CN110775173A - High-precision straight-line walking deviation correcting system based on double-side distance detection and engineering vehicle - Google Patents
High-precision straight-line walking deviation correcting system based on double-side distance detection and engineering vehicle Download PDFInfo
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- CN110775173A CN110775173A CN201911196980.6A CN201911196980A CN110775173A CN 110775173 A CN110775173 A CN 110775173A CN 201911196980 A CN201911196980 A CN 201911196980A CN 110775173 A CN110775173 A CN 110775173A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a high-precision straight-line walking deviation rectifying system based on bilateral distance detection and an engineering vehicle. The rotating speed sensor is installed on the left and right traveling motors, the ultrasonic sensors are installed at the front end, the middle part and the rear end of a central axis of the upper part of the vehicle body, the ultrasonic obstacle avoidance sensors are installed at the front end and the rear end of the vehicle body, the controller controls the left and right traveling motor electromagnetic valves by controlling the left and right traveling handles or the operation result of the controller, and the display is used for displaying traveling reference calibration, traveling deviation and traveling speed. The invention realizes the autonomous linear walking and deviation rectification of the vehicle body.
Description
Technical Field
The invention relates to a control device of a tunnel cleaning robot, in particular to a high-precision linear walking deviation correcting system based on bilateral distance detection, and belongs to the technical field of control devices of tunnel cleaning robots.
Background
The tunnel cleaning robot is used for cleaning attachments on the inner wall of a tunnel, prevents excessive attachments and influences the normal use of the tunnel, harmful gas possibly exists in the tunnel, the tunnel cannot be cleaned manually, the tunnel cleaning robot is required to be cleaned mainly, accurate autonomous linear walking and automatic deviation correction in the cleaning process are very important, in the cleaning construction process, the cross section of the tunnel is arc-shaped, random attachments exist on the surface of the tunnel, random sundries exist at the bottom of the tunnel, walking deviation of a vehicle can occur in the cleaning process, or the vehicle can stop frequently due to overlarge deviation, construction efficiency is influenced, the inner wall of the tunnel can be collided even, and accidents of damaging the tunnel and equipment occur.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a high-precision linear walking deviation rectifying system based on bilateral distance detection, which realizes the autonomous linear walking and deviation rectification of a vehicle body.
The invention is realized according to the following technical scheme:
the high-precision linear walking deviation correcting system based on the bilateral distance detection comprises a controller, a left walking enabling switch, a right walking enabling switch, a left walking handle, a right walking handle, a rotating speed sensor, a display, an ultrasonic sensor and an ultrasonic obstacle avoidance sensor, wherein the left walking enabling switch, the right walking handle, the rotating speed sensor, the display, the ultrasonic sensor and the ultrasonic obstacle avoidance sensor are respectively connected with the controller; the rotating speed sensor is arranged on the left and right traveling motors and is used for detecting the forward rotation speed and the reverse rotation speed of the traveling motors so as to obtain the traveling speeds of the left and right crawler belts; the ultrasonic sensors are arranged at the front end, the middle part and the rear end of a central axis of the upper part of the vehicle body and are used for detecting the distance between the vehicle body and two sides and providing signal feedback for automatic linear walking; the ultrasonic obstacle avoidance sensors are arranged at the front end and the rear end of the vehicle body and used for detecting obstacles in front of and behind the equipment so as to ensure the driving safety of the vehicle; the controller controls the left and right walking motor electromagnetic valve by controlling the left and right walking handles or the operation result of the controller, thereby realizing the control of the walking speed of the left and right crawler; the display is used for calibrating the walking reference, displaying the walking deviation and the walking speed; the left and right walking enabling switch is turned on, the left and right walking handles are manually operated to control the vehicle, the vehicle is adjusted to the central position of the tunnel according to the distance display values on the two sides of the display, the reference calibration is carried out, after the walking reference calibration is completed, the automatic walking mode can be switched through the display, the vehicle can go forward or backward by clicking, and the autonomous linear walking and the deviation correction of the vehicle body are realized.
