An automatic staggering method for unmanned equipment

Abstract

The invention relates to an automatic staggering method for unmanned driving equipment, which uses an open-loop control algorithm to calculate the steering angle under the current distance error of the machine according to the kinematics model of the machine, and sends it to the actuator to fix the angle according to the retreat distance information , so that the machine can reduce the distance error with the next target track in the shortest time; calculate the distance error and heading error between the current track and the target track, and calculate the control amount of the steering actuator, so that the machine can keep a straight line during the backward process. The present invention realizes the whole process of unmanned driving from the unmanned driving equipment entering the stagger mode, the closed-loop control straight back, the open-loop control forward, and the exit from the stagger mode, which is a necessary link in the unmanned driving 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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