Open-pit mine wheel bucket continuous equipment straight-movement automatic deviation correction path planning system and method

Abstract

The invention discloses a straight automatic deviation correction path planning system and method for open-pit mine wheel bucket continuous equipment, and relates to the technical field of intelligent control of open-pit mining equipment. The system is installed on wheel bucket continuous equipment through Beidou differential positioning double antennas, and absolute space azimuth angle data of a transmission arm are solved in real time. And an absolute value multi-turn encoder on the rotary gear structure is combined to detect the deviation angle between the transmission arm and the walking direction. After the two types of data are fused by the programmable controller, the actual advancing angle of the crawler belt is obtained through logical operation, and the actual advancing angle is dynamically compared with the azimuth angle of a datum line of the walking direction detected by a Beidou positioning antenna preset on the rail car. A left and right track differential speed adjusting instruction is generated, real-time deviation correction of continuous equipment walking is achieved, and the linearity of a mining working face is effectively guaranteed. The positioning accuracy is greatly improved through a positioning method in which Beidou accurate positioning is fused with a pose sensor, and the work is also supported for efficient operation of continuous equipment of the open-pit mine wheel bucket.

Description

Technical Field

[0001] The present invention relates to the field of straight travel control technology, and in particular to a system and method for planning a straight travel autonomous deviation correction path for continuous equipment of an open pit mine bucket wheel. Background Art

[0002] Ensuring the linearity of the mining face during continuous bucket wheel mining operations in open-pit mines is crucial for improving mining efficiency and quality. Currently, the travel mechanism of electric-driven continuous bucket wheel systems utilizes a synchronous control mode with variable frequency speed regulation, significantly improving the synchronicity of the crawler travel mechanism. However, uneven working surfaces can affect the synchronization of the crawler travel mechanisms, causing them to deviate. Crawler travel deflection in continuous bucket wheel mining equipment is one of the primary factors affecting the linearity of the mining face.

[0003] With the continuous improvement of my country's Beidou positioning technology and the increasing accuracy of positioning, the above-mentioned problem can be solved by installing a Beidou positioning system on the crawler tracks to determine the crawler's direction of travel. However, due to the complex working environment of the crawler equipment structure, obstruction, and limited space, it is impossible to directly install Beidou positioning equipment on the crawler tracks. In addition, the serial process characteristics of bucket wheel continuous mining equipment also increase the difficulty of ensuring the linearity of the working surface during operation through simple crawler tracking. Summary of the Invention

[0004] Based on the above problems and the shortcomings of the existing technology, the purpose of the present invention is to provide an open pit mine bucket wheel continuous equipment straight autonomous correction path planning system and method, which solves the problems of direct crawler positioning and ensuring the straightness of the working surface caused by factors such as the complex structure of the open pit bucket wheel continuous equipment walking crawler equipment, obstruction, space limitation, and series process characteristics.

[0005] The invention is realized through the following technical solution: an open-pit mine bucket wheel continuous equipment straight-line autonomous correction path planning system, the technical key points of which are: including a control unit and an execution unit communicating with it respectively, a Beidou positioning unit and a posture detection unit. The Beidou positioning unit is a Beidou GNSS differential dual antenna installed on the end of the conveyor arm and the rail car platform, with a distance between the dual antennas ≥10m, which is used to solve the absolute azimuth angle of the cantilever rotation; the posture detection unit is an absolute multi-turn rotary encoder installed on the drive shaft of the rotary gear mechanism, which is used to detect the offset angle of the conveyor arm relative to the direction of travel of the crawler track.

[0006] Furthermore, the control unit includes:

[0007] Data fusion module: used to fuse θ2 and θ1 to calculate the actual track travel angle θ real ;

[0008] Direction deviation calculation module: used to compare θreal Azimuth angle θ with the preset reference line target , generating an offset △θ=θ real -θ target ;

[0009] Differential speed control module: used to dynamically adjust the speed of the left and right crawler motors according to the generated offset △θ to correct the direction of travel. Furthermore, the actual crawler travel angle is calculated in the data fusion module using the formula:

[0010] θ real =θ2+θ1±θ offset ,

[0011] where θ offset is the mechanical installation deviation compensation value, the calibration error is ≤0.002°, θ2 is the absolute value azimuth angle of the cantilever rotation; θ1 is the offset angle of the detection transmission arm relative to the direction of travel of the crawler.

