The invention relates to the field of engineering machinery, and discloses a method and device for controlling the movement of a tracked vehicle and the tracked vehicle, and the method comprises the following steps: obtaining the current real-time pose and the current expected pose of the tracked vehicle and the real-time curvature change rate of each track of the tracked vehicle; for any track of the tracked vehicle, determining a target wheel speed based on the current real-time pose and the current expected pose; based on the target wheel speed, a valve control instruction is determined; and under the condition that the real-time curvature change rate is larger than the preset curvature change rate threshold value, the determined valve control instruction is corrected based on the real-time curvature change rate, and the crawler belt is controlled according to the corrected valve control instruction. Therefore, accurate control is realized.
本发明涉及工程机械领域,公开了一种用于控制履带式车辆运动的方法和装置及履带式车辆,该方法包括:获取所述履带式车辆的当前实时位姿和当前期望位姿以及所述履带式车辆的各履带的实时曲率变化率;以及针对所述履带式车辆的任一履带,基于所述当前实时位姿和所述当前期望位姿,确定目标轮速;基于所述目标轮速,确定阀控指令;以及在所述实时曲率变化率大于所述预设曲率变化率阈值的情况下,基于所述实时曲率变化率,修正所确定的阀控指令,以根据修正后的阀控指令控制所述履带。藉此,实现了较精准的控制。
Method and device for controlling movement of tracked vehicle and tracked vehicle
用于控制履带式车辆运动的方法和装置及履带式车辆
2023-06-23
Patent
Electronic Resource
Chinese
European Patent Office | 2021
|European Patent Office | 2023
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