WO2011127818A1

WO2011127818A1 - Running control device and method of transport vehicle and transport vehicle

Info

Publication number: WO2011127818A1
Application number: PCT/CN2011/072726
Authority: WO
Inventors: 詹纯新; 刘权; 高一平; 滕宏珍; 黄赞
Original assignee: 长沙中联重工科技发展股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2010-04-13
Filing date: 2011-04-13
Publication date: 2011-10-20
Also published as: CN101920911A; CN101920911B

Abstract

A running control device of a transport vehicle includes a front car control device which is located on the front car body (15) and comprises a front car control module connected with a front car driving mechanism, a rear car control device which is located on the rear car body (25) and comprises a rear car control module connected with a rear car driving mechanism, a vehicle control device which is located on the front car (1) or the rear car (2) and comprises a vehicle control module connected with the front car control module and the rear car control module, a front car position detector which is located on the front car (1) and connected with the vehicle control module, a rear car position detector which is located on the rear car (2) and connected with the vehicle control module and a detector (31) for the relative distance between the front car and the rear car which is located on the connecting frame (3) connected with the front car and the rear car and connected with the vehicle control module. The transport vehicle with the running control device enables the front car and the rear car to run linkedly without entirely depending on the cooperation between commanders and operators, so that the security of the operation can be guaranteed. Also disclosed are a transport vehicle with the said running control device and a running control method.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of transportation machinery, and more particularly to a transportation control apparatus and method for a transportation vehicle and a transportation vehicle. BACKGROUND OF THE INVENTION Existing crawler cranes are being carried out In large-scale operations, such as when transporting large equipment, the combination of two crawler cranes is sometimes used, that is, the combination of the front vehicle (front crawler crane) and the rear vehicle (rear crawler crane) is used. The front and rear vehicles are completely independent, the operation mode is completely mechanical operation, and the efficiency is low. The commander observes the actual position of the front and rear vehicles on the spot, and commands the operator of the front and rear vehicles to operate forward or backward. To realize the walking and turning function, the operator can only execute the commander's instructions during the work process. The safety and reliability of the equipment cannot be guaranteed by the equipment itself. It relies entirely on the skilled cooperation of the commander and the operator. The commander and the operator bear a very large Mental stress and responsibility, the safety of work is not guaranteed. The purpose of the invention is to provide a traveling control device and a control method for a transport vehicle, so as to solve the problem that the crawler crane front-vehicle rear-car joint walking completely relies on the skilled cooperation of the commander and the operator, and the safety of the work cannot be guaranteed. Another object of the present invention is to provide a transport vehicle for solving the problem that the crawler crane can not safely jointly walk and transport after the vehicle is in front of the vehicle. According to an aspect of the present invention, a travel control device for a transport vehicle is provided, the transport vehicle including Crawler crane front and crawler crane rear; Front car includes: front left and right front tracks and front body between front left and right front; rear car including: rear left track And a rear crawler right track and a rear body disposed between the rear left track and the rear right track; the transporter further includes a connecting frame connecting the front and the rear; the travel control device includes: a front vehicle control device, disposed at On the front body, the front vehicle control unit has a front vehicle control module, and the front vehicle control module is connected to the driving mechanism of the front vehicle; The vehicle control device is disposed on the rear vehicle body, the rear vehicle control device has a rear vehicle control module, and the rear vehicle control module is coupled with the rear vehicle drive mechanism; the vehicle control device is disposed on the front or rear vehicle, and the vehicle control The device has a whole vehicle control module, the vehicle control module is connected with the front vehicle control module, and the vehicle control module is connected with the rear vehicle control module; The front vehicle position detector is disposed on the front vehicle and connected to the vehicle control module; the rear vehicle position detector is disposed on the rear vehicle and connected to the vehicle control module; the front vehicle and the rear vehicle relative distance detector are disposed at Connected to the rack and connected to the vehicle control module. Further, the front vehicle position detector comprises: a front left left track angular displacement detector disposed on the front left track; a front right right track angular displacement detector disposed on the front right track; the front car and the connecting frame are opposite The angular displacement detector is arranged on the front vehicle body; the rear vehicle position detector comprises: a rear left angular angle displacement detector, which is arranged on the rear left track; a rear right angle angular displacement detector, which is arranged in the rear right On the track; the rear and the frame relative angular displacement detector, set on the rear body. Further, a sliding connection between the connecting frame and the front vehicle body or/and the rear vehicle body; the front vehicle and the rear vehicle relative distance detector are