Control system, control method and machine, storage medium and program product

Abstract

The present disclosure provides a control system, a control method and machine, a storage medium and a program product. The control system includes: an environment perception module configured to output perception result information based on environment information and/or control result information, and adjust own state based on a system adjustment instruction; a decision-making planning module configured to generate a motion trajectory based on an operation task and the perception result information, output the motion trajectory, predict the motion trajectory to obtain the prediction result information, receive the feedback result information corresponding to the motion trajectory, and output the system adjustment instruction to the environment perception module based on the prediction result information and feedback result information; and a control performing module configured to perform the operation task based on the motion trajectory, obtain and output the feedback result information and the control result information.

1 . A control system for a construction machine, comprising:
 an environment perception module configured to receive environment information and/or control result information, output perception result information based on the environment information and/or the control result information, receive a system adjustment instruction, and adjust a state of the environment perception module based on the system adjustment instruction;   a decision-making planning module configured to receive an operation task and the perception result information, generate a motion trajectory based on the operation task and the perception result information, output the motion trajectory, predict the motion trajectory to obtain prediction result information, receive feedback result information corresponding to the motion trajectory, and output the system adjustment instruction to the environment perception module based on the prediction result information and the feedback result information; and   a control performing module configured to receive the motion trajectory, perform the operation task based on the motion trajectory, obtain the feedback result information and the control result information during the performing of the operation task, output the feedback result information to the decision-making planning module, and output the control result information to the environment perception module.   
     
     
         2 . The control system according to  claim 1 , wherein:
 the environment perception module is further configured to output the perception result information directly to the control performing module; and   the control performing module is further configured to receive the perception result information and perform an operation corresponding to the perception result information based on the perception result information.   
     
     
         3 . The control system according to  claim 1 - or  2 , wherein:
 the decision-making planning module is configured to calculate and obtain an adjustment parameter based on the prediction result information and the feedback result information, and output the system adjustment instruction based on the adjustment parameter, wherein the system adjustment instruction comprises the adjustment parameter, and the adjustment parameter is configured to adjust the state of the environment perception module; and   the environment perception module is configured to extract the adjustment parameter from the system adjustment instruction and adjust the state of the environment perception module based on the adjustment parameter.   
     
     
         4 . The control system according to  claim 1 , wherein:
 the feedback result information comprises a reaction result of an operation object of the construction machine; and/or   the perception result information comprises the environment information, or the perception result information comprises a logical judgment result generated based on the environment information and/or the control result information.   
     
     
         5 . (canceled) 
     
     
         6 . The control system according to  claim 3 , wherein:
 the environment perception module comprises an environment perception element and a multi-degree-of-freedom platform, wherein the environment perception element is installed on the multi-degree-of-freedom platform; and   the adjustment parameter comprises an internal parameter value of the environment perception element and/or a parameter of the multi-degree-of-freedom platform.   
     
     
         7 . The control system according to  claim 1 , wherein:
 the environment perception module is further configured to transmit the environment information to the decision-making planning module, wherein the environment information is first data information with an element coordinate system of the environment perception module as a coordinate system; and   the decision-making planning module is further configured to convert the first data information into second data information with a reference coordinate system of the construction machine as a coordinate system based on a transformation matrix between the element coordinate system and the reference coordinate system, and generate the motion trajectory based on the operation task and the second data information.   
     
     
         8 . The control system according to any  claim 1 , wherein:
 the decision-making planning module is further configured to adjust the motion trajectory based on the perception result information of the environment perception module, and output the motion trajectory adjusted to the control performing module; and   the control performing module is further configured to control motion of the construction machine based on the motion trajectory adjusted.   
     
     
         9 . The control system according to  claim 1 , wherein:
 the decision-making planning module is further configured to adjust the motion trajectory based on the feedback result information of the control performing module, and output the motion trajectory adjusted to the control performing module; and   the control performing module is further configured to control motion of the construction machine based on the motion trajectory adjusted.   
     
     
         10 . The control system according to  claim 1 , wherein:
 the decision-making planning module is further configured to send a control instruction to the control performing module to control an operational state or operational speed of the control performing module to make the operational state or operational speed of the control performing module match an adjusted state of the environment perception module.   
     
