Automatic misalignment method of unmanned equipment

Abstract

The invention relates to an automatic misalignment method of unmanned equipment. An open-loop control algorithm is used, and according to a kinematics model of a machine, a steering angle of the machine on a current distance error is calculated and sent to a fixed angle to an actuator according to receding distance information, so that the machine can reduce the distance error from a next target trajectory in the shortest time; and the distance error and heading error of a current trajectory and the target trajectory are calculated, the control amount of a steering actuator is calculated, andthe machine is enabled to keep driving straight during the receding process. The unmanned whole process of the unmanned equipment from entering a misalignment mode, closed-loop control linearly receding, open-loop control advancing and exiting the misalignment mode are realized, and the automatic misalignment method is a necessary link in the unmanned operation of the unmanned equipment.

Description

technical field [0001] The invention belongs to the field of construction machinery and relates to unmanned equipment, in particular to an automatic stagger method for unmanned equipment. Background technique [0002] The stagger process of the unmanned equipment refers to the movement process of the unmanned equipment in the work area, after completing a rolling track, changing from the previous rolling path to the next rolling path. The reduction in the time of the misalignment process can increase the operating area per unit time of the unmanned driving equipment and improve work efficiency; the improvement of the accuracy of the misalignment process can avoid problems such as missed grinding and heavy grinding, and improve the quality of work. [0003] At present, the misalignment process of unmanned driving equipment is carried out manually, which consumes human resources and high labor costs; the accuracy is lacking, and the accuracy of the misalignment during manual o...

AI Technical Summary

Problems solved by technology

[0003] At present, the misalignment process of unmanned driving equipment is carried out manually, which consumes human resources and high labor costs; the accuracy is lacking, and the accuracy of the misalignment during manual operation cannot be guaranteed, which will cause problems such as missed rolling and heavy rolling, and the rolling quality is low; The speed is slow, because the manual operation process can only be judged by human eyes and experience, it needs to be adjusted many times, the misalignment speed is slow, and the rolling work efficiency is low

[0004] At present, there is no related program or algorithm for the misrange process of unmanned equipment

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