disposed on a side of the connecting frame near the rear vehicle or/and disposed on the connecting frame Near the side of the front car. Further, the vehicle control module or/and the front vehicle control module or/and the rear vehicle control module are programmable controllers. Further, the front body of the vehicle has a front vehicle; the rear vehicle has a rear vehicle; the connecting frame is connected between the upper vehicle and the rear vehicle; The control device is placed on the upper vehicle. Further, the boarding of the preceding vehicle and/or the loading of the following vehicle includes a swinging platform, a boom and a hoisting mechanism. According to another aspect of the present invention, there is also provided a transport vehicle comprising: a crawler crane front car and a crawler crane rear car, the front car comprising: a front left track and a front right track and a front left set and a front set The front body between the right track; the rear car includes: the rear left and rear right tracks and the rear body between the rear left and rear right tracks; the connecting frame, connected to the front body Between the rear body and the rear body, the movable connection between the connecting frame and the front body is an active connection between the connecting frame and the rear body; the transporting vehicle further includes: a walking control device of the transport vehicle described above. According to still another aspect of the present invention, a travel control method for a transport vehicle is provided, including: the vehicle control module respectively issues control commands to the front and rear vehicles; and the front and rear vehicles jointly walk according to the control command. Further, the travel control method of the transport vehicle further includes: the front vehicle, the rear vehicle, and the front and rear vehicle relative distance detectors feed back operation information to the vehicle control module according to the actual working state; the vehicle control module according to the feedback operation information Determine whether the actual working state meets the preset condition; if the preset bar is satisfied Then, the vehicle control module issues a maintenance command to the front and rear vehicles to maintain the current working state of the front and rear vehicles; if the preset condition is not met, the vehicle control module issues the front vehicle and/or the rear vehicle. Adjust the command so that the front and/or the rear car change the current work. Further, before the vehicle control module issues a control command to the front vehicle and the rear vehicle respectively, the method further includes: the vehicle control module accepts an initial setting of the operator. Further, the content of the initial setting includes a preset condition and a joint walking mode, wherein when the joint walking mode is the synchronous straight walking mode, the preset condition is whether the relative angle between the front vehicle and the connecting frame is equal to the relative angle between the rear vehicle and the connecting frame. . Further, when the joint walking mode is synchronous straight walking, if the preset condition is not met, the vehicle control module issues an adjustment command to the front vehicle and/or the rear vehicle to change the current working state of the preceding vehicle and/or the rear vehicle. Including: the vehicle control module sends an adjustment command to the rear and front vehicles; the rear vehicle adjusts the speed and/or direction of the left and right tracks of the rear vehicle according to the adjustment command, so that the relative angle between the rear vehicle and the connecting frame is equal to the preceding vehicle and The relative angle of the connecting frame; the front and rear vehicles adjust their respective left and right tracks to travel at the same speed according to the adjustment command. Since the vehicle control module is connected to the front vehicle control module, the vehicle control module is connected to the vehicle control module; the front vehicle control module is connected to the driving mechanism of the front vehicle; and the rear vehicle control module is connected to the driving mechanism of the rear vehicle; The vehicle control module can control the driving mechanism of the front and rear vehicles, thereby automatically controlling the combined walking of the front and rear vehicles, without the need of special commanders for command, without the need for commanders and operators to cooperate, thereby overcoming the front of the crawler crane. The combined driving of the rear and rear vehicles relies entirely on the skilled cooperation of the commanders and operators, and the safety of the work cannot be guaranteed. At the same time, the work efficiency and transportation speed are improved, the use of personnel is reduced, and the labor cost is reduced. In addition, since the front vehicle position detector, the rear vehicle position detector, and the front and rear vehicle relative distance detectors are provided, and the detectors are connected to the vehicle control module, the walking information can be fed back to the vehicle control module, thereby The vehicle control module automatically prepares the walking speed and direction of the front and rear vehicles during walking, so that the vehicle control module automatically adjusts the walking speed and direction of the front and rear vehicles during walking. In the same way, the transport vehicle with the travel control device of the transport vehicle can control the combined travel and load of the crawler crane in front and rear, and can transport the heavy objects that cannot be carried by the single crawler crane, thus improving the transport weight and transporting large parts or super Large parts. