CN110775173B - High-precision linear walking deviation correcting system based on bilateral distance detection and engineering vehicle - Google Patents
High-precision linear walking deviation correcting system based on bilateral distance detection and engineering vehicle Download PDFInfo
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- CN110775173B CN110775173B CN201911196980.6A CN201911196980A CN110775173B CN 110775173 B CN110775173 B CN 110775173B CN 201911196980 A CN201911196980 A CN 201911196980A CN 110775173 B CN110775173 B CN 110775173B
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- 238000001514 detection method Methods 0.000 title claims abstract description 12
- 230000002146 bilateral effect Effects 0.000 title abstract description 10
- 238000004140 cleaning Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a high-precision linear walking deviation correcting system based on bilateral distance detection and an engineering vehicle. The speed sensor is arranged on the left and right travel motors, the ultrasonic sensor is arranged at the front end, the middle part and the rear end of the central axis of the upper part of the vehicle body, the ultrasonic obstacle avoidance sensor is arranged at the front and rear ends of the vehicle body, the electromagnetic valve of the left and right travel motors is controlled by the controller through controlling the operation results of the left and right travel handles or the controller, and the display is used for calibrating the travel reference, displaying the travel deviation and the travel speed. The application realizes autonomous straight walking and deviation correction of the vehicle body.
Description
Technical Field
The application 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, so that the attachments are prevented from being too much to influence the normal use of the tunnel, harmful gas possibly exists in the tunnel and cannot be manually cleaned, the tunnel cleaning robot is required to clean the tunnel, the accurate autonomous straight line walking and automatic deviation correction are very important in the cleaning process, in the cleaning construction process, the cross section of the tunnel is arc-shaped, random attachments are arranged on the surface of the tunnel, random sundries are also arranged on the bottom of the tunnel, the vehicle can walk and deflect in the cleaning process, or the vehicle is frequently stopped due to overlarge deviation, the construction efficiency is influenced, even the tunnel inner wall is impacted, and accidents of damaging the tunnel and equipment occur.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides a high-precision linear walking deviation correcting system based on bilateral distance detection, which realizes autonomous linear walking and deviation correction of a vehicle body.
The application is realized according to the following technical scheme:
the high-precision linear walking deviation correcting system based on bilateral distance detection comprises a controller, a left walking enabling switch, 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 walking motors and used for detecting the forward rotation speed and the reverse rotation speed of the walking motors so as to obtain the left and right crawler walking speeds; the ultrasonic sensors 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 and used for detecting the distance between the vehicle body and two sides and providing signal feedback for automatic straight walking; the ultrasonic obstacle avoidance sensors are arranged at the front end and the rear end of the vehicle body and are used for detecting obstacles in front of and behind equipment so as to ensure the running safety of the vehicle; the left and right walking handles or the operation result of the controller are controlled to control the left and right walking motor electromagnetic valves by the controller, so that the left and right crawler walking speed is controlled; the display is used for displaying walking reference calibration, walking deviation and walking speed; the left-right walking enabling switch is turned on, the left-right walking handle is manually operated to control the vehicle, the vehicle is adjusted to the central position of the tunnel according to the bilateral distance display value on the display, the standard calibration is carried out, after the walking standard calibration is completed, the display can be switched to an automatic walking mode, the vehicle can move forwards or backwards in a clicking mode, and autonomous linear walking and deviation correction of the vehicle body are realized.
Further, the straight line walking deviation correcting system also comprises a chassis inclination angle sensor, and the vehicle deviation amount is compensated through the chassis inclination angle measurement value.
Further, a 120 ohm resistor is connected in parallel between the controller and the chassis inclination angle sensor.
Further, the straight line walking deviation correcting system further comprises a walking gear change-over switch, and the walking speed of the vehicle is switched to be low, medium and high 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 further comprises left and right track brake valves, and the left and right track walking safety is ensured through the left and right walking enabling switch and the left and right track brake valves.
Further, a 120 ohm resistor is connected in parallel between the controller and the display.
The engineering vehicle is provided with the high-precision linear walking deviation correcting system based on double-side distance detection.
Further, the engineering vehicle comprises a tunnel cleaning robot.
