061] According to an example embodiment of the first aspect, the at least one characteristic includes the physical characteristics of the tracked vehicle, the operational characteristics of the tracked vehicle, and / or the environmental characteristics of the tracked vehicle.

[0062] According to an example embodiment of the first aspect, the physical characteristics of the tracked vehicle include the mass of the tracked vehicle, the position of the drill rig or the position of the boom, wherein the operational characteristics include the direction of travel of the tracked vehicle, or wherein the environmental characteristics include the type of the current travel surface of the tracked vehicle.

[0063] According to an example embodiment of the first aspect, the computer program code is further configured, together with the at least one processor, to cause the device to perform the following operation: adjust the position of the control point toward the direction of travel of the tracked vehicle.

[0064] According to an example embodiment of the first aspect, the computer program code is further configured, together with the at least one processor, to cause the device to perform the following operation: determine the position of the control point based on the current tilt angle of the drill rig or boom of the tracked vehicle.

[0065] According to an example embodiment of the first aspect, the computer program code is further configured, together with the at least one processor, to cause the device to perform the following operations: obtain a default control point, wherein the default control point includes a pivot point of the tracked vehicle in a coordinate system in the absence of non-rotational translation of the tracked vehicle; and determine the position of the control point by adjusting the position of the default control point based on the at least one characteristic.

[0066] According to an example embodiment of the first aspect, the computer program code is further configured, together with the at least one processor, to cause the device to perform the following operations: adjust the position of the default control point toward the direction of travel of the tracked vehicle to determine the position of the control point, and / or adjust the position of the default control point based on the current tilt angle of the drill rig or boom of the tracked vehicle to determine the position of the control point.

[0067] According to an example embodiment of the first aspect, the computer program code is further configured, together with the at least one processor, to cause the device to perform the following operations: apply a first control point offset distance to adjust the position of the default control point toward a first direction of travel of the tracked vehicle; and apply a second control point offset distance to adjust the position of the default control point toward a second direction of travel of the tracked vehicle, wherein the first control point offset distance is different from the second control point offset distance.

[0068] According to an example embodiment of the first aspect, the computer program code is further configured, together with the at least one processor, to cause the device to perform the following operations: determine a control point offset for a current tilt angle of the drill rig or the boom based on a mapping between a plurality of tilt angles of the drill rig or the boom and corresponding control point offsets; and adjust the position of the default control point based on the control point offset.

[0069] According to an example embodiment of the first aspect, the computer program code is further configured, together with the at least one processor, to cause the device to perform the following operations: detect a deviation of the position of the control point from the path at a bend in the path; and adjust the position of the control point opposite to the travel direction of the tracked vehicle in response to determining that the deviation is toward the inside of the bend in the path, or adjust the control point toward the travel direction of the tracked vehicle in response to determining that the deviation is toward the outside of the bend in the path.

[0070] According to an example embodiment of the first aspect, the computer program code is further configured, together with the at least one processor, to cause the device to perform the following operations: detect the deviation between the heading of the tracked vehicle and the tangent of the trajectory of the control point; and adjust the position of the control point based on the deviation between the heading of the tracked vehicle point and the tangent of the trajectory of the control point.

[0071] According to an example embodiment of the first aspect, the device is external to the tracked vehicle and configured to remotely control the tracked vehicle.

[0072] According to a second aspect, a tracked vehicle is disclosed. The tracked vehicle may include: at least one processor; and at least one memory, the at least one memory including computer program code, the at least one memory and the computer program code being configured, together with the at least one processor, to cause the tracked vehicle to perform at least the following operations: obtaining information about a path the tracked vehicle will follow; obtaining information about at least one characteristic affecting the movement control of the tracked vehicle; determining, based on the at least one characteristic, the position of a control point relative to the tracked vehicle; and controlling the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path. The computer program code may be configured, together with the at least one processor, to cause the tracked vehicle to perform any example embodiment of the apparatus of the first aspect.

[0073] Figure 9 An example of a method for controlling a tracked vehicle according to a third aspect of this disclosure is shown. The method may include a computer-implemented method executed by, for example, device 800 (such as controller 112).

[0074] At 901, the method may include obtaining information about the path that the tracked vehicle will follow.