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in FIG. In the drawings: FIG. 1 shows a front view structure of a transport vehicle according to an embodiment of the present invention; FIG. 2 shows a top view structure of a travel control device of a transport vehicle according to an embodiment of the present invention; The arrow indicates the forward direction of the transport vehicle; FIG. 3 shows a connection block diagram of the travel control device of the transport vehicle according to an embodiment of the present invention; and FIG. 4 shows the travel of a transport vehicle according to an embodiment of the present invention. Control Method. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. 1 and 2 show a travel control device for a transport vehicle according to the present invention, wherein the front vehicle 1 includes: a front left rail 11 and a front right rail 13 and a front left and a right rear crawler. The front vehicle body ₁₅ ; the rear vehicle 2 includes: a rear left track 21 and a rear right track 23, and a rear body 25 disposed between the rear left track and the rear right track; the connecting frame 3 for carrying The weight 6 is used to connect between the front vehicle 1 and the rear vehicle 2, and the movable connection between the connecting frame 3 and the front vehicle body 15 or the connecting frame and the rear vehicle body 25 is an active connection. Of course, the front and rear vehicles also include the components that are required for the drive mechanism, the traveling mechanism, and the like. 3 shows the line connection relationship of the components of the travel control device of the transport vehicle. As shown in FIG. 3, the travel control device of the transport vehicle includes: a front vehicle control device, which is disposed on the front vehicle body 15, and the front vehicle control device has The front vehicle control module, the front vehicle control module is connected with the driving mechanism of the front vehicle; the rear vehicle control device is disposed on the rear vehicle body 25, the rear vehicle control device has a rear vehicle control module, the rear vehicle control module and the rear vehicle driving mechanism The vehicle control device is disposed on the front vehicle 1 or the rear vehicle 2. The vehicle control device has a vehicle control module, the vehicle control module is connected with the front vehicle control module, and the vehicle control module is connected with the vehicle control module. The vehicle control module can control both the front and the rear; the front vehicle position detector is set on the front vehicle 1, for example, on the track of the preceding vehicle 1 and connected to the vehicle control module; , set on the rear car 2, for example, set on the track of the rear car 2, and with the whole vehicle control The module is connected; the front and rear vehicle relative distance detectors 31 are disposed on the connecting frame 3 and connected to the vehicle control module. Each of the above detectors can employ a variety of suitable sensors. In addition, as shown in FIG. 1, the preceding vehicle control device and the rear vehicle control device of the present invention are both disposed at the top of the front vehicle body 15 and at the top of the rear vehicle body 25, and may be disposed, for example, in the lateral direction of the front vehicle body 15 or The rear side of the rear vehicle body 25 is such that the connecting frame 3 is placed on the top of the front vehicle body 15 and on the top of the rear vehicle body 25 to carry heavy loads. The front vehicle control device can be disposed in the cab 17 of the preceding vehicle, the rear vehicle control device can be disposed in the cab 27 of the rear vehicle, and the vehicle control device can be disposed in the cab 7 of the vehicle. As shown in Fig. 1 and Fig. 2, the operation room of the front vehicle or the operation room 27 of the rear vehicle is disposed in the lateral direction of the front or rear vehicle, and the operation room 7 of the entire vehicle can be disposed in the front vehicle. The side of the upper car 154 or other position of the front car, so that the upper car 154 of the preceding vehicle carries out lifting or the front vehicle carries the load. Each control device may, for example, comprise a control panel, a joystick, a screen, a meter, an input device, such as a keyboard, and the like. Since the vehicle control module is connected to the front vehicle control module, the vehicle control module is connected to the vehicle control module; the front vehicle control module is connected to the driving mechanism of the front vehicle; and the rear vehicle control module is connected to the driving mechanism of the rear vehicle; The vehicle control module can control the driving mechanism of the front and rear vehicles, thereby automatically controlling the combined walking of the front and rear vehicles, without the need of special commanders for command, without the need for commanders and operators to cooperate, thereby overcoming the front of the crawler crane. The combined driving of the rear and rear vehicles relies entirely on the skilled cooperation of the commanders and operators, and the safety of the work cannot be guaranteed. At the same time, the work efficiency and transportation speed are improved, the use of personnel is reduced, and the labor cost is reduced. In addition, since the front vehicle position detector, the rear vehicle position detector, and the front and rear vehicle relative distance detectors are provided, and the detectors are connected to the vehicle control module, the walking information can be fed back to the vehicle control module, thereby The vehicle control module automatically prepares the walking speed and direction of the front and rear vehicles during walking, so that the vehicle control module automatically adjusts the walking speed and direction of the front and rear vehicles during walking. Further, as shown in FIG. 2, the front vehicle position detector includes: a front left left crawler angle displacement detector 111 disposed on the front left rail 11; a front right right crawler angular displacement detector 131 disposed on the front right The track 13 is connected to the front vehicle body 15; the rear vehicle position detector comprises: a rear left track angle displacement detector 211 