A method for controlling the heading angle of a tunnel maintenance platform vehicle

Abstract

The present invention discloses a method for controlling the heading angle of a tunnel maintenance platform vehicle. The heading angle control method consists of a control mechanism and an actuator; the control mechanism is provided with a front two-dimensional lidar on the front crossbeam of the operation platform and a rear two-dimensional lidar on the rear crossbeam, and a PLC control module; the actuator is provided with a left traveling wheel and a right traveling wheel that walk along their respective tracks at the bottom of the platform, a left hydraulic motor that is controlled by the control mechanism and drives the left traveling wheel, and a right hydraulic motor that drives the right traveling wheel. The method of the present invention constructs an attitude analysis algorithm according to the traveling model of the platform vehicle in the tunnel, and combines sensor technology to obtain the data information required by the attitude analysis algorithm. By adjusting the rotational speed difference of the left and right wheel hydraulic motors to automatically adjust the attitude of the platform vehicle, the present invention realizes the automatic traveling control of the platform vehicle, reports and feedbacks the heading angle information of the platform vehicle and corrects the deviation in time, ensuring the safe driving of the platform vehicle.

Description

Technical Field

[0001] The present invention belongs to the field of control technology, especially to the field of integrated control technology of PLC and sensors, and relates to a tunnel maintenance platform vehicle device, especially to an automatic walking platform vehicle control method that can feedback the heading angle information and adjust the heading angle. Background Art

[0002] During the tunnel shield construction process, it is often necessary to maintain the segments, and a working platform is required to carry repair equipment and various materials. Without special equipment, a simple platform similar to a scaffolding is often used in the project. This scaffolding platform has a high risk factor, is inconvenient to move, has low construction efficiency, and affects the passage of muck trucks. Therefore, it is of great significance to develop a self-propelled tunnel maintenance platform vehicle. The technical key of the tunnel maintenance platform vehicle lies in the heading angle control of the platform vehicle. The present invention designs a heading angle control method for the tunnel maintenance platform vehicle by combining PLC and sensor technologies with the application characteristics of the platform vehicle and the requirements of tunnel maintenance. Summary of the Invention

[0003] The problem to be solved by the present invention is to provide a heading angle control method for a tunnel maintenance platform vehicle. The method of the present invention is based on PLC and sensor technologies, can realize the automatic walking control of the platform vehicle, can feedback the heading angle information of the platform vehicle and correct the deviation in time to ensure the safe driving of the platform vehicle.

[0004] The present invention is realized through the following technical solutions:

[0005] A heading angle control method for a tunnel maintenance platform vehicle, the tunnel maintenance platform is composed of a walking device, a support device, a working platform, a platform ladder and a platform guardrail, and is characterized in that: the heading angle control method is composed of a control mechanism and an execution mechanism;

[0006] The control mechanism includes: a front two-dimensional lidar arranged on the front cross beam of the working platform and a rear two-dimensional lidar arranged on the rear cross beam, and a PLC control module;

[0007] The execution mechanism includes: a left walking wheel and a right walking wheel arranged at the bottom of the platform and walking along their respective tracks, a left hydraulic motor controlled by the control mechanism to drive the left walking wheel, and a right hydraulic motor to drive the right walking wheel.

[0008] The control method includes the following steps:

[0009] 1) Initialize the parameters of the PLC control module, including: the ranging value L on the left front side of the two-dimensional lidar 左前 , the ranging value L on the left rear side of the two-dimensional lidar 左后 , the ranging value L on the right front side of the two-dimensional lidar 右前 , the ranging value on the right rear side of the two-dimensional lidar L 右后, the current heading angle γ, the allowable course angle γmax, the tunnel radius R, the height h of the two-dimensional lidar, and the attitude parameter K2;

[0010] 2) Two groups of lidars, the front and the rear, are fixed on the front and rear crossbeams of the working platform, and the ranging values of L 左前 , L 右前 , L 左后 , L 右后 are obtained in real time and transmitted to the PLC control module in real time;

[0011] 3) The PLC control module detects the legality of the data;

[0012] 4) The PLC control module calculates the lengths of the major axes of the front and rear ellipses:

[0013] Front L1 = L 左前 + L 右前 ; Rear L2 = L 左后 + L 右后 ;

[0014] 5) The PLC control module calculates the current heading angle γ;

[0015] 6) The PLC control module judges and controls the adjustment:

[0016] According to the calculation result of step 5), if γ ≤ γmax, then K2 = 0, display the current heading angle γ and exit;

[0017] According to the calculation result of step 5), if γ > γmax, then K2 = 1, and the control mechanism controls the left hydraulic motor to drive the left walking wheel or controls the right hydraulic motor to drive the right walking wheel to adjust the platform attitude;

[0018] 7) After the adjustment is completed, repeat steps 2) to 6) until γ ≤ γmax and then end.

