Trackless walking type portal and portal trackless walking method

Abstract

The invention provides a trackless walking type portal frame and a trackless walking method of the portal frame, and belongs to the technical field of carriage sweeping. The trackless walking type portal frame comprises a portal frame main body, a detection device, a walking driving device, a steering driving device and a controller; the controller can control the walking driving device and the steering driving device to work according to the distance information obtained by the detection device, then the walking direction and the walking speed of the portal frame body are adjusted, the portal frame body can move in order in the length direction of the carriage, and collision between the portal frame body and the carriage is avoided. Therefore, the trackless walking type portal frame can effectively meet the requirement for cleaning and walking of the carriage while a track is omitted, and multiple defects caused by track laying in a traditional scheme are overcome.

Description

Technical Field

[0001] The invention belongs to the technical field of carriage cleaning, and in particular relates to a trackless walking gantry and a gantry trackless walking method. Background Art

[0002] The carriage cleaning equipment is an automated device used to clean the interior of train carriages and to remove materials adhering to the side of the carriage. In the related prior art, the carriage cleaning equipment requires laying tracks on both sides of the rails, setting up a gantry on the tracks, and the gantry moves along the tracks. The cleaner on the gantry descends into the carriage to clean the carriage. In the above structure, the site requirements are high, the equipment cost is high, and the transfer is difficult. It needs to be disassembled and reassembled during the transfer, and the labor cost and time cost are high. Summary of the invention

[0003] The present invention aims to solve at least one of the above-mentioned technical problems existing in the prior art. To this end, in a first aspect, the present invention provides a trackless walking gantry, which can solve the problems of difficult transfer, high site requirements and high cost.

[0004] In a second aspect, the present invention provides a method for trackless gantry travel using the above-mentioned trackless walking gantry.

[0005] The trackless walking gantry according to the first embodiment of the present invention comprises:

[0006] A gantry body, wherein the gantry body defines a passage for the carriage, and a running wheel and a steering wheel are arranged at the bottom of the gantry body, wherein the steering wheel can be steered and adjusted to adjust the running direction of the gantry body;

[0007] A detection device, the detection device is installed on the gantry body and is used to obtain distance information between a detection point and a side wall of the carriage;

[0008] A travel drive device, the travel drive device is transmission-connected to the travel wheel and / or the steering wheel, and is used to control the travel wheel and / or the steering wheel to roll and travel;

[0009] A steering drive device, the steering drive device is connected to the steering wheel and is used to control the steering adjustment of the steering wheel;

[0010] A controller is connected to the detection device, the travel drive device and the steering drive device, and is used to control the gantry body to travel along the length direction of the car body, and to adjust the steering angle of the steering wheel according to the distance information during the travel, so as to perform travel deviation correction of the gantry body relative to the car body.

[0011] The trackless walking gantry according to the embodiment of the present invention has at least the following beneficial effects: the trackless walking gantry of the present invention has the functions of steering adjustment and level walking by arranging walking wheels and steering wheels at the bottom of the gantry body. Therefore, the trackless walking gantry of the present invention does not need to lay tracks for walking, and realizes trackless walking. In addition, a detection device is provided to obtain the distance information between the gantry body and the carriage, so that the controller can control the operation of the walking drive device and the steering drive device according to the distance information, thereby realizing the walking direction and walking speed adjustment of the gantry body, and the gantry body can be moved in an orderly manner along the length direction of the carriage to avoid collision between the gantry body and the carriage. Therefore, the trackless walking gantry of the present invention can effectively meet the needs of carriage cleaning and walking while canceling the track setting, and solve the many shortcomings brought by laying tracks in the traditional solution.

[0012] According to some embodiments of the present invention, the portal frame body includes a first side frame and a second side frame that are relatively arranged, and the first side frame and the second side frame define the carriage passageway, and the distance information includes first distance information from the first side frame to the outer side wall of the carriage, and / or second distance information from the second side frame to the outer side wall of the carriage.