disposed on the rear left track 21; The rear right track angular displacement detector 231 is disposed on the rear right track 23; the rear and link relative angular displacement detectors 251 are disposed on the rear body 25. The above position detectors can accurately reflect the real-time walking information of the walking parts of the front and rear vehicles, and can accurately feedback the walking information of the front and rear vehicles, and can be used for the preceding vehicle. The walking of each track of the rear vehicle is precisely adjusted, thereby increasing the accuracy of the adjustment. The number of these position detectors may be more than one, may be plural, and distributed in different positions. For example, it is distributed at different locations on each track to get more real-time walking information. Further, as shown in FIG. 2, the connecting frame 3 and the rear vehicle body 25 are slidably connected to ensure that the rear car 2 and the connecting frame 3 can be separated from the sliding direction, so that the walking is flexible; the front car and the rear car are relatively The macro-discharge detector 31 is disposed on the side of the connecting frame near the rear car 2, so that the displacement between the rear car 2 and the connecting frame 3 can be fed back more quickly and conveniently. Similarly, when the connecting frame 3 and the front vehicle body 15 are slidably connected, the front and rear vehicle relative distance detectors 31 are disposed on the side of the connecting frame near the front car, and may also be connected to the frame. 3 is a sliding connection with the rear vehicle body 25 and a sliding connection between the connecting frame 3 and the front vehicle body 15, and a front vehicle and a rear vehicle relative distance detection are respectively arranged on one side of the front vehicle and the side closer to the rear vehicle. Thus, the feedback effect is better, the calculation is more precise, and the control is more precise. Further, the vehicle control module or/and the front vehicle control module or/and the rear vehicle control module are programmable controllers (PLCs), so that the transportation is accurate, fast, and easy to program under the working conditions of control, transportation, and the like. The cost is lower. Of course, each of the above control modules may also be a CPU. Further, as shown in FIG. 1, the body 15 of the front vehicle is provided with the upper vehicle 154 of the preceding vehicle; the body 25 of the rear vehicle is provided with the upper vehicle 254 of the rear vehicle; and the connecting frame 3 is connected to the upper vehicle. 154 and the upper vehicle 254 between the rear vehicle; the vehicle control device is disposed on the upper vehicle 154 of the preceding vehicle. In this way, the arrangement of the connection frame 3 is facilitated. A slewing platform, a boom 156 and a hoisting mechanism can be provided on each of the upper vehicles for lifting work, so that the front and rear vehicles have a lifting function in addition to the transportation function. As shown in FIG. 2, the present invention also provides a transport vehicle comprising: a crawler crane front vehicle 1 and a crawler crane rear vehicle 2, the front vehicle 1 comprising: a front left rail 11 and a front right rail 13 and a front set The front body 15 between the left left track and the front right track; the rear car 2 includes: a rear left track 21 and a rear right track 23, and a rear body disposed between the rear left track and the rear right track 25; the connecting frame 3 is connected between the front body 15 and the rear body 25, and the movable connection between the connecting frame 3 and the front body 15 is an active connection between the connecting frame 3 and the rear body 25; Also included: The travel control device of the transport vehicle described above. This kind of transport vehicle makes the operation control of the front and rear vehicles completely intelligent. The operator's operation of the front and rear vehicles is as simple and reliable as the operation of the ordinary crawler crane. The safe use of the equipment is completely guaranteed by the safety device of the equipment itself, which greatly reduces The labor intensity and mental stress of the operators and commanders. The present invention also provides a travel control method for a transport vehicle, and FIG. 4 is a flow chart of a travel control method for a transport vehicle according to an embodiment of the present invention, including the following steps: Step S502, the vehicle control module issues a control command to the front vehicle and the rear vehicle respectively; for example, the operator inputs a control command to the vehicle control module through the keyboard, and the vehicle control module sends the front vehicle control module vehicle and the rear vehicle control module respectively. The control command, for example, commands the direction or speed of the preceding vehicle and the rear vehicle; step S504, the front vehicle and the rear vehicle-jointly walk according to the control command; the front and rear vehicles are respectively controlled by the preceding vehicle control module vehicle and the rear vehicle control module The front driving mechanism and the rear driving mechanism are moved to operate the crawler belts of the preceding vehicle and the rear vehicle; the combined walking of the front and the rear vehicles can be realized through steps S502 and S504; step S506, front and rear vehicles, and The front vehicle and the rear vehicle relative distance detector feed back the operation information to the vehicle control module according to the actual working state; the front left left track angle displacement detector, the front vehicle right track angle displacement detector, the front vehicle and the connecting frame relative angular displacement detector , rear left angle angle displacement detector, rear right angle angle displacement detector, rear vehicle and connecting frame relative angular displacement detection And the front vehicle and the rear vehicle