High-precision linear walking deviation correction system based on double-sided distance detection and engineering vehicle

Abstract

The invention discloses a high-precision linear walking deviation correction system based on double-sided distance detection and an engineering vehicle. The linear walking deviation correction systemincludes a controller and further comprises left and right walking enabling switches, left and right walking handles, rotational speed sensors, a display, ultrasonic sensors and ultrasonic obstacle avoidance sensors which are connected with the controller. The rotational speed sensors are installed on left and right walking motors, the ultrasonic sensors are installed on the front end, the middleportion and the rear end of the center axis of the upper portion of a vehicle body, and the ultrasonic obstacle avoidance sensors are installed on the front and rear ends of the vehicle body. Throughoperation of the left and right walking handles or calculation results of the controller, the controller controls left and right walking motor solenoid valves, and the display is used for displaying walking reference calibration, walking deviation and walking speed. The high-precision linear walking deviation correction system realizes autonomous straight walking and deviation correction of the car body.

Description

technical field [0001] The invention relates to a control device for a tunnel cleaning robot, in particular to a high-precision rectilinear deviation correction system based on bilateral distance detection, and belongs to the technical field of tunnel cleaning robot control devices. Background technique [0002] The tunnel cleaning robot is used to clean up the attachments on the inner wall of the tunnel to prevent excessive attachments from affecting the normal use of the tunnel. Since there may be harmful gases in the tunnel, which cannot be removed manually, a tunnel cleaning robot is needed to automatically remove them. Accurate autonomous straight line walking and automatic deviation correction are very important in the cleaning process. During the cleaning construction process, since the tunnel section is arc-shaped and there are random attachments on the surface, there will also be random debris at the bottom of the tunnel, which leads to During the cleaning process, ...

AI Technical Summary

Problems solved by technology

[0002] The tunnel cleaning robot is used to clean up the attachments on the inner wall of the tunnel to prevent excessive attachments from affecting the normal use of the tunnel. Since there may be harmful gases in the tunnel, which cannot be removed manually, a tunnel cleaning robot is needed to automatically remove them. Accurate autonomous straight line walking and automatic deviation correction are very important in the cleaning process. During the cleaning construction process, since the tunnel section is arc-shaped and there are random attachments on the surface, there will also be random debris at the bottom of the tunnel, which leads to During the cleaning process, the vehicle will deviate, or stop frequently due to excessive deviation, which will affect the construction efficiency, and even collide with the inner wall of the tunnel, causing accidents that damage the tunnel and equipment

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