The application has the beneficial effects that:
compared with the prior art, the application detects the distance between the vehicle body and two sides through 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 straight line walking, calculates the vehicle deviation amount and the deviation angle through a specific algorithm by the controller, compensates the vehicle deviation amount through the chassis inclination angle measured value, adjusts the walking speed of the left and right tracks according to the deviation amount and the deviation angle, further achieves the purposes of high-precision autonomous walking and automatic deviation correction, detects front and rear obstacles through the ultrasonic obstacle avoidance sensors arranged at the front and rear ends of the vehicle body, gives an alarm and stops in time, and ensures the high efficiency and safety of cleaning operation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic diagram of a portion of an electrical system of the present application;
fig. 2 is a schematic view of a part of the structure of the present application.
In the figure: 1. the device comprises 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 rotating speed sensor, 7, a right crawler rotating speed sensor, 8, a display, 9, a chassis inclination angle sensor, 10, a walking gear change-over switch, 11, a left crawler brake valve, 12, a right crawler brake valve, 13, a left 1 ultrasonic sensor, 14, a right 1 ultrasonic sensor, 15, a left 2 ultrasonic sensor, 16, a right 2 ultrasonic sensor, 17, a left 3 ultrasonic sensor, 18, a right 3 ultrasonic sensor, 19, a rear end ultrasonic obstacle avoidance sensor, 20, a left front ultrasonic obstacle avoidance sensor, 21, a right front ultrasonic obstacle avoidance sensor, 22, a left crawler motor forward rotation electromagnetic valve, 23, a left crawler motor reverse electromagnetic valve, 24, a right crawler motor forward rotation electromagnetic valve, 25 and a right crawler motor reverse electromagnetic valve.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application become more apparent, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. 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 some, but not all, embodiments of the application. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 2, a high-precision linear walking deviation correcting system based on bilateral distance detection comprises a controller 1, a left and right walking enabling switch, a left and right walking handle, a rotation speed sensor, a display 8, a chassis inclination sensor 9, a walking gear change-over switch 10, a left and right track 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 walking motors and used for detecting the forward rotation speed and the reverse rotation speed of the walking motors so as to obtain the left and right crawler walking speeds; the rotation speed sensor includes a left crawler rotation speed sensor, 7 and a right crawler rotation speed sensor.
The ultrasonic sensors 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 and used for detecting the distance between the vehicle body and two sides and providing signal feedback for automatic straight walking; the front end ultrasonic sensor of the central axis of the upper part of the vehicle body is 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 are used for detecting obstacles in front of and behind equipment so as to ensure the running safety of the vehicle; the ultrasonic obstacle avoidance sensor mounted on the front end of the vehicle body is a left front ultrasonic obstacle avoidance sensor 20 and a right front ultrasonic obstacle avoidance sensor 21, and the ultrasonic obstacle avoidance sensor mounted on the rear end of the vehicle body is a rear ultrasonic obstacle avoidance sensor 19.
The left walking handle 4, the right walking handle 5 or the operation result of the controller 1 is controlled to realize that the controller 1 controls the left and right walking motor electromagnetic valves, so that the left and right crawler walking speed is controlled; the left and right travel motor solenoid valves include a left crawler motor forward rotation solenoid valve 22, a left crawler motor reverse rotation solenoid valve 23, a right crawler motor forward rotation solenoid valve 24, and a right crawler motor reverse rotation solenoid valve 25.
The display 8 is used for displaying walking reference calibration, walking deviation and walking speed; the left walking enabling switch 2 and the right walking enabling switch 3 are turned on, the left walking handle 4 and the right walking handle 5 are manually operated to control the vehicle, the vehicle is adjusted to the central position of the tunnel according to the bilateral distance display value on the display 8, the standard calibration is carried out, after the walking standard calibration is completed, the display 8 can be switched to an automatic walking mode, the forward or backward is clicked, and the autonomous linear walking and the deviation correction of the vehicle body are realized.
With continued reference to fig. 1 and 2, the straight-line walking deviation correcting system further includes a chassis inclination sensor 9, and compensates the vehicle deviation through the chassis inclination measurement value.
The straight line walking deviation correcting system also comprises a walking gear change-over switch 10, and the walking speed of the vehicle is switched to be low, medium and high through the walking gear change-over switch 10, so that the vehicle can run at different reference speeds.
The straight line walking deviation correcting system further comprises a left crawler braking valve 11 and a right crawler braking valve 12, and the left crawler walking safety and the right crawler walking safety are guaranteed through the left walking enabling switch 2, the right walking enabling switch 3, the left crawler braking valve 11 and the right crawler braking valve 12.