relative distance detector feed back the operation information to the vehicle control module; in step S508, the vehicle control module determines whether the actual working state satisfies the preset condition according to the feedback operation information, and the preset condition varies with the walking mode. If the preset condition is met, the process goes to step S510. If the preset condition is not met, the process goes to step S512; in step S510, the vehicle control module issues a maintenance command to the front and the rear vehicle to make the front vehicle and The rear vehicle maintains the current working state; in step S512, the vehicle control module issues an adjustment command to the front vehicle and/or the rear vehicle, and the front vehicle control module vehicle and the rear vehicle control module respectively control the front vehicle driving mechanism and the rear vehicle driving mechanism, respectively. Exercise to change the current working condition of the front and/or the rear. Through the above steps, the joint walking of the front and rear vehicles is realized, which ensures the uniformity of walking, and can be automatically adjusted according to the real-time walking condition, thereby ensuring the accuracy of walking. Further, before the vehicle control module issues a control command to the front vehicle and the rear vehicle respectively, the method further includes: the vehicle control module accepts an initial setting of the operator. In this way, the operator can flexibly control the walking of the front and rear vehicles. Further, the content of the initial setting includes a preset condition and a joint walking mode, and the walking mode includes a front vehicle, a rear vehicle synchronous straight walking, a curved walking, an in-situ winding, and the like, wherein when the joint walking mode is a synchronous straight walking mode , the preset condition is whether the relative angle between the front car and the connecting frame is equal to the rear car and The relative angle of the connecting frame. In this way, it is possible to realize various complicated walking in the front and rear vehicles so as to walk freely. Further, when the joint walking mode is synchronous straight walking, if the preset condition is not met, the vehicle control module issues an adjustment command to the front vehicle and/or the rear vehicle to change the current working state of the preceding vehicle and/or the rear vehicle. Including: the vehicle control module sends an adjustment command to the rear and front vehicles; the rear vehicle adjusts the speed and/or direction of the left and right tracks of the rear vehicle according to the adjustment command, so that the relative angle between the rear vehicle and the connecting frame is equal to the preceding vehicle and The relative angle of the connecting frame; the front and rear vehicles adjust their respective left and right tracks to travel at the same speed according to the adjustment command. In this way, the walking speed of the front and rear vehicles is controlled by controlling the speed and direction of each track, and such control is more direct and accurate. Specifically, when the joint walking mode is synchronous straight walking, the operator issues control information through the operating mechanism, and then the vehicle control module issues an arbitrary angle walking control command, the vehicle control module passes the speed reduction ratio, combined with mechanical characteristics, etc. The parameter is converted into the displacement of the left track of the rear car, and it is automatically determined whether the relative angle between the front car and the connecting frame is equal to the relative angle between the rear car and the connecting frame. If the difference between the two angles exceeds the calculation allowable error range, the left and right walking tracks are automatically adjusted first. , the relative angle between the rear car and the connecting frame is approximately equal to the relative angle between the front car and the connecting frame, and then the four crawlers are controlled to walk at the same speed. During the walking process, four crawlers are automatically calculated according to the actual displacement of each track, the actual distance between the front and the rear car. The walking speed, and automatically adjust the output to control the walking speed signal. In addition, it is also possible to realize that the front vehicle is stationary, and the rear vehicle is traveling around the front center of the vehicle in the center of the differential arc; the front vehicle is wound around the rear axle at any radius, or the rear vehicle is wound around the front axle at any radius to achieve the original Turn the ground; the front and rear cars walk in a 90-degree "cross" straight line. When the above control is realized, the invention is controlled by the electro-hydraulic detection and control technology, the control is fast and accurate, and the failure is small, and in the case of equipment failure or accident, the vehicle control module automatically cuts off the dangerous direction action to ensure the safety of walking. . In addition, each control device, such as the vehicle control device, can also be provided with functions such as automatic sound and light prompting, alarming, and the like, and a good human-machine coupling interface can be set. From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: The control of the combined walking of the front and rear vehicles for transporting heavy components is realized, the operation is simplified, the safety and reliability are improved, and the safety of the equipment is improved. The use is completely guaranteed by the device's own safety device, which greatly reduces the labor intensity and mental stress of the operators and commanders. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Where in the invention ^" God and principle Any modifications, equivalent substitutions, improvements, etc. made therein are intended to be included within the scope of the present invention.