[0013] According to some embodiments of the present invention, the detection device is provided with four distance sensors, and the four distance sensors are evenly distributed on both sides of the carriage passage and are spaced apart along the length direction of the carriage passage.

[0014] According to some embodiments of the present invention, the gantry body is provided with a mechanical limit device, and the mechanical limit device is located on both sides of the carriage passage. In the horizontal direction, the mechanical limit device protrudes into the carriage passage relative to the gantry body.

[0015] According to some embodiments of the present invention, a limiting wheel is provided at one end of the mechanical limiting device relative to the door frame body protruding into the carriage passage, and the limiting wheel is rotatably mounted on the mechanical limiting device.

[0016] According to some embodiments of the present invention, the mechanical limiting device includes a limiting portion, which can be moved and adjusted along the width direction of the carriage passage, and the limiting wheel is installed on the limiting portion.

[0017] According to some embodiments of the present invention, the mechanical limiting device further comprises a limiting drive, and the limiting drive is transmission-connected to the limiting portion and is used to control the movement and adjustment of the limiting portion.

[0018] According to some embodiments of the present invention, the mechanical limiting device further includes a detection component, and the detection component is used to obtain the distance that the limiting wheel moves and adjusts along the width direction of the carriage passage.

[0019] The gantry trackless walking method according to the second aspect of the present invention is applied to the above-mentioned trackless walking gantry, comprising the following steps:

[0020] First, the gantry body is controlled to move to one end of the car, and the car is aligned with the car passage, and then the gantry body is controlled to move along the length direction of the car, and the distance information is obtained through the detection device during the walking process. The controller adjusts the walking direction of the gantry body according to the distance information until the distance information meets the set range, and then the gantry body is controlled to move in the opposite direction to the end of the car to complete the initial correction and positioning, and then the gantry body is controlled to move along the length direction of the car to perform the car cleaning operation, and the walking direction of the gantry body is adjusted by the controller during the walking process.

[0021] According to some embodiments of the present invention, the detection device obtains at least two sets of distance information along the length direction of the car body to determine whether the gantry body is translationally offset or rotationally offset relative to the car body, and then adjusts the angle of the steering wheel to perform correction adjustment.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description, and some additional aspects and advantages will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0024] Figure 1 A schematic diagram of the operation of the trackless traveling gantry in the present invention;

[0025] Figure 2 It is a schematic diagram of the overall structure of the trackless walking gantry in the present invention;

[0026] Figure 3 A structural schematic diagram of a gantry main body in a trackless walking gantry;

[0027] Figure 4 A schematic diagram of the structure of a mechanical limit device in a trackless walking gantry;

[0028] Figure 5 A schematic diagram of a working mechanism of a mechanical limit device in a trackless traveling gantry;

[0029] Figure 6A schematic diagram of the position of the mechanical limit device in the trackless traveling gantry relative to the carriage when it is working.

[0030] In the figure:

[0031] 100-gantry main body, 101-first side frame, 102-second side frame, 103-top frame;

[0032] 200-mechanical limiting device, 201-limiting mounting seat, 202-limiting part, 203-limiting drive, 204-limiting wheel;

[0033] 300-travel wheels;

[0034] 400-travel drive device;

[0035] 500-input terminal;

[0036] 600-steering wheel;

[0037] 700- distance sensor;

[0038] 800-Detection component. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0041] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0042] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0043] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0044] The carriage cleaning equipment is an automated device used to clean the interior of train carriages and to remove materials adhering to the side of the carriage. In the related prior art, the carriage cleaning equipment requires laying tracks on both sides of the rails, setting up a gantry on the tracks, and the gantry moves along the tracks. The cleaner on the gantry descends into the carriage to clean the carriage. In the above structure, the site requirements are high, the equipment cost is high, and the transfer is difficult. It needs to be disassembled and reassembled during the transfer, and the labor cost and time cost are high.

[0045] To this end, in a first aspect, the present invention provides a trackless walking gantry that can solve the problems of difficult transfer, high site requirements and high cost.