[0012] Furthermore, the differential speed control module uses a PID algorithm to adjust the speed of the crawler motor:

[0013] Left track motor speed: Right track motor speed: Among them, V base is the preset track reference speed; △θ=θ real -θ target is the direction deviation angle; K p is the proportional coefficient, ranging from 0.3 to 0.8; K i It is an integral system with a value range of 0.05 to 0.2; K d is the differential coefficient, ranging from 0.1 to 0.5; ∫△θdt is the time integral of the deviation angle; is the rate of change of the deviation angle.

[0014] A method for planning the straight path of continuous bucket wheel equipment in open pit mines is implemented by using an autonomous deviation correction path planning system for continuous bucket wheel equipment in open pit mines. The key technical point is that the crawler travel angle θ of the bucket wheel excavator is 13 and the track travel angle of the loader θ 12 Azimuth angle θ with reference railcar 11 By comparison, the bucket wheel excavator and the loader are kept moving in the same parallel straight line; the reference railcar azimuth is obtained by the Beidou positioning antenna installed on the railcar; when deflection occurs, logical calculation and decision-making are performed based on the collected deflection data, and the actuator is controlled by real-time fine-tuning of the offset to keep the azimuth of the bucket wheel excavator and the loader consistent with the azimuth of the reference railcar, that is, θ 11 =θ 12 =θ 13The actual forward direction of the bucket wheel excavator and the loader is measured and provided by the dual antennas installed on the manipulator arm, which are θ 13 G and θ 12 T; The offset between the bucket wheel excavator and the track is GOffset = θ 11 -θ 13 G, the offset between the bucket wheel excavator and the track is TOffset = θ 11 -θ 12 T.

[0015] Furthermore, the method for performing logical calculation and decision making based on the collected skew data is as follows:

[0016] When deflection occurs, the actuator is automatically controlled to realize automatic correction of crawler movement. Step A: Determine the deflection relationship and execute the following corresponding steps according to the judgment result.

[0017] A1. If the deviation data GOffset>0, the track direction data is determined to be left-deflected;

[0018] A2. According to step A1, the controller adjusts the control signal according to the error value to reduce the execution unit speed control word signal;

[0019] A3. According to step A2, reduce the speed control word signal of the inverter 1;

[0020] A4 according to steps A1-A 3, the control signal received by the inverter 1 adjusts the output frequency, reduces the speed of the execution unit inverter 1, thereby changing the travel track drive speed;

[0021] A5. After the automatic adjustment process of steps A1-A4, the actual azimuth deviation data of the moving track reaches the set homing value, that is, GOffset = 0, which is the homing value. The automatic straightening work of steps A1-A4 is automatically stopped, and the controller resumes the forward synchronous speed;

[0022] A6. If the skew data GOffset < 0, the track direction data is determined to be skewed to the right.

[0023] A7. According to step A6, the controller adjusts the control signal according to the error value to reduce the execution unit speed control word signal;

[0024] A8. According to step A7, reduce the speed control word signal of the inverter 2;

[0025] A9. According to steps A 6-A 8, the control signal received by the inverter 2 adjusts the output frequency, reduces the speed of the execution unit inverter 2, thereby changing the travel track drive speed;

[0026] A10. After the automatic adjustment process of steps A6 - A9, the actual azimuth deviation data of the traveling track reaches the set homing value, that is, GOffset = 0, and the automatic straightening work of steps A6 - A9 stops automatically, and the controller resumes moving forward at the synchronous speed;

[0027] A11. During the actual automatic straightening process, if the reset value GOffset = 0, the allowable reset drift amount is - 100 to + 100 mm. That is, in step 5, when 0 ≤ GOffset < + 100, it is considered homing, and the automatic straightening work of steps A1 - A4 stops automatically, and the controller resumes moving forward at the synchronous speed;

[0028] A12. During the actual automatic adjustment process, if the reset value GOffset = 0, the allowable reset drift amount is - 100 to + 100 mm. That is, in step 10, when - 100 < GOffset ≤ 0, it is considered homing, and the automatic straightening work of steps A1 - A4 stops automatically, and the controller resumes moving forward at the synchronous speed.