     
         11 . A control method for a construction machine, comprising:
 receiving, by an environment perception module, environment information and/or control result information, and outputting perception result information based on the environment information and/or the control result information;   receiving, by a decision-making planning module, an operation task and the perception result information, generating a motion trajectory based on the operation task and the perception result information, outputting the motion trajectory, and predicting the motion trajectory to obtain predicting result information;   receiving, by a control performing module, the motion trajectory, performing the operation task based on the motion trajectory, obtaining feedback result information and the control result information during the performing of the operation task, outputting the feedback result information to the decision-making planning module, and outputting the control result information to the environment perception module;   receiving, by the decision-making planning module, the feedback result information corresponding to the motion trajectory, and outputting a system adjustment instruction to the environment perception module based on the prediction result information and the feedback result information; and   receiving, by the environment perception module, the system adjustment instruction, and adjusting a state of the environment perception module based on the system adjustment instruction.   
     
     
         12 . The control method according to  claim 11 , further comprising:
 outputting the perception result information directly to the control performing module by the environment perception module; and   receiving, by the control performing module, the perception result information, and performing an operation corresponding to the perception result information based on the perception result information.   
     
     
         13 . The control method according to  claim 11 , wherein:
 the outputting, by the decision-making planning module, the system adjustment instruction to the environment perception module based on the prediction result information and the feedback result information comprises:   calculating and obtaining, by the decision-making planning module, an adjustment parameter based on the prediction result information and the feedback result information, wherein the adjustment parameter is configured to adjust the state of the environment perception module; and   outputting, by the decision-making planning module, the system adjustment instruction based on the adjustment parameter, wherein the system adjustment instruction comprises the adjustment parameter; and   the adjusting, by the environment perception module, the state of the environment perception module based on the system adjustment instruction comprises:   extracting, by the environment perception module, the adjustment parameter from the system adjustment instruction; and   adjusting, by the environment perception module, the state of the environment perception module based on the adjustment parameter.   
     
     
         14 . The control method according to  claim 11 , wherein:
 the feedback result information comprises a reaction result of an operation object of the construction machine; and/or   the perception result information comprises the environment information, or the perception result information comprises a logical judgment result generated based on the environment information and/or the control result information.   
     
     
         15 . (canceled) 
     
     
         16 . The control method according to  claim 11 , further comprising:
 transmitting the environment information to the decision-making planning module by the environment perception module, wherein the environment information is first data information with an element coordinate system of the environment perception module as a coordinate system; and   converting, by the decision-making planning module, the first data information into second data information with a reference coordinate system of the construction machine as a coordinate system based on a transformation matrix between the element coordinate system and the reference coordinate system, and generating the motion trajectory based on the operation task and the second data information.   
     
     
         17 . The control method according to  claim 11 , further comprising:
 adjusting, by the decision-making planning module, the motion trajectory based on the perception result information of the environment perception module, and outputting the motion trajectory adjusted to the control performing module; and   controlling, by the control performing module, motion of the construction machine based on the motion trajectory adjusted.   
     
     
         18 . The control method according to  claim 11 , further comprising:
 adjusting, by the decision-making planning module, the motion trajectory based on the feedback result information of the control performing module, and outputting the motion trajectory adjusted to the control performing module; and   controlling, by the control performing module, motion of the construction machine based on the motion trajectory adjusted.   
     
     
         19 . The control method according to  claim 11 , further comprising:
 sending a control instruction to the control performing module by the decision-making planning module to control an operational state or operational speed of the control performing module to make the operational state or operational speed of the control performing module match an adjusted state of the environment perception module.   
     
     
         20 . A control system for a construction machine, comprising:
 a memory; and   a processor coupled to the memory, wherein the processor is configured to, based on instructions stored in the memory, perform the control method according to  claim 11 .   
     
     
         21 . A construction machine, comprising: the control system according to  claim 1 . 
     
     
         22 . A non-transitory computer-readable storage medium comprising computer program instructions stored thereon that, when executed by a processor:
 receive, by an environment perception module, environment information and/or control result information, and output perception result information based on the environment information and/or the control result information;   receive, by a decision-making planning module, an operation task and the perception result information, generate a motion trajectory based on the operation task and the perception result information, output the motion trajectory, and predict the motion trajectory to obtain predicting result information;   receive, by a control performing module, the motion trajectory, perform the operation task based on the motion trajectory, obtain feedback result information and the control result information during the performing of the operation task, output the feedback result information to the decision-making planning module, and output the control result information to the environment perception module;   receive, by the decision-making planning module, the feedback result information corresponding to the motion trajectory, and output a system adjustment instruction to the environment perception module based on the prediction result information and the feedback result information; and   receive, by the environment perception module, the system adjustment instruction, and adjust a state of the environment perception module based on the system adjustment instruction.   
     
     
         23 - 24 . (canceled)