[0046] In a second aspect, the present invention provides a method for trackless gantry travel using the above-mentioned trackless walking gantry.

[0047] Reference Figures 1 to 3A trackless walking gantry of one embodiment of the present invention comprises a gantry body 100, a detection device, a walking drive device 400, a steering drive device and a controller. The gantry body 100 defines a passage for the carriage to pass through, so that the gantry body 100 can pass through the top of the carriage. A walking wheel 300 and a steering wheel 600 are provided at the bottom of the gantry body 100, and the steering wheel 600 can be steered to adjust the walking direction of the gantry body 100. It can be understood that when the walking wheel 300 and the steering wheel 600 are actually set, the steering function can be set, that is, the walking wheel 300 is also the steering wheel 600, or the steering wheel 600 is only set at the front end or rear end of the walking direction to adjust the walking direction. The technicians in this field can flexibly set it according to the needs. The detection device is installed on the gantry body 100, and is used to obtain the distance information between the detection point and the side wall of the carriage. The distance information can be the distance from the outer wall of the car to the detection device, or the distance from the inner wall of the car to the detection device. By judging the change of the distance information, it can be known whether there is a position offset between the gantry body 100 and the car. The travel drive device 400 is connected to the travel wheel 300 and / or the steering wheel 600 for controlling the rolling travel of the travel wheel 300 and / or the steering wheel 600. The steering drive device is connected to the steering wheel 600 for controlling the steering adjustment of the steering wheel 600. The controller is connected to the detection device, the travel drive device 400 and the steering drive device, and is used to control the gantry body 100 to travel along the length direction of the car, and adjust the steering angle of the steering wheel 600 according to the distance information during the travel process, and perform the travel deviation correction of the gantry body 100 relative to the car.

[0048] The trackless walking gantry of the present invention provides the walking wheels 300 and the steering wheels 600 at the bottom of the gantry body 100, so that the gantry body 100 has the functions of steering adjustment and flat walking. Therefore, the trackless walking gantry of the present invention does not need to lay tracks for walking, and realizes trackless walking. In addition, a detection device is provided to obtain the distance information between the gantry body 100 and the carriage, so that the controller can control the operation of the walking drive device 400 and the steering drive device according to the distance information, thereby realizing the walking direction and walking speed adjustment of the gantry body 100, and the gantry body 100 can be moved in an orderly manner along the length direction of the carriage to avoid collision between the gantry body 100 and the carriage. Therefore, the trackless walking gantry of the present invention can effectively meet the needs of carriage cleaning and walking while canceling the track setting, and solve the many shortcomings brought by laying tracks in the traditional solution.

[0049] Reference Figure 1 and Figure 2In some embodiments of the present invention, the door frame body 100 includes a first side frame 101, a second side frame 102 and a top frame 103. The first side frame 101 and the second side frame 102 are arranged opposite to each other, and the top frame 103 is connected to the upper ends of the first side frame 101 and the second side frame 102. The first side frame 101, the second side frame 102 and the top frame 103 enclose a passage for the carriage.

[0050] In some embodiments, the detection devices are arranged on both sides of the carriage passage to obtain the distance information on the left side and the distance information on the right side of the carriage. In this way, by simultaneously judging the changes in the distance information on both sides, it is possible to judge whether the gantry body 100 is offset, thereby avoiding the situation where misjudgment of unilateral identification caused by deformation of the carriage occurs.

[0051] In some embodiments, the detection device is installed on the first side frame 101 and the second side frame 102, so the distance information obtained includes the first distance information from the first side frame 101 to the outer wall of the carriage, and the second distance information from the second side frame 102 to the outer wall of the carriage. It can be understood that, according to the different installation positions of the detection device, the actual detection values ​​of the first distance information and the second distance information will also change accordingly, and are not completely equal to the distance from the first side frame 101 to the carriage and the distance from the second side frame 102 to the carriage.

