The invention discloses a control method and device of a transportation device, electronic equipment and a storage medium. The transportation device comprises at least one driving wheel and at least one auxiliary wheel. The method comprises the following steps of generating a moving path according to the current position and the target position of the transportation device; controlling at least one driving wheel to travel according to the movement path, and detecting whether the transportation device is in a torque demand mode or not when the at least one driving wheel is controlled to travelaccording to the movement path; if in the torque demand mode, outputting the torque force to the at least one auxiliary wheel while the at least one auxiliary wheel operates along with the at least one driving wheel. The method is advantaged in that problems that a transportation device in the prior art is difficult to adapt to the operation environment with complex working conditions, complex terrains and severe working environments is solved, so control accuracy is low, the transportation applicability and practicability are reduced, the operation flexibility is reduced, experience is poor and the like are solved.

    本发明公开了一种运输装置的控制方法、装置、电子设备及存储介质,运输装置包括,其中,运输装置包括至少一个驱动轮和至少一个辅助轮,方法包括以下步骤:根据运输装置的当前位置和目标位置生成移动路径;按照移动路径控制至少一个驱动轮行驶,其中,在按照移动路径控制至少一个驱动轮行驶时,检测运输装置是否处于转矩需求模式;若处于转矩需求模式,则在至少一个辅助轮跟随至少一个驱动轮运转的同时,向至少一个辅助轮输出转矩力。由此,解决了相关技术的运输装置,较难适应工况复杂、地形复杂、工作环境恶劣的运行环境,导致控制的精确度较低,降低了运输的适用性和实用性,且降低了运行的灵活性,体验较差等问题。


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    Title :

    Transportation device control method and device, electronic equipment and storage medium


    Additional title:

    运输装置的控制方法、装置、电子设备及存储介质


    Contributors:
    XU ANPENG (author) / XU QINGSHUN (author) / WANG HUANJIE (author)

    Publication date :

    2020-09-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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