[0075] At 902, the method may include obtaining information about at least one characteristic affecting the motion control of the tracked vehicle.

[0076] At 903, the method may include determining the position of the control point relative to the tracked vehicle based on the at least one characteristic.

[0077] At 904, the method may include controlling the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path.

[0078] According to an example embodiment of the third aspect, the at least one characteristic includes the physical characteristics of the tracked vehicle, the operational characteristics of the tracked vehicle, and / or the environmental characteristics of the tracked vehicle.

[0079] According to an example embodiment of the third aspect, the physical characteristics of the tracked vehicle include the mass of the tracked vehicle, the position of the drill rig or the position of the boom, wherein the operational characteristics include the direction of travel of the tracked vehicle, or wherein the environmental characteristics include the type of the current travel surface of the tracked vehicle.

[0080] According to an example embodiment of the third aspect, the method may include: adjusting the position of the control point toward the direction of travel of the tracked vehicle.

[0081] According to an example embodiment of the third aspect, the method may include: determining the position of the control point based on the current tilt angle of the drill frame or boom of the tracked vehicle.

[0082] According to an example embodiment of the third aspect, the method may include: obtaining a default control point, wherein the default control point includes a pivot point of the tracked vehicle in a coordinate system in the absence of non-rotational translation of the tracked vehicle; and determining the position of the control point by adjusting the position of the default control point based on the at least one characteristic.

[0083] According to an example embodiment of the third aspect, the method may include: adjusting the position of the default control point toward the direction of travel of the tracked vehicle to determine the position of the control point, and / or adjusting the position of the default control point based on the current tilt angle of the drill rig or boom of the tracked vehicle to determine the position of the control point.

[0084] According to an example embodiment of the third aspect, the method may include: applying a first control point offset distance to adjust the position of the default control point toward a first travel direction of the tracked vehicle; and applying a second control point offset distance to adjust the position of the default control point toward a second travel direction of the tracked vehicle, wherein the first control point offset distance is different from the second control point offset distance.

[0085] According to an example embodiment of the third aspect, the method may include: determining a control point offset for a current tilt angle of the drill frame or the boom based on a mapping between multiple tilt angles of the drill frame or the boom and corresponding control point offsets; and adjusting the position of the default control point based on the control point offset.

[0086] According to an example embodiment of the third aspect, the method may include: detecting a deviation of the position of the control point from the path at a bend in the path; and adjusting the position of the control point opposite to the travel direction of the tracked vehicle in response to determining that the deviation is toward the inside of the bend in the path, or adjusting the control point toward the travel direction of the tracked vehicle in response to determining that the deviation is toward the outside of the bend in the path.

[0087] According to an example embodiment of the third aspect, the method may include: detecting the deviation between the heading of the tracked vehicle and the tangent of the trajectory of the control point; and adjusting the position of the control point based on the deviation between the heading of the tracked vehicle and the tangent of the trajectory of the control point.

[0088] According to an example embodiment of the third aspect, the device is external to the tracked vehicle and configured to remotely control the tracked vehicle.

[0089] According to a fourth aspect, an apparatus may include: components for obtaining information about a path that the tracked vehicle will follow; components for obtaining information about at least one characteristic affecting the movement control of the tracked vehicle; components for determining the position of a control point relative to the tracked vehicle based on the at least one characteristic; and components for controlling the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path. The apparatus may include devices for performing any example embodiment of the method of the third aspect.

[0090] According to the fifth aspect, a computer program, a computer program product, or a (non-transitory) computer-readable medium may include program instructions that, when executed by a device, cause the device to perform at least the following operations: obtain information about a path that the tracked vehicle will follow; obtain information about at least one characteristic affecting the movement control of the tracked vehicle; determine, based on the at least one characteristic, the position of a control point relative to the tracked vehicle; and control the movement of the tracked vehicle based on the path and the control point, wherein the control point is configured to align with the path so that the tracked vehicle follows the path. The computer program, the computer program product, or the (non-transitory) computer-readable medium may include program instructions that, when executed by a device, cause the device to perform any example embodiment of the method of the third aspect.