[0052] Reference Figure 5 and Figure 6 In some embodiments of the present invention, the detection device is provided with four distance sensors 700, and the four distance sensors 700 are evenly distributed on both sides of the carriage passage, and are spaced apart along the length direction of the carriage passage. Thus, two distance information can be obtained along the front-rear direction on the left side of the carriage, and two distance information can be obtained along the front-rear direction on the right side of the carriage. It can be understood that there is a theoretical spacing between the detection device and the left and right side walls of the carriage, that is, when the gantry body 100 is not offset relative to the carriage, the distance between the detection device and the left and right side walls of the carriage is basically consistent with the theoretical spacing (a certain difference is allowed, so it is not absolutely consistent). By acquiring, identifying and judging by the four distance sensors 700, it can be judged whether the gantry body 100 is offset to the left or right, or is offset to the left or right relative to the carriage.

[0053] Reference Figures 1 to 6In some embodiments of the present invention, the gantry main body 100 is provided with a mechanical stopper 200, which is located on both sides of the carriage passage. In the horizontal direction, the mechanical stopper 200 is protruded into the carriage passage relative to the gantry main body 100. In this embodiment, by providing the mechanical stopper 200, mechanical stopper can be implemented when the detection device fails to correct the deviation in time, thereby preventing the gantry main body 100 from directly hitting the carriage.

[0054] Specifically, refer to Figures 1 to 6 The door frame body 100 includes a first side frame 101, a second side frame 102 and a top frame 103. The first side frame 101 and the second side frame 102 are arranged opposite to each other on the left and right sides, and the top frame 103 is connected to the upper ends of the first side frame 101 and the second side frame 102. The first side frame 101, the second side frame 102 and the top frame 103 enclose a passage for the carriage. The mechanical limit device 200 is installed on the first side frame 101, the second side frame 102, or on the top frame 103. It only needs to ensure that it protrudes toward the middle relative to the first side frame 101 and the second side frame 102, and can abut against the carriage before the first side frame 101 and the second side frame 102. There are two mechanical limit devices 200, which are located on both sides of the carriage passage and each includes a limit mounting seat 201, a limit part 202, a limit drive 203 and a limit wheel 204. The limit mounting seat 201 is mounted on the first side frame 101, the second side frame 102 or the top frame 103, and the limit part 202 is slidably mounted on the limit mounting seat 201 through a plurality of guide pillars, and its sliding direction is left and right. The limit drive 203 is arranged between the limit part 202 and the limit mounting seat 201, and is used to control the sliding adjustment of the limit part 202 relative to the limit mounting seat 201, and can specifically adopt an oil cylinder or other driving form. The limit wheel 204 is rotatably mounted on one end of the limit part 202 close to the carriage, and the limit part 202 is provided with a plurality of limit wheels 204 along the front and rear directions. The rotation center of the limit wheel 204 is arranged vertically. By adopting the structural setting of this embodiment, the distance between the limiting wheels 204 on both sides can be adjusted by the limiting drive 203, and can be adjusted to an appropriate width. When the gantry body 100 is offset relative to the car body and the detection device and the controller fail to actively correct the deviation, the limiting wheels 204 are used to abut the car body to achieve rolling contact. With the cooperation of the limiting wheels 204, the passive deviation correction of the gantry body 100 relative to the car body can be achieved.

[0055] Reference Figure 5In some embodiments of the present invention, the mechanical limit device 200 further includes a detection component 800, which is used to obtain the distance that the limit wheel 204 moves along the width direction of the carriage passage. The limit drive 203 accurately controls the moving distance of the limit wheel 204 in the middle through the distance obtained by the detection component 800 to ensure the position accuracy of the mechanical limit.

[0056] Reference Figure 1 In some embodiments of the present invention, the trackless walking gantry is further provided with an input terminal 500 and a cleaner, the input terminal 500 can input relevant control signals of walking and control signals of the cleaner, the input terminal 500 specifically adopts a handheld input terminal, and is connected to the controller by communication or wired connection. The cleaner is installed on the gantry body 100.