[0029] The beneficial effects of the present invention: Install a Beidou positioning unit and a pose detection unit on the continuous bucket wheel equipment. The method can always measure the azimuth data of the transmission arm by using the Beidou positioning unit. The azimuth data is calibrated by a reference station to obtain more accurate azimuth data. The pose detection unit can always measure the offset angle between the transmission arm and the traveling direction. Then, the real - time traveling angle of the track is obtained through the transmission arm angle and the offset angle. The traveling angle of the track is compared with the direction of the reference rail vehicle. When there is a deviation, logical calculation and decision - making are carried out according to the collected values, and the traveling speed is fine - tuned in real time through the offset amount to achieve automatic deviation correction for the straight - line walking of the track. Thus, the linearity of the mining face is effectively guaranteed. The positioning method that combines Beidou precise positioning with a pose sensor greatly improves the positioning accuracy, and also effectively solves the problems of the complexity of the structure of track equipment work, occlusion, limited space, series process characteristics, etc., which make it difficult to directly position the track and ensure the linearity of the working face. It also supports the automation, less - manned, and intelligent high - efficiency operation of the continuous bucket wheel equipment in open - pit mines. Brief Description of the Drawings

[0030] Figure 1 It is a schematic diagram of the composition of the straight - line path planning system for the continuous bucket wheel equipment in open - pit mines of the present invention;

[0031] Figure 2 It is a diagram for calculating the actual azimuth of the straight - line path planning of the continuous bucket wheel equipment in open - pit mines of the present invention;

[0032] Figure 3 It is a positioning diagram of the Beidou system for the straight - line path planning of the continuous bucket wheel equipment in open - pit mines of the present invention;

[0033] Explanation of the serial numbers in the figure: 10 is the control unit, 40 is the execution unit, 20 is the Beidou positioning unit, 30 is the posture detection unit, K101 is the programmable controller module, K102 is the industrial Ethernet module, K110 is the power module, B202 is the Beidou positioning unit including the base station, B204 is the mobile station, B202 is the communication link, B201 is the data processing unit, C301 is the encoder, F411 is the No. 1 inverter, F421 is the No. 2 inverter, F412 is the No. 1 inverter PN module, F422 is the No. 2 inverter PN communication module, θ2 is the azimuth data of the transmission arm, θ1 is the offset angle between the transmission arm and the walking direction, θ 13 is the crawler travel angle of the bucket wheel excavator, θ 12 is the track travel angle of the transfer machine, θ 11 Railcar travel reference angle, θ 13 G is the actual direction of the bucket wheel excavator, θ 12 T is the actual position of the loader, GOffset is the offset between the bucket wheel excavator and the rail car, and TOffset is the offset between the loader and the rail car. DETAILED DESCRIPTION

[0034] The above objects, features and advantages of the present invention can be more clearly understood by referring to the following Figures 1 to 3 The present invention is further described in detail with reference to the accompanying drawings and specific embodiments.

[0035] This embodiment provides a straight-line autonomous deviation-correction path planning system for continuous wheel bucket equipment in open-pit mines, comprising a control unit 10, an execution unit 40, a Beidou positioning unit 20, and a posture detection unit 30. The execution unit 40, the Beidou positioning unit 20, and the posture detection unit 30 are respectively controlled by the control unit 10. The Beidou positioning unit 20 of this embodiment uses a Beidou GNSS differential dual antenna, which is respectively installed at the end of the conveyor arm and the railcar platform, with a distance between the dual antennas ≥ 10m, and is used to calculate the absolute azimuth angle θ2 of the cantilever rotation. The posture detection unit of this embodiment uses an absolute multi-turn rotary encoder, which is installed on the drive shaft of the rotary gear mechanism to detect the offset angle θ1 of the conveyor arm relative to the direction of travel of the crawler track.

[0036] The control unit 10 of this embodiment includes a programmable controller module K101, an industrial Ethernet module K102, and a power supply module K110. The industrial Ethernet module K102 is bidirectionally connected to the programmable controller module K101 for data exchange via PROFINET communication. The power supply module K110 is connected to the programmable controller module K101 to provide reliable power to all modules in the programmable controller module K101 that require power.

