Method for controlling walking excavator to get on and off conveying vehicle by itself

The invention relates to a method for controlling a walking excavator to get on and off a conveying vehicle by itself, in particular to a method for realizing control over the walking excavator to geton and off the conveying vehicle by itself. The method sequentially includes the steps of arranging a sensor and a controller, building a spatial mathematical model of the walking excavator, planningand calculating the adjustment of the distance between the walking excavator and the conveying vehicle through a microprocessor in the controller, planning and calculating the getting-on gait, planning and calculating the getting-off gait, and the like. Through the method for controlling the walking excavator to get on and off the conveying vehicle by itself, the requirement for a driver is lowered, and the safety accidents such as damage to the conveying vehicle and overturning of the walking excavator caused by mistakes of the driver in the operation process are avoided. 本发明涉及一种步行式挖掘机自行上下运输车控制方法。具体说，是用来实现步行式挖掘机自行上、下