[0091] Although the subject matter has been described in language specific to structural features and / or actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed as examples of implementing the claims, and other equivalent features and actions are intended to be within the scope of the claims.

[0092] It should be understood that the above benefits and advantages may relate to one embodiment or several embodiments. The embodiments are not limited to embodiments that solve any or all of the stated problems or have any or all of the stated benefits and advantages. It will also be understood that a reference to "a certain" entry may refer to one or more of those entries.

[0093] The steps or operations of the methods described herein can be performed in any suitable order, or simultaneously where appropriate. Furthermore, individual boxes can be removed from any method without departing from the scope of the subject matter described herein. Aspects of any of the example embodiments described above can be combined with aspects of any other example embodiments described to form further example embodiments without sacrificing the desired effects.

[0094] The term "comprising" is used herein to mean including the identified method, box, or element, but such box or element does not include an exclusive list, and the method or apparatus may include additional boxes or elements.

[0095] As used herein, “at least one of the following: ” and “at least one of ” and similar wording, where a list of two or more elements is combined with “and” or “or”, means at least one of the elements, or at least any two or more of the elements, or at least all of the elements. The term “or” can also be understood to cover cases that include both of the two items separated by “or”. Therefore, “or” can be understood as an inclusive “or” rather than an exclusive “or”.

[0096] Although a subject can be referred to as the "first" or "second" subject, this does not necessarily indicate any order or importance of the subjects. Rather, such an attribute can be used solely for the purpose of distinguishing between subjects.

[0097] It should be understood that the above description is given by way of example only, and various modifications can be made by those skilled in the art. The above specification, examples, and data provide a complete description of the structure and use of exemplary embodiments. Although various embodiments have been described above with a degree of specificity or by reference to one or more individual embodiments, many changes can be made to the disclosed embodiments by those skilled in the art without departing from the scope of this specification.

Claims

1. A device for controlling a tracked vehicle, the device comprising: At least one processor; as well as At least one memory, the at least one memory including computer program code, the at least one memory and the computer program code being configured together with the at least one processor to cause the device to perform at least the following operations: Obtain information about the path that the tracked vehicle will follow; Information is obtained regarding at least one characteristic affecting the interaction between the track and the running surface of the tracked vehicle, thereby influencing the movement control of the tracked vehicle. Based on the mapping between at least one characteristic of the tracked vehicle and the corresponding position of the control point, the position of the control point relative to the positioning reference point of the tracked vehicle is determined. as well as Based on the path and the control point, the movement of the tracked vehicle moving along the path is controlled such that the control point is aligned with the path, so that the tracked vehicle follows the path.

2. The apparatus according to claim 1, wherein, The at least one characteristic includes the physical characteristics of the tracked vehicle, the operational characteristics of the tracked vehicle, and / or the environmental characteristics of the tracked vehicle.

3. The apparatus according to claim 2, wherein, The physical characteristics of the tracked vehicle include the mass of the tracked vehicle, the position of the drill rig or the position of the boom, wherein the operational characteristics include the direction of travel of the tracked vehicle, or wherein the environmental characteristics include the type of the current travel surface of the tracked vehicle.

4. The apparatus according to claim 3, wherein, The computer program code is also configured, together with the at least one processor, to cause the device to perform the following operations: The position of the control point is adjusted in the direction of travel of the tracked vehicle.

5. The apparatus according to any one of claims 1-4, wherein, The computer program code is also configured, together with the at least one processor, to cause the device to perform the following operations: The position of the control point is determined based on the current tilt angle of the drill frame or boom of the tracked vehicle.

6. The apparatus according to claim 1 or 2, wherein, The computer program code is also configured, together with the at least one processor, to cause the device to perform the following operations: Obtain a default control point, wherein the default control point includes the pivot point of the tracked vehicle in the coordinate system in the absence of non-rotational translation of the tracked vehicle; and The position of the control point is determined by adjusting the position of the default control point based on at least one of the characteristics.

7. The apparatus according to claim 6, wherein, The computer program code is also configured, together with the at least one processor, to cause the device to perform the following operations: Adjust the position of the default control point toward the direction of travel of the tracked vehicle to determine the position of the control point, and / or The position of the default control point is adjusted based on the current tilt angle of the drill frame or boom of the tracked vehicle to determine the position of the control point.