[0057] In some embodiments of the present invention, the trackless walking gantry is further provided with a battery, which is used to provide working power for the walking of the gantry body 100. The battery can be installed on the first side frame 101 or the second side frame 102. In addition, a grid connection module can also be integrated to access the grid for operation.

[0058] In some embodiments of the present invention, each steering wheel 600 and each walking wheel 300 is configured with an independent walking drive device 400 to better adjust the walking direction of the gantry body 100 and realize deviation correction based on the adjustment of the walking direction.

[0059] The present invention also provides a gantry trackless walking method, which is applied to the above-mentioned trackless walking gantry, and specifically includes:

[0060] S001 performs initial deviation correction and positioning: the staff controls the gantry body 100 to move to one end of the carriage through the handheld terminal, and makes the carriage align with the carriage passage, and then controls the gantry body 100 to move a certain distance along the length direction of the carriage. During the walking process, the detection device obtains the distance information of the side wall of the carriage in real time. The controller adjusts the walking direction of the gantry body 100 according to the distance information until the distance information obtained meets the requirements, and the initial deviation correction and positioning is completed;

[0061] S002 Cleaning preparation: Control the gantry body 100 to move in the reverse direction to the end of the carriage, then control the limit wheel 204 to move to the mechanical limit position in the direction close to the carriage, and lower the cleaner into the carriage;

[0062] S003 performs walking and cleaning operations: controls the gantry body 100 to walk along the length direction of the carriage to perform cleaning operations, and maintains the controller's walking deviation correction control of the gantry body 100 throughout the entire walking process.

[0063] In the above step S001, when the staff controls the gantry body 100 to align with the carriage, it only needs to be roughly aligned so that the carriage can enter the carriage passage, and it is not necessary to maintain the theoretical position alignment after correction.

[0064] In the above steps S001 to S003, the controller corrects the walking deviation of the gantry body 100 as follows:

[0065] The positions of the four distance sensors 700 are distributed as the left front, right front, left rear, and right rear. The left front and left rear are two distance sensors 700 distributed on the left side of the car, and the right front and right rear are two distance sensors 700 distributed on the right side of the car. d1, d2, d3, and d4 represent the actual readings of the four distance sensors 700, respectively. According to the installation position of the distance sensor 700, the position of the cleaner on the top frame 103, and the width B of the car, the theoretical distance value B1 between the left distance sensor 700 and the car side wall and the theoretical distance value B2 between the right distance sensor 700 and the car side wall are calculated, and four deviations X1, X2, X3, and X4 can be obtained, where:

[0066] X1=d1-B1,

[0067] X2=d2-B2,

[0068] X3=d3-B3,

[0069] X4=d4-B4.

[0070] Set the system's allowable deviation value to A.

[0071] When the absolute values ​​of X1, X2, X3, and X4 are all less than A, it is determined that no correction is required;

[0072] When |X1|≥initial |X1|-15, it is determined that the gantry body 100 is rotated to the left, and vice versa, when |X2|≥initial |X2|-15, it is determined that the gantry body 100 is rotated to the right. Among them, 15 is the correction amount set according to the actual situation, and those skilled in the art can flexibly set it according to the actual situation. It can be understood that since the gantry body 100 moves along the length direction of the car, the values ​​of X1 and X2 are variable. In the above judgment formula, the initial |X1| and the initial |X2| are the initial distance information at the current judgment period. In actual applications, the judgment period can be set according to the travel speed, such as identifying and judging once every 2 seconds, so the initial |X1| is the distance information 2 seconds ago.

[0073] When |X1|≥initial |X1|-15 and |X3|≥initial |X3|-15, it is determined that the gantry body 100 is shifted to the left. On the contrary, when |X2|≥initial |X2|-15 and |X4|≥initial |X4|-15, it is determined that the gantry body 100 is shifted to the right.