Claims

A travel control device for a transport vehicle, the transport vehicle comprising a crawler crane front vehicle and a crawler crane rear vehicle; the front vehicle comprising: a front left rail and a front right rail and a front crawler left and front a front vehicle body between the right track of the vehicle; the rear vehicle includes: a rear left track and a rear right track, and a rear body disposed between the rear left track and the rear right track;

The transport vehicle further includes a connecting frame connecting the front and rear vehicles;

The walking control device includes:

a front vehicle control device is disposed on the front vehicle body, the front vehicle control device has a front vehicle control module, and the front vehicle control module is coupled to the driving mechanism of the front vehicle;

a rear vehicle control device is disposed on the rear vehicle body, the rear vehicle control device has a rear vehicle control module, and the rear vehicle control module is coupled to the driving mechanism of the rear vehicle;

a vehicle control device disposed on the front vehicle or the rear vehicle, the vehicle control device having a vehicle control module, the vehicle control module being coupled to the front vehicle control module, the vehicle control The module is connected to the rear vehicle control module;

a front vehicle position detector disposed on the front vehicle and connected to the vehicle control module; a rear vehicle position detector disposed on the rear vehicle and connected to the vehicle control module; front and rear A vehicle relative distance detector is disposed on the connecting frame and connected to the vehicle control module.