The further scheme is as follows: 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 sum, the distance between the vehicle body and the two sides is measured through the ultrasonic sensor arranged on the central axis of the upper part of the vehicle body, the running deflection and the running deflection angle of the vehicle are calculated through a specific algorithm by the controller 1, the running deflection of the vehicle is compensated through the chassis inclination angle measured value, the running speed of the vehicle is switched at low, medium and high speeds through the running gear change-over switch 10, so that the vehicle can run at different reference speeds, and the reference speeds of the left crawler belt and the right crawler belt are adjusted according to the running deflection and the running deflection 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, the obstacle in front and the rear of the vehicle body is detected, the alarm or the parking is given, the running safety of the vehicle is ensured, and the running safety of the left and right caterpillar tracks is ensured through the left and right running enabling switch and the left and right caterpillar track brake valve. The display 8 is used for displaying walking reference calibration, walking deviation and walking speed; the left-right walking enabling switch is turned on, the left-right walking handle is manually operated to control the vehicle, the vehicle is adjusted to the central position of the tunnel according to the bilateral distance display value on the display 8, the standard calibration is carried out, after the walking standard calibration is completed, the display can be switched to an automatic walking mode, the vehicle can move forwards or backwards in a clicking mode, and autonomous linear walking and deviation correction of the vehicle body are realized.
The application also provides an engineering vehicle, which is provided with the high-precision linear walking deviation correcting system based on double-side distance detection. The engineering vehicle comprises a tunnel cleaning robot.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical scheme of the present application and are not limiting; while the application has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present application or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the application, it is intended to cover the scope of the application as claimed.
Claims (5)
1. High accuracy straight line walking rectifying system based on two side distance detects, its characterized in that includes:
a controller;
the rotating speed sensor is electrically connected with the controller, is arranged on the left and right travelling motors and is used for detecting the forward rotation and the reverse rotation speeds of the travelling motors so as to obtain the travelling speeds of the left and right caterpillar tracks;
the ultrasonic sensor is electrically connected with the controller, is arranged at the front end, the middle part and the rear end of the central axis of the upper part of the vehicle body, is used for detecting the distance between the vehicle body and two sides and provides signal feedback for automatic straight 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 equipment and ensuring the running safety of the vehicle;
the display is electrically connected with the controller and used for displaying walking reference calibration, walking deviation and walking speed;
the left and right walking handles or the operation result of the controller are controlled to control the left and right walking motor electromagnetic valves by the controller, so that the left and right crawler walking speed is controlled;
the straight line walking deviation correcting system also comprises a chassis inclination angle sensor, and the vehicle deviation amount is compensated through the chassis inclination angle measurement value;
the straight line walking deviation correcting system also comprises a walking gear change-over switch, and the walking speed of the vehicle is switched to be low, medium and high through the walking gear change-over switch, so that the vehicle can run at different reference speeds;
the straight line walking deviation correcting system further comprises left and right track brake valves, and the left and right track walking safety is ensured through the left and right walking enabling switch and the left and right track brake valves.
2. The high-precision straight line walking deviation correcting system based on double-side distance detection according to claim 1, wherein the high-precision straight line walking deviation correcting system is characterized in that: and a 120 ohm resistor is connected in parallel between the controller and the chassis inclination angle sensor.
3. The high-precision straight line walking deviation correcting system based on double-side distance detection according to claim 1, wherein the high-precision straight line walking deviation correcting system is characterized in that: and a 120 ohm resistor is connected in parallel between the controller and the display.
4. An engineering vehicle, characterized in that: a high-precision rectilinear motion correction system based on double-sided distance detection as claimed in any one of claims 1 to 3.
5. The work vehicle according to claim 4, characterized in that: the engineering vehicle comprises a tunnel cleaning robot.
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| CN110775173B true CN110775173B (en) | 2023-11-10 |
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| CN113958261B (en) * | 2021-09-27 | 2024-07-30 | 南通大学 | Engineering driller crawler self-adaptive centering device and centering method |
| CN114228511B (en) * | 2021-12-31 | 2023-09-08 | 江苏英拓动力科技有限公司 | Self-learning-based bilateral independent electric drive tracked vehicle deviation correction control method |
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