电动遥控牵引设备自动跟随及目标对接控制系统
本发明公开了电动遥控牵引设备自动跟随及目标对接控制系统,该系统包括:启动定位模块响应目标指令获取初始位置坐标和初始姿态角;联合测距模块启用超声测距阵列和光电测距阵列进行联合测距,生成实测距离序列和实测角度序列;状态判定模块据此计算三维偏移向量,并结合上一时刻跟随状态参数判定对接允许条件;满足条件时对接偏差模块锁定目标对接点并计算对接偏差向量;速度修正模块依据对接偏差向量采用分段调节规则分别得出水平和竖直驱动速度修正量,生成驱动电机的转速控制时序。
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