[0019] The method of the present invention builds a suitable attitude analysis algorithm according to the walking model of the platform vehicle in the tunnel, combines sensor technology to obtain the data information required in the attitude analysis algorithm, and automatically adjusts the attitude of the platform vehicle by adjusting the rotational speed difference of the left and right wheel hydraulic motors.

[0020] The control method of the present invention is applied to a device that can automatically walk and adjust the course angle. By installing a ranging sensor on the platform vehicle body to collect the course angle information of the platform vehicle, and driving mechanical and hydraulic actuators through the PLC unit, the automatic deviation correction of the course angle of the platform vehicle is realized by using the rotational speed difference of the left and right wheel hydraulic motors of the platform vehicle.

[0021] The present invention realizes the automatic adjustment of the course angle of the tunnel maintenance platform vehicle, ensuring that the equipment walks within the allowable course angle range.

[0022] For the walking mode of the platform vehicle in the tunnel, the attitude algorithm of the platform vehicle is constructed, and the installation positions of the sensors are reasonably determined according to the algorithm, which can effectively control the heading angle of the platform vehicle. Description of the Drawings

[0023] Figure 1 It is the walking model of the platform vehicle in the circular pipeline;

[0024] Figure 2 It is the schematic diagram of the heading angle of the platform vehicle;

[0025] Figure 3 It is the schematic diagram of the two-dimensional lidar scan;

[0026] Figure 4 It is the installation schematic diagram of the two-dimensional lidar;

[0027] Figure 5 It is the schematic diagram of the cross-section information of the front two-dimensional lidar scan;

[0028] Figure 6 It is the schematic diagram of the cross-section information of the rear two-dimensional lidar scan;

[0029] Figure 7 It is the principle block diagram of the automatic adjustment of the heading angle of the platform vehicle.

[0030] In the figure, 1 is the walking device, 2 is the support device, 3 is the telescopic working platform, 4 is the platform escalator, 5 is the fixed working platform, 6 is the platform guardrail; 7 is the two-dimensional lidar, 8 is the cross beam of the platform vehicle, 9 is the tunnel; 10 is the front two-dimensional lidar; 11 is the rear two-dimensional lidar. Detailed Implementation Modes

[0031] The following further illustrates the present invention in combination with the detailed implementation modes. The detailed implementation modes are further explanations of the principle of the present invention and do not limit the present invention in any way. The technologies identical or similar to the present invention do not exceed the protection scope of the present invention.

[0032] Combined with the drawings.

[0033] For the walking model of the platform vehicle in the tunnel, refer to Figure 1 .

[0034] For the schematic diagram of the heading angle of the platform vehicle, as shown in Figure 2 , g1 and g2 are the midpoints of the front and rear beams of the platform vehicle, and the straight line l 1 is the straight line passing through point g1 and g1, and O 1 is the projection of the central axis of the tunnel in this plane, and the intersection points of O 1 with the front and rear cross beams of the platform vehicle are k 1 , k 2 respectively; l 2 is the straight line passing through point k1 , k 2 of the straight line. The straight line l 1 and the straight line l 2 The included angle is the heading angle γ of the platform vehicle in the tunnel.

[0035] The two-dimensional lidar installed on the operation platform crossbeams at the front and rear ends of the platform vehicle calculates the heading angle of the platform vehicle by scanning the tunnel cross-section information. As Figure 3 shown, O 0 is the center line of the tunnel. Since there is an attitude deviation of the platform vehicle in the tunnel, the cross-section scanned by the lidar is an ellipse. From Figure 3 it can be seen that the heading angle γ of the platform vehicle is the included angle γ between the elliptical cross-section S 1 and the tunnel's normal cross-section S 2 ; From the analysis, the included angle between the line segment L0 and L is the included angle between the planes S1 and S2, and there is: cosγ = L0 / L.