Further, the straight line walking deviation rectifying system also comprises a chassis inclination angle sensor, and the deviation of the vehicle is compensated through a chassis inclination angle measured value.
Further, a 120 ohm resistor is connected between the controller and the chassis inclination angle sensor in parallel.
Further, the straight-line walking deviation correcting system also comprises a walking gear change-over switch, and the walking speed of the vehicle is changed over at low, medium and high speeds through the walking gear change-over switch, so that the vehicle can run at different reference speeds.
Further, the straight-line walking deviation correcting system also comprises a left crawler belt brake valve and a right crawler belt brake valve, and the walking safety of the left crawler belt and the right crawler belt is ensured through a left walking enabling switch and a right walking enabling switch and the left crawler belt brake valve and the right crawler belt brake valve.
Further, a 120 ohm resistor is connected between the controller and the display in parallel.
The engineering vehicle is provided with the high-precision straight-line walking deviation rectifying system based on the bilateral distance detection.
Further, the engineering vehicle comprises a tunnel cleaning robot.
The invention has the beneficial effects that:
compared with the prior art, the invention detects the distance between the vehicle body and two sides by the ultrasonic sensors arranged at the front end, the middle part and the rear end of the central axis of the upper part of the vehicle body, provides signal feedback for automatic linear walking, calculates the vehicle deviation and the deviation angle by the controller through a specific algorithm, compensates the vehicle deviation through the chassis inclination angle measurement value, adjusts the walking speed of the left and right tracks according to the deviation and the deviation angle, further achieves the purposes of high-precision autonomous walking and automatic deviation rectification, detects front and rear obstacles by the ultrasonic obstacle avoidance sensors arranged at the front and rear ends of the vehicle body, timely alarms and stops, and ensures the high efficiency and safety of cleaning operation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a portion of an electrical system of the present invention;
fig. 2 is a partial structural schematic diagram of the present invention.
In the figure: 1. a controller, 2, a left walking enabling switch, 3, a right walking enabling switch, 4, a left walking handle, 5, a right walking handle, 6, a left crawler belt rotating speed sensor, 7, a right crawler belt rotating speed sensor, 8, a display, 9, a chassis inclination angle sensor, 10, a walking gear change-over switch, 11, a left crawler belt brake valve, 12, a right crawler belt brake valve, 13, the system comprises a left ultrasonic sensor 1, a right ultrasonic sensor 14, a right ultrasonic sensor 1, a left ultrasonic sensor 15, a left ultrasonic sensor 2, a right ultrasonic sensor 16, a right ultrasonic sensor 2, a left ultrasonic sensor 3, an ultrasonic sensor 18, a right ultrasonic sensor 3, a rear ultrasonic obstacle avoidance sensor 19, a left front ultrasonic obstacle avoidance sensor 20, a right front ultrasonic obstacle avoidance sensor 21, a right front ultrasonic obstacle avoidance sensor 22, a left track motor forward rotation electromagnetic valve 23, a left track motor reverse rotation electromagnetic valve 24, a right track motor forward rotation electromagnetic valve 25 and a right track motor reverse rotation electromagnetic valve.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 2, a high-precision straight-line walking deviation rectifying system based on bilateral distance detection comprises a controller 1, and a left-right walking enabling switch, a left-right walking handle, a rotating speed sensor, a display 8, a chassis tilt angle sensor 9, a walking gear change-over switch 10, a left-right crawler brake valve, an ultrasonic sensor and an ultrasonic obstacle avoidance sensor which are respectively connected with the controller 1.
The rotating speed sensor is arranged on the left and right traveling motors and is used for detecting the forward rotation speed and the reverse rotation speed of the traveling motors so as to obtain the traveling speeds of the left and right crawler belts; the rotation speed sensors include a left track rotation speed sensor, and 7 and a right track rotation speed sensor.