[0037] The Beidou positioning unit 20 of this embodiment includes a base station B202, a mobile station B204, a communication link B202, and a data processing unit B201. Base station B202 receives Beidou satellite signals, calculates differential correction data, and transmits it to mobile station B204 via communication link B202. Mobile station B204 receives Beidou satellite signals and the base station differential correction data. Data processing unit B201 combines the satellite positioning signals and correction data to calculate high-precision position data.

[0038] The posture detection unit 30 in this embodiment uses an encoder C301, a multi-turn absolute encoder. This encoder can measure large angles, and each angular position corresponds to a unique encoding value. The encoder maintains position data even after power failure. The posture detection unit 30 measures the angle between the transport arm and the track in real time and feeds this data back to the control unit 10.

[0039] The execution unit 40 of this embodiment includes a frequency conversion unit and a communication interface unit, wherein the frequency conversion unit includes frequency converter No. 1 F411 and frequency converter No. 2 F421; the communication interface unit includes PN modules F412 and F422, wherein the PN modules F412 and F422 support PROFINET industrial bus communication to realize data communication exchange between the execution unit and the control unit.

[0040] The control unit 10 of this embodiment is a system that integrates a data fusion module, a direction deviation calculation module and a differential control module through a programmable controller unit. The data fusion module fuses θ2 and θ1 to calculate the actual track travel angle θ. real The data fusion module calculates the actual track travel angle θ using the following formula: real =θ2+θ1±θ offset , where θ offset It is the compensation value for mechanical installation deviation, and the calibration error is ≤0.002°.

[0041] The present embodiment adopts a method for planning a straight autonomous deviation correction path for continuous bucket wheel excavator equipment in an open pit mine. The process is as follows: the crawler travel angle θ of the bucket wheel excavator is 13 and the track travel angle of the loader θ 12 Azimuth angle θ with reference railcar 11 Comparison is made to keep the bucket wheel excavator and loader moving in the same parallel straight line. The azimuth of the reference railcar is obtained by the Beidou positioning antenna installed on the railcar. When deflection occurs, logical calculation and decision-making are performed based on the collected deflection data. The actuator is controlled by real-time fine-tuning of the offset to keep the azimuth of the bucket wheel excavator and loader consistent with the azimuth of the reference railcar, that is, θ 11 =θ 12 =θ 13The actual forward direction of the bucket wheel excavator and the loader is measured and provided by the dual antennas installed on the manipulator arm, which are θ 13 G and θ 12 T; The offset between the bucket wheel excavator and the track is GOffset = θ 11 -θ 13 G, the offset between the bucket wheel excavator and the track is TOffset = θ 11 -θ 12 T.

[0042] The direction deviation calculation module of this embodiment is compared with θ real Azimuth angle θ with the preset reference line target , generating an offset △

[0043] θ=θ real -θ target The differential control module dynamically adjusts the speed of the left and right track motors based on the generated offset △θ to correct the direction of travel.

[0044] The differential control module in this embodiment uses a PID algorithm to adjust the speed of the crawler motor:

[0045] Left track motor speed:

[0046] Right track motor speed:

[0047] Among them, V base is the preset track reference speed; △θ=θ real -θ target is the direction deviation angle; K p is the proportional coefficient, ranging from 0.3 to 0.8; K i It is an integral system with a value range of 0.05 to 0.2; K d is the differential coefficient, ranging from 0.1 to 0.5; ∫△θdt is the time integral of the deviation angle; is the rate of change of the deviation angle.

[0048] Based on the collected deflection data, logical calculation and decision-making are performed to control the speed of the actuator. When deflection occurs, the actuator speed is automatically controlled to achieve automatic deviation correction of the crawler track: Step A. Determine the deflection relationship and execute the following corresponding steps based on the judgment result.

[0049] A1. The deflection data, GOffset>0, determines that the track movement direction data is deflected to the left.

[0050] A2. According to step A1, the controller adjusts the control signal according to the error value and reduces the execution unit speed control word signal.

[0051] A3. According to step A2, the reducing execution unit is the frequency converter 1, that is, the speed control word signal of the frequency converter 1 is reduced.

[0052] A4. According to steps A1 - A3, the frequency converter 1 adjusts the output frequency according to the received control signal, reduces the speed of the execution unit frequency converter 1, and thus changes the driving speed of the traveling track.