[0074] The controller adjusts the angle of the steering wheel 600 accordingly until the absolute values ​​of X1, X2, X3, and X4 are all smaller than A, thus completing the automatic deviation correction.

[0075] To sum up, the present invention has active correction control based on the controller, steering wheel 600, and detection device and passive correction adjustment based on the mechanical limit device 200, which can effectively realize trackless walking of the gantry body 100 and automatic correction walking matching the carriage, thereby eliminating the need to lay tracks and effectively solving the shortcomings of the traditional structure.

[0076] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A trackless walking gantry, characterized in that: include: A gantry body, wherein the gantry body defines a passage for the carriage, and a running wheel and a steering wheel are arranged at the bottom of the gantry body, wherein the steering wheel can be steered and adjusted to adjust the running direction of the gantry body; A detection device, the detection device is installed on the gantry body and is used to obtain distance information between a detection point and a side wall of the carriage; A travel drive device, the travel drive device is transmission-connected to the travel wheel and / or the steering wheel, and is used to control the travel wheel and / or the steering wheel to roll and travel; A steering drive device, the steering drive device is connected to the steering wheel and is used to control the steering adjustment of the steering wheel; A controller is connected to the detection device, the travel drive device and the steering drive device, and is used to control the gantry body to travel along the length direction of the car body, and to adjust the steering angle of the steering wheel according to the distance information during the travel, so as to perform travel deviation correction of the gantry body relative to the car body.

2. The trackless traveling gantry according to claim 1, characterized in that: The portal frame body includes a first side frame and a second side frame that are relatively arranged, and the first side frame and the second side frame define the carriage passageway. The distance information includes first distance information from the first side frame to the outer side wall of the carriage, and / or second distance information from the second side frame to the outer side wall of the carriage.

3. The trackless traveling gantry according to claim 1, characterized in that: The detection device is provided with four distance sensors, and the four distance sensors are evenly distributed on both sides of the carriage passage and are spaced apart along the length direction of the carriage passage.

4. The trackless traveling gantry according to claim 1, characterized in that: The gantry body is provided with a mechanical limit device, and the mechanical limit device is located on both sides of the carriage passage. Along the horizontal direction, the mechanical limit device protrudes into the carriage passage relative to the gantry body.

5. The trackless traveling gantry according to claim 4, characterized in that: The mechanical limiting device is provided with a limiting wheel at one end thereof protruding from the carriage passage relative to the door frame main body, and the limiting wheel is rotatably mounted on the mechanical limiting device.

6. The trackless traveling gantry according to claim 5, characterized in that: The mechanical limiting device comprises a limiting portion, which can be moved and adjusted along the width direction of the carriage passage, and the limiting wheel is installed on the limiting portion.

7. The trackless traveling gantry according to claim 6, characterized in that: The mechanical limiting device also includes a limiting drive, which is transmission-connected to the limiting part and is used to control the movement and adjustment of the limiting part.

8. The trackless traveling gantry according to claim 6, characterized in that: The mechanical limiting device also includes a detection component, which is used to obtain the distance that the limiting wheel moves and adjusts along the width direction of the carriage passage.

9. A method for gantry trackless travel, characterized in that: The trackless walking gantry as claimed in claim 1 comprises the following steps: First, the gantry body is controlled to move to one end of the car, and the car is aligned with the car passage, and then the gantry body is controlled to move along the length direction of the car, and the distance information is obtained through the detection device during the walking process. The controller adjusts the walking direction of the gantry body according to the distance information until the distance information meets the set range, and then the gantry body is controlled to move in the opposite direction to the end of the car to complete the initial correction and positioning, and then the gantry body is controlled to move along the length direction of the car to perform the car cleaning operation, and the walking direction of the gantry body is adjusted by the controller during the walking process.

10. The gantry trackless travel method according to claim 9, characterized in that: The detection device acquires at least two sets of distance information along the length direction of the car body to determine whether the gantry body is translated or rotated relative to the car body, and then adjusts the angle of the steering wheel to perform deviation correction.

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