2. The travel control device for a transport vehicle according to claim 1, wherein

The front vehicle position detector comprises: a front left left track angular displacement detector disposed on the front left vehicle track; a front right right track angular displacement detector disposed on the front right track; the front vehicle and the front vehicle a connecting frame relative angular displacement detector disposed on the front vehicle body; the rear vehicle position detector comprising:

a rear left angular angle displacement detector is disposed on the left rear track of the rear vehicle; a rear right angle angular displacement detector is disposed on the rear right track of the rear vehicle; The rear vehicle and the connecting frame relative angular displacement detector are disposed on the rear vehicle body. A traveling control device for a transport vehicle according to claim 2, wherein

a sliding connection between the connecting frame and the front vehicle body or/and the rear vehicle body; the front and rear vehicle relative distance detectors are disposed on a side of the connecting frame adjacent to the rear vehicle Or/and disposed on a side of the connecting frame adjacent to the front vehicle. A travel control device for a transport vehicle according to claim 3, wherein said vehicle control module or/and said preceding vehicle control module or/and said rear vehicle control module are programmable controllers. A traveling control device for a transport vehicle according to claim 2, wherein

The body of the front vehicle is provided with a preceding vehicle; the body of the rear vehicle is provided with a rear vehicle;

The connecting frame is connected between the upper vehicle of the front vehicle and the upper vehicle of the rear vehicle; and the vehicle control device is disposed on the upper vehicle of the front vehicle. The traveling control device for a transport vehicle according to claim 5, wherein the boarding of the preceding vehicle and/or the loading of the following vehicle includes a swinging platform, a boom, and a hoisting mechanism. A transport vehicle characterized by comprising: a crawler crane front vehicle and a crawler crane rear vehicle, the front vehicle comprising: a front left rail and a front right rail and being disposed between the front left rail and the front right crawler Front body;

The rear vehicle includes: a rear left track and a rear right track, and a rear body disposed between the rear left track and the rear right track;

a connecting bracket connected between the front vehicle body and the rear vehicle body, the connecting bracket and the front vehicle body being in an active connection or an active connection between the connecting bracket and the rear vehicle body ;

The transport vehicle further includes: the travel control device of the transport vehicle according to any one of claims 1 to 6.

A travel control method for a transport vehicle, characterized in that it comprises:

The vehicle control module issues control commands to the front and rear vehicles respectively; The front vehicle and the rear vehicle f are jointly operated according to the control command.

The traveling control method of the transport vehicle according to claim 8, further comprising: the front vehicle, the rear vehicle, and the front vehicle and the rear vehicle relative to the giant separation detector according to an actual working state The vehicle control module feeds back operation information;

The vehicle control module determines, according to the feedback operation information, whether the actual working state meets a preset condition;

If the preset condition is met, the vehicle control module issues a maintenance command to the front vehicle and the rear vehicle to maintain the front vehicle and the rear vehicle in a current working state;

If the preset condition is not met, the vehicle control module issues an adjustment command to the preceding vehicle and/or the rear vehicle to cause the front vehicle and/or the rear vehicle to change the current working state.

The travel control method of the transport vehicle according to claim 8, wherein before the vehicle control module issues a control command to the front vehicle and the rear vehicle, the method further includes: the vehicle control module accepting an operator's Initialize the settings.

The travel control method of the transport vehicle according to claim 10, wherein the content of the initial setting includes the preset condition and a joint walking mode, wherein

When the joint walking mode is a synchronous straight walking mode, the preset condition is whether the front vehicle and the connecting frame relative angle is equal to the rear vehicle and the connecting frame relative angle.

12. The method of controlling travel of a transport vehicle according to claim 11, wherein when the joint travel mode is synchronous straight travel, if the preset condition is not met, the vehicle control module is The preceding vehicle and/or the rear vehicle issue an adjustment command to change the current working state of the preceding vehicle and/or the following vehicle, including:

The vehicle control module issues the adjustment command to the rear vehicle and the front vehicle; the rear vehicle adjusts a speed and/or a direction of a left track and a right track of the rear vehicle according to the adjustment command, such that The relative angle of the rear vehicle and the connecting frame is equal to the relative angle between the front vehicle and the connecting frame;

The front vehicle and the rear vehicle adjust their respective left and right tracks to travel at the same speed according to the adjustment command.