The ultrasonic sensors are arranged at the front end, the middle part and the rear end of a central axis of the upper part of the vehicle body and are used for detecting the distance between the vehicle body and two sides and providing signal feedback for automatic linear walking; it should be noted that the front ultrasonic sensors of the central axis of the upper part of the vehicle body are a left 1 ultrasonic sensor 13 and a right 1 ultrasonic sensor 14; the ultrasonic sensors in the middle of the central axis of the upper part of the vehicle body are a left 2 ultrasonic sensor 15 and a right 2 ultrasonic sensor 16; the ultrasonic sensors at the rear end of the central axis of the upper part of the vehicle body are a left 3 ultrasonic sensor 17 and a right 3 ultrasonic sensor 18.
The ultrasonic obstacle avoidance sensors are arranged at the front end and the rear end of the vehicle body and used for detecting obstacles in front of and behind the equipment so as to ensure the driving safety of the vehicle; the ultrasonic obstacle avoidance sensors mounted at the front end of the vehicle body are a left front ultrasonic obstacle avoidance sensor 20 and a right front ultrasonic obstacle avoidance sensor 21, and the ultrasonic obstacle avoidance sensor mounted at the rear end of the vehicle body is a rear end ultrasonic obstacle avoidance sensor 19.
The controller 1 controls the left and right walking motor electromagnetic valves by controlling the left walking handle 4, the right walking handle 5 or the operation result of the controller 1, thereby realizing the control of the walking speed of the left and right crawler belts; the left and right travel motor solenoid valves include a left track motor normal rotation solenoid valve 22, a left track motor reverse rotation solenoid valve 23, a right track motor normal rotation solenoid valve 24, and a right track motor reverse rotation solenoid valve 25.
The display 8 is used for displaying the walking reference calibration, the walking deviation and the walking speed; the left walking enabling switch 2 and the right walking enabling switch 3 are turned on, the vehicle is controlled through the left walking handle 4 and the right walking handle 5 which are manually operated, the vehicle is adjusted to the central position of the tunnel according to the distance display values on the two sides of the display 8, the reference calibration is carried out, after the walking reference calibration is completed, the automatic walking mode can be switched through the display 8, the vehicle can be clicked to move forwards or backwards, and the autonomous linear walking and the deviation correction of the vehicle body can be realized.
With continued reference to fig. 1 and 2, the straight-line traveling deviation correcting system further includes a chassis inclination angle sensor 9 for compensating the deviation of the vehicle through a chassis inclination angle measurement value.
The straight-line walking deviation correcting system further comprises a walking gear selector switch 10, and the walking speed of the vehicle is switched between low speed, medium speed and high speed through the walking gear selector switch 10, so that the vehicle can run at different reference speeds.
The straight-line walking deviation rectifying system further comprises a left crawler belt brake valve 11 and a right crawler belt brake valve 12, and the safety of walking of the left crawler belt and the right crawler belt is guaranteed through a left walking enabling switch 2, a right walking enabling switch 3, the left crawler belt brake valve 11 and the right crawler belt brake valve 12.
Further scheme: and 120 ohm resistors are connected in parallel between the controller 1 and the chassis inclination angle sensor 9 and between the controller 1 and the display 8.
In summary, the ultrasonic sensors mounted on the central axis of the upper part of the vehicle body measure the distance between the vehicle body and the two sides, the controller 1 calculates the vehicle deviation and the deviation angle through a specific algorithm, compensates the vehicle deviation through the chassis inclination angle measurement value, and switches the traveling speed of the vehicle at low, medium and high speeds through the traveling gear selector switch 10, so that the vehicle can travel at different reference speeds, and the reference speeds of the left and right tracks are adjusted according to the deviation and the deviation angle, thereby achieving the purpose of autonomous deviation correction. The ultrasonic obstacle avoidance sensors are arranged at the front end and the rear end of the vehicle body, so that obstacles in the front and the rear of the vehicle body are detected, an alarm is given or the vehicle is stopped, the running safety of the vehicle is ensured, and the running safety of the left crawler belt and the right crawler belt is ensured through the left-right running enabling switch and the left-right crawler belt brake valve. The display 8 is used for displaying the walking reference calibration, the walking deviation and the walking speed; the left and right walking enabling switch is turned on, the left and right walking handles are manually operated to control the vehicle, the vehicle is adjusted to the central position of the tunnel according to the distance display values on the two sides of the display 8, the reference calibration is carried out, after the walking reference calibration is completed, the display can be switched to an automatic walking mode, the vehicle can go forward or backward by clicking, and the autonomous linear walking and the deviation correction of the vehicle body are realized.