[0036] The measurement method of the line segment L0 is as Figure 4 shown. h is the distance from the lidar installation point to the lowest point of the tunnel, and the diameter of the tunnel is R. Then

[0037] During the walking process of the platform vehicle, the cross-section information scanned by the lidars installed at the front and rear ends is as Figure 5 and Figure 6 shown;

[0038] The front two-dimensional lidar 10 obtains the L 左前 , L 右前 values, then L1 = L 左前 + L 右前 ;

[0039] The rear two-dimensional lidar 11 obtains the L 左后 , L 右后 values, then L2 = L 左后 + L 右后 .

[0040] The current heading angle γ is calculated according to the following formula:

[0041] Figure 7 is the principle block diagram of the automatic adjustment of the platform vehicle's heading angle. As shown in the figure, first, for the ranging values L 左前 , L 左后 , L 右前 , L 右后, initialize the parameters of the current heading angle γ, allowable course angle Ymax, tunnel radius R, parameter K2, L1, and L2. Input the current tunnel radius, two-dimensional lidar installation height, and allowable course angle deviation in the touch screen. The PLC reads the ranging value of the two-dimensional lidar and the relevant parameter values in the touch screen; the PLC checks the legality of the data. If the data is illegal, an error message will be prompted and it will return to the previous step. If the data is legal, the next data operation process will be carried out.

[0042] The PLC calculates the current heading angle of the platform vehicle according to the calculation formula in the heading angle calculation model of the vehicle and compares the calculation result with the allowable heading angle of the platform vehicle. If the current heading angle is less than or equal to the allowable heading angle, the parameter K2 = 0, and the platform vehicle does not need to adjust its attitude; if the current heading angle is greater than the allowable heading angle, the parameter K2 = 1, and the platform vehicle will automatically adjust its attitude.

Claims

1. A method for controlling the heading angle of a tunnel maintenance platform vehicle. The tunnel maintenance platform is composed of a traveling device, a supporting device, an operating platform, a platform ladder, and a platform guardrail. Characterized in that: The heading angle control method is completed by a control mechanism and an actuator; The control mechanism includes: a front two-dimensional lidar installed on the front crossbeam of the operating platform and a rear two-dimensional lidar installed on the rear crossbeam, and a PLC control module; The actuator includes: a left traveling wheel and a right traveling wheel arranged at the bottom of the platform and traveling along their respective tracks, a left hydraulic motor controlled by the control mechanism to drive the left traveling wheel, and a right hydraulic motor to drive the right traveling wheel; The control method includes the following steps: 1) Initialize the parameters of the PLC control module, including: the ranging value L of the front two-dimensional lidar on the left front side 左前 , the ranging value L of the rear two-dimensional lidar on the left rear side 左后 , the ranging value L of the front two-dimensional lidar on the right front side 右前 , the ranging value L of the rear two-dimensional lidar on the right rear side 右后 , the current heading angle γ, the allowable heading angle γmax, the tunnel radius R, the height h of the two-dimensional lidar, and the attitude parameter K2; 2) Two sets of lidar, one at the front and the other at the rear, are fixed on the front and rear crossbeams of the working platform, and the ranging values of L 左前 , L 右前 , L 左后 , L 右后 are obtained in real time and transmitted to the PLC control module in real time; 3) The PLC control module detects the data legality; 4) The PLC control module calculates the lengths of the major axes of the front and rear ellipses: L1 = L 左前 + L 右前 ,L2 = L 左后 + L 右后 ; 5) The PLC control module calculates the current heading angle γ: 6) The PLC control module judges and controls the adjustment: According to the calculation result of step 5), if γ ≤ γmax, then K2 = 0, display the current heading angle γ and exit; According to the calculation result of step 5), if γ > γmax, then K2 = 1, the control mechanism controls the left hydraulic motor to drive the left traveling wheel, or controls the right hydraulic motor to drive the right traveling wheel to adjust the platform attitude; 7) After the adjustment is completed, repeat steps 2) to 6) until γ ≤ γmax and then end.

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