8. The apparatus according to claim 7, wherein, The computer program code is also configured, together with the at least one processor, to cause the device to perform the following operations: Apply a first control point offset distance to adjust the position of the default control point toward the first travel direction of the tracked vehicle; as well as A second control point offset distance is applied to adjust the position of the default control point toward the second travel direction of the tracked vehicle, wherein the first control point offset distance is different from the second control point offset distance.

9. The apparatus according to claim 7 or 8, wherein, The computer program code is also configured, together with the at least one processor, to cause the device to perform the following operations: The control point offset for the current tilt angle of the drill frame or the boom is determined based on the mapping between multiple tilt angles of the drill frame or the boom and the corresponding control point offsets; and The position of the default control point is adjusted based on the control point offset.

10. The apparatus according to any one of claims 1-9, wherein, The computer program code is also configured, together with the at least one processor, to cause the device to perform the following operations: The deviation of the control point's position from the path is detected at the turning points of the path; and In response to determining the inside of the turn that deviates from the path, the position of the control point is adjusted opposite to the travel direction of the tracked vehicle, or In response to determining that the deviation from the outside of the turn toward the path is outside, the control point is adjusted toward the travel direction of the tracked vehicle.

11. The apparatus according to any one of claims 1-9, wherein, The computer program code is also configured, together with the at least one processor, to cause the device to perform the following operations: Detect the deviation between the heading of the tracked vehicle and the tangent to the trajectory of the control point; and The position of the control point is adjusted based on the deviation between the heading of the tracked vehicle point and the tangent of the trajectory of the control point.

12. The apparatus according to any one of claims 1-11, wherein, The device is external to the tracked vehicle and is configured to remotely control the tracked vehicle.

13. A tracked vehicle comprising the device according to any one of claims 1-12.

14. A method for controlling a tracked vehicle, comprising: Obtain information about the path that the tracked vehicle will follow; Information is obtained regarding at least one characteristic affecting the interaction between the track and the running surface of the tracked vehicle, thereby influencing the movement control of the tracked vehicle. Based on the mapping between at least one characteristic of the tracked vehicle and the corresponding position of the control point, the position of the control point relative to the positioning reference point of the tracked vehicle is determined. as well as Based on the path and the control point, the movement of the tracked vehicle moving along the path is controlled such that the control point is aligned with the path, so that the tracked vehicle follows the path.

15. The method according to claim 14, wherein, The at least one characteristic includes the physical characteristics of the tracked vehicle, the operational characteristics of the tracked vehicle, and / or the environmental characteristics of the tracked vehicle.

16. The method according to claim 15, wherein, The physical characteristics of the tracked vehicle include the mass of the tracked vehicle, the position of the drill rig or the position of the boom, wherein the operational characteristics include the direction of travel of the tracked vehicle, or wherein the environmental characteristics include the type of the current travel surface of the tracked vehicle.

17. The method according to claim 16, wherein, The computer program code is also configured, together with the at least one processor, to cause the device to perform the following operations: The position of the control point is adjusted toward the direction of travel of the tracked vehicle.

18. The method according to any one of claims 14-17, further comprising: The position of the control point is determined based on the current tilt angle of the drill frame or boom of the tracked vehicle.

19. The method according to any one of claims 14-18, further comprising: Obtain a default control point, wherein the default control point includes the pivot point of the tracked vehicle in the coordinate system in the absence of non-rotational translation of the tracked vehicle; and The position of the control point is determined by adjusting the position of the default control point based on at least one of the characteristics.

20. A non-transitory computer-readable medium comprising program instructions that, when executed by a device, cause the device to perform at least the following operations: Obtain information about the path that the tracked vehicle will follow; Information is obtained regarding at least one characteristic affecting the interaction between the track and the running surface of the tracked vehicle, thereby influencing the movement control of the tracked vehicle. Based on the mapping between at least one characteristic of the tracked vehicle and the corresponding position of the control point, the position of the control point relative to the positioning reference point of the tracked vehicle is determined. as well as Based on the path and the control point, the movement of the tracked vehicle moving along the path is controlled such that the control point is aligned with the path, so that the tracked vehicle follows the path.

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