[0053] A5. After the automatic adjustment process of steps A1 - A4, the actual azimuth deviation data of the traveling track reaches the set homing value, that is, GOffset = 0 means homing, and the automatic straightening work of steps A1 - A4 is automatically stopped, and the controller resumes moving forward at the synchronous speed.

[0054] A6. For the described deviation data, when GOffset < 0, it is determined that the azimuth data of the track traveling is skewed to the right.

[0055] A7. According to step A6, the controller adjusts the control signal according to the error value and reduces the speed control word signal of the execution unit.

[0056] A8. According to step A7, the reducing execution unit is the frequency converter 2, that is, the speed control word signal of the frequency converter 2 is reduced.

[0057] A9. According to steps A6 - A8, the frequency converter 2 adjusts the output frequency according to the received control signal, reduces the speed of the execution unit frequency converter 2, and thus changes the driving speed of the traveling track.

[0058] A10. After the automatic adjustment process of steps A6 - A9, the actual azimuth deviation data of the traveling track reaches the set homing value, that is, GOffset = 0, and the automatic straightening work of steps A6 - A9 is automatically stopped, and the controller resumes moving forward at the synchronous speed.

[0059] A11. During the actual automatic straightening process, the reset value GOffset = 0 allows a certain reset drift amount of -100 to +100 mm, that is, in step 5, when 0 ≤ GOffset < +100, it means homing, and the automatic straightening work of steps A1 - A4 is automatically stopped, and the controller resumes moving forward at the synchronous speed.

[0060] A12. During the actual automatic straightening process, the reset value GOffset = 0 allows a certain reset drift amount of -

[0061] 100 to +100 mm, that is, in step 10, when -100 < GOffset ≤ 0, it means homing, and the automatic straightening work of steps A1 - A4 is automatically stopped, and the controller resumes moving forward at the synchronous speed.

[0062] The open-pit mine bucket wheel continuous equipment straight path planning system of this embodiment also has a laser radar obstacle detection device set in the direction of crawler travel, which serves as a shutdown guarantee system for crawler straight travel path planning to avoid collision accidents with large materials and auxiliary equipment on the travel route.

[0063] The open pit mine bucket wheel continuous equipment straight path planning system of this embodiment allows path planning error, and the error value is less than 50mm.

[0064] The advantage of this embodiment lies in the integration of high-precision posture sensors and spatial Beidou positioning system data to achieve automatic deviation correction for crawler track straightness. This effectively ensures the linearity of the mining face. This method greatly improves positioning accuracy and effectively addresses the difficulties in direct crawler track positioning and ensuring working face linearity caused by factors such as the complex structure of the crawler equipment, obstruction, limited space, and serial process characteristics. It also supports the automated, less-manned, intelligent, and efficient operation of open-pit mine wheel bucket equipment.

[0065] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any appropriate manner in any one or more embodiments or examples. The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the scope of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A system for autonomous deviation correction of continuous straight-moving bucket wheel equipment in open-pit mines, characterized by: It includes a control unit, an execution unit, a Beidou positioning unit, and a pose detection unit that communicate with it respectively. The Beidou positioning unit is a Beidou GNSS differential dual antenna installed at the end of the transfer arm and on the platform of the rail vehicle. The distance between the dual antennas is ≥10m, which is used to calculate the absolute azimuth angle of the cantilever rotation; the pose detection unit is an absolute multi-turn rotary encoder installed on the drive shaft of the rotary gear mechanism, which is used to detect the offset angle of the transfer arm relative to the traveling direction of the crawler.

2. The open-pit mine bucket wheel continuous equipment straight autonomous deviation correction path planning system as claimed in claim 1, characterized in that: The control unit includes: Data fusion module: used to fuse θ2 and θ1 to calculate the actual track travel angle θ real ; Direction deviation calculation module: used to compare θ real Azimuth angle θ with the preset reference line target , generating an offset △θ=θ real -θ target ; Differential control module: used to dynamically adjust the speed of the left and right track motors according to the generated offset △θ and correct the direction of travel.

3. The open-pit mine bucket wheel continuous equipment straight autonomous deviation correction path planning system as claimed in claim 2, characterized in that: In the data fusion module, the actual traveling angle of the crawler is calculated by the formula: i real =θ2+θ1±θ offset , where θ offset is the mechanical installation deviation compensation value, the calibration error is ≤0.002°, θ2 is the absolute value azimuth angle of the cantilever rotation; θ1 is the offset angle of the detection transmission arm relative to the direction of travel of the crawler.

