Method and apparatus for controlling excavator

An apparatus for controlling an excavator, the apparatus comprising:

• at least one processor;
• and
• a memory storing instructions, wherein the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising
• determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, a plurality of trajectory parameter value combinations, to obtain a first trajectory parameter value combination set, the trajectory parameter value combination comprising a parameter value of the trajectory parameter in the at least two trajectory parameters;
• determining, from the first trajectory parameter value combination set, a plurality of trajectory parameter value combinations for moving from a preset starting position to a preset end position, to obtain a second trajectory parameter value combination set;
• determining, in the second trajectory parameter value combination set, a trajectory parameter value combination that satisfies a preset excavation condition, to obtain a third trajectory parameter value combination set;
• determining a target excavation trajectory from the third trajectory parameter value combination set, wherein the target excavation trajectory comprises an excavation trajectory indicated by a trajectory parameter value combination having a minimum excavation resistance;
• and
• sending a control instruction to the excavator to enable the excavator to excavate material according to the target excavation trajectory,
• wherein the determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, a plurality of trajectory parameter value combinations, to obtain a first trajectory parameter value combination set, comprises:
• determining, for the trajectory parameter in the at least two trajectory parameters, at least two trajectory parameter values of the trajectory parameter according to the preset value range of the trajectory parameter;
• and
• combining trajectory parameter values of the at least two trajectory parameters respectively to obtain the first trajectory parameter value combination set.

A non-transitory computer readable medium, storing a computer program thereon, wherein the program, when executed by a processor, causes the processor to perform operations, the operations comprising:

• determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, a plurality of trajectory parameter value combinations, to obtain a first trajectory parameter value combination set, the trajectory parameter value combination comprising a parameter value of the trajectory parameter in the at least two trajectory parameters;
• determining, from the first trajectory parameter value combination set, a plurality of trajectory parameter value combinations for moving from a preset starting position to a preset end position, to obtain a second trajectory parameter value combination set;
• determining, in the second trajectory parameter value combination set, a trajectory parameter value combination that satisfies a preset excavation condition, to obtain a third trajectory parameter value combination set;
• determining a target excavation trajectory from the third trajectory parameter value combination set, wherein the target excavation trajectory comprises an excavation trajectory indicated by a trajectory parameter value combination having a minimum excavation resistance;
• and
• sending a control instruction to the excavator to enable the excavator to excavate material according to the target excavation trajectory,
• wherein the determining, according to preset value ranges of trajectory parameters in at least two trajectory parameters, a plurality of trajectory parameter value combinations, to obtain a first trajectory parameter value combination set, comprises:
• determining, for the trajectory parameter in the at least two trajectory parameters, at least two trajectory parameter values of the trajectory parameter according to the preset value range of the trajectory parameter;
• and
• combining trajectory parameter values of the at least two trajectory parameters respectively to obtain the first trajectory parameter value combination set.