The invention also provides an engineering vehicle which is provided with the high-precision straight-line walking deviation rectifying system based on the bilateral distance detection. Wherein, this engineering vehicle includes tunnel cleaning robot.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides a high accuracy straight line walking rectifying system based on two side distance detect which characterized in that includes:
a controller;
the rotating speed sensor is electrically connected with the controller, is arranged on the left and right walking motors and is used for detecting the forward rotation speed and the reverse rotation speed of the walking motors so as to obtain the walking speeds of the left and right crawler belts;
the ultrasonic sensors are electrically connected with the controller, are arranged at the front end, the middle part and the rear end of the central axis of the upper part of the vehicle body, are used for detecting the distance between the vehicle body and the two sides and provide signal feedback for automatic linear walking;
the ultrasonic obstacle avoidance sensor is electrically connected with the controller, is arranged at the front end and the rear end of the vehicle body, and is used for detecting obstacles in front of and behind the equipment to ensure the running safety of the vehicle;
and the display is electrically connected with the controller and is used for displaying the walking reference calibration, the walking deviation and the walking speed.
2. The high-precision straight-line walking deviation correcting system based on double-side distance detection is characterized in that: the controller controls the left and right walking motor electromagnetic valves by controlling the left and right walking handles or the operation result of the controller, thereby realizing the control of the walking speed of the left and right crawler belts.
3. The high-precision straight-line walking deviation correcting system based on double-side distance detection is characterized in that: the straight line walking deviation rectifying system also comprises a chassis inclination angle sensor, and the deviation of the vehicle is compensated through a chassis inclination angle measured value.
4. The high-precision straight-line walking deviation correcting system based on double-side distance detection is characterized in that: and a 120 ohm resistor is connected in parallel between the controller and the chassis inclination angle sensor.
5. The high-precision straight-line walking deviation correcting system based on double-side distance detection is characterized in that: the straight line walking deviation correcting system also comprises a walking gear change-over switch, and the walking speed of the vehicle is switched between low speed, medium speed and high speed through the walking gear change-over switch, so that the vehicle can run at different reference speeds.
6. The high-precision straight-line walking deviation correcting system based on double-side distance detection is characterized in that: the straight-line walking deviation correcting system also comprises a left crawler belt brake valve and a right crawler belt brake valve, and the safety of left and right crawler belt walking is ensured through a left and right walking enabling switch and the left and right crawler belt brake valves.
7. The high-precision straight-line walking deviation correcting system based on double-side distance detection is characterized in that: and a 120 ohm resistor is connected in parallel between the controller and the display.
8. A work vehicle, characterized in that: the high-precision straight-line walking deviation correcting system based on the double-side distance detection is provided with any one of claims 1 to 7.
9. The work vehicle of claim 8, wherein: the engineering vehicle comprises a tunnel cleaning robot.
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Cited By (2)
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| CN113958261A (en) * | 2021-09-27 | 2022-01-21 | 南通大学 | Self-adaptive centering device and method for crawler of engineering drilling machine |
| CN114228511A (en) * | 2021-12-31 | 2022-03-25 | 江苏英拓动力科技有限公司 | Self-learning-based deviation correction control method for double-side independent electrically-driven tracked vehicle |
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