4. The open-pit mine bucket wheel continuous equipment straight autonomous deviation correction path planning system as claimed in claim 2, characterized in that: The differential speed control module uses the PID algorithm to adjust the speed of the crawler motor: Left track motor speed: Right track motor speed: Among them, V base is the preset track reference speed; △θ=θ real -θ target is the direction deviation angle; K p is the proportional coefficient, ranging from 0.3 to 0.8; K i It is an integral system with a value range of 0.05 to 0.2; K d is the differential coefficient, ranging from 0.1 to 0.5; ∫△θdt is the time integral of the deviation angle; is the rate of change of the deviation angle.

5. A method for planning a straight path for continuous bucket wheel equipment in an open pit mine, implemented using the path planning system according to claim 1, characterized in that: Bucket wheel excavator crawler travel angle θ 13 and the track travel angle of the loader θ 12 Azimuth angle θ with reference railcar 11 By comparison, the bucket wheel excavator and the loader are kept moving in the same parallel straight line; the reference railcar azimuth is obtained by the Beidou positioning antenna installed on the railcar; when deflection occurs, logical calculation and decision-making are performed based on the collected deflection data, and the actuator is controlled by real-time fine-tuning of the offset to keep the azimuth of the bucket wheel excavator and the loader consistent with the azimuth of the reference railcar, that is, θ 11 =θ 12 =θ 13 The actual forward direction of the bucket wheel excavator and the loader is measured and provided by the dual antennas installed on the manipulator arm, which are θ 13 G and θ 12 T; The offset between the bucket wheel excavator and the track is GOffset = θ 11 -θ 13 G, the offset between the bucket wheel excavator and the track is TOffset = θ 11 -θ 12 T.

6. The method for planning a straight path for continuous equipment of an open-pit mine bucket wheel according to claim 5, characterized in that: Perform logical calculation and decision based on the collected skew data. The method is When skew occurs, automatically control the actuator to achieve automatic correction of the crawler travel. Step A. Judge the skew relationship, and according to the judgment result, execute the corresponding steps below. A1. If the skew data GOffset>0, it is determined that the crawler travel azimuth data is skewed to the left; A2. According to step A1, the controller adjusts the control signal according to the error value, and reduces the speed control word signal of the execution unit; A3. According to step A2, reduce the speed control word signal of frequency converter 1; A4. According to steps A1-A3, the control signal received by frequency converter 1 adjusts the output frequency, reduces the speed of frequency converter 1 of the execution unit, and thus changes the driving speed of the traveling crawler; A5. After the automatic adjustment process of steps A1-A4, the actual azimuth skew data of the traveling crawler reaches the set homing value, that is, GOffset = 0 is homing, and the automatic straightening work of steps A1-A4 is automatically stopped, and the controller resumes moving forward at the synchronous speed; A6. If the skew data GOffset<0, it is determined that the crawler travel azimuth data is skewed to the right; A7. According to step A6, the controller adjusts the control signal according to the error value, and reduces the speed control word signal of the execution unit; A8. According to step A7, reduce the speed control word signal of frequency converter 2; A9. According to steps A6-A8, the control signal received by frequency converter 2 adjusts the output frequency, reduces the speed of frequency converter 2 of the execution unit, and thus changes the driving speed of the traveling crawler; [[ID=...]]A10. After the automatic adjustment process of steps A6-A9, the actual azimuth skew data of the traveling crawler reaches the set homing value, that is, GOffset = 0, and the automatic straightening work of steps A6-A9 is automatically stopped, and the controller resumes moving forward at the synchronous speed; A11. During the actual automatic straightening process, if the reset value GOffset = 0, the allowable reset drift is -100 to +100mm, that is, in step 5, when 0≤GOffset<+100, it is homing, and the automatic straightening work of steps A1-A4 is automatically stopped, and the controller resumes moving forward at the synchronous speed; A12. During the actual automatic adjustment process, if the reset value GOffset = 0, the allowable reset drift is -100 to +100mm, that is, in step 10, when -100<GOffset≤0, it is homing, and the automatic straightening work of steps A1-A4 is automatically stopped, and the controller resumes moving forward at the synchronous speed.

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