Deviation correction control method for controlling autonomous walking of hydraulic chassis based on PLC

Abstract

The invention provides a deviation rectification control method for controlling autonomous walking of a hydraulic chassis based on a PLC. The deviation rectification control method comprises the following steps that S1, signals of obstacles around a crawler chassis are collected; s2, calculating the shortest distance from the geometric center of the chassis to the two sides of the roadway and the included angle between the shortest distance and the geometric center line of the advancing direction based on the signals of obstacles around the crawler chassis; s3, according to the shortest distance from the chassis geometric center to the two sides of the roadway and the included angle between the chassis geometric center and the geometric center line in the advancing direction, the offset distance and the included angle between the geometric center line in the chassis advancing direction and the roadway center line are calculated; s4, the current posture of the chassis is judged based on the offset distance and the included angle between the chassis advancing direction geometric center line and the roadway center line; and S5, controlling the corresponding hydraulic proportional valve based on the current posture of the chassis. According to the invention, the problem that a hydraulic crawler chassis does not have the functions of autonomous walking and obstacle avoidance in a mine underground operation roadway is solved; and the auxiliary operation vehicle can walk in the roadway in a self-correcting manner.

Description

Technical Field

[0001] The invention relates to the technical field of underground mining, and in particular to a deviation correction control method for autonomous walking of a hydraulic chassis controlled by a PLC. Background Art

[0002] In the current underground mining operations, some auxiliary work is needed, such as tunnel shotcreting operations, pipeline handling and installation operations, etc. Under the premise of shortage of personnel and poor working environment, hydraulic crawler operation vehicles are born. At present, hydraulic crawler chassis operation vehicles are mainly used in pipeline transportation and installation and tunnel shotcreting operations. There are two existing travel control methods for hydraulic crawler chassis work vehicles. One is to use a lever-type proportional valve to drive the travel hydraulic motor. This control method is purely manual control, and the driver needs to be on the vehicle to operate continuously during operation. The working environment is poor and the risk factor is high. The other is a mechanical and electronic dual-purpose hydraulic proportional valve drive, which upgrades the traditional manual operating lever to electronic control. It can achieve nearby remote control operation. Although this method does not require the driver to operate on the vehicle all the time, reducing the risk factor, it still requires personnel to operate the remote control around the work vehicle to control the vehicle operation, which cannot solve the problem of poor working environment for personnel. Summary of the invention

[0003] In view of this, the purpose of the present invention is to propose a deviation correction control method based on PLC-controlled hydraulic chassis autonomous walking, so as to solve the problem that the existing working vehicle needs human intervention when walking in underground tunnels.

[0004] The technical means adopted by the present invention are as follows: A deviation correction control method for autonomous walking of a hydraulic chassis based on PLC control includes the following steps: S1, collecting obstacle signals around the crawler chassis; S2, based on the obstacle signals around the crawler chassis, calculate the shortest distance from the geometric center of the chassis to both sides of the lane and the angle with the geometric center line of the traveling direction; S3, calculating the offset distance and angle between the geometric center line of the chassis in the direction of travel and the center line of the lane according to the shortest distance from the geometric center of the chassis to both sides of the lane and the angle with the geometric center line of the direction of travel; S4, judging the current posture of the chassis based on the offset distance and angle between the geometric centerline of the chassis's traveling direction and the centerline of the lane; S5. Control the corresponding hydraulic proportional valve based on the current posture of the chassis.

[0005] Furthermore, S3 specifically includes: S31. Calculate the offset angle α between the geometric centerline of the chassis's traveling direction and the centerline of the lane:

[0006] in, is the angle between the horizontal centerline of the vehicle body and the left lane wall, It is the angle between the horizontal centerline of the vehicle body and the right lane wall; S32. Calculate the offset distance L between the geometric centerline of the chassis's traveling direction and the centerline of the lane:

[0007] in, is the distance between the center of the vehicle chassis and the left lane wall, It is the distance between the center of the vehicle chassis and the right side of the laneway wall.

[0008] Furthermore, S4 specifically includes the following steps: When the left angle α1 is less than When the body angle is biased to the left, the offset angle Set to a negative number; when the right angle α2 is less than When the body angle is tilted to the right, the offset angle Set to a positive number; When L is a positive number, it means that the chassis is biased toward the right side of the alley. When L is a negative number, it means that the chassis is biased toward the left side of the alley.

[0009] Furthermore, S5 specifically includes the following steps: When the distance between the centerline of the chassis and the centerline of the lane is within ±100mm, the chassis walking followability control is performed according to the angle between the chassis and the lane, and the control target is that the absolute value of the deviation angle is less than 0.5 degrees; when the deviation angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the right track speed to 70%, otherwise the left track speed is reduced to 70%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, when the body deviates to the left, the left track speed is reduced to 80%, and the right track speed is reduced to 30%; otherwise, the left track speed is reduced to 30%, and the right track speed is reduced to 80%; When the distance between the centerline of the chassis and the centerline of the lane is within -100mm to -150mm, the chassis deviates to the right side of the lane, and the angle between the chassis and the lane is set to 1.0 degrees to the left; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 70%, otherwise the speed of the left track is reduced to 70%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 80%, and the speed of the right track is reduced to 30%; otherwise, the speed of the left track is reduced to 30%, and the speed of the right track is reduced to 80%; When the distance between the centerline of the chassis and the centerline of the lane is within 100mm to 150mm, the chassis deviates to the right side of the lane, and the angle between the chassis and the lane is set to 1.0 degrees to the right; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 70%, otherwise the speed of the left track is reduced to 70%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 80%, and the speed of the right track is reduced to 30%; otherwise, the speed of the left track is reduced to 30%, and the speed of the right track is reduced to 80%; When the distance between the centerline of the chassis and the centerline of the lane is within -150mm to -350mm, the chassis deviates to the right side of the lane, and the angle between the chassis and the lane is set to 3.0 degrees to the left; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 80%, otherwise the speed of the left track is reduced to 80%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 60%, and the speed of the right track is reduced to 20%; otherwise, the speed of the left track is reduced to 20%, and the speed of the right track is reduced to 60%; When the distance between the centerline of the chassis and the centerline of the lane is within 150mm to 350mm, the chassis deviates to the left side of the lane, and the angle between the chassis and the lane is set to 3.0 degrees to the right; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 80%, otherwise the speed of the left track is reduced to 80%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 60%, and the speed of the right track is reduced to 20%; otherwise, the speed of the left track is reduced to 20%, and the speed of the right track is reduced to 60%; When the distance between the centerline of the chassis and the centerline of the lane is beyond 350mm or -350mm, that is, the chassis deviates from the centerline by a large distance, the deviation is corrected after a certain angle is corrected according to the current distance between the chassis and the lane. That is, if the chassis deviates to the left, the vehicle corrects to a 5-degree angle to the right and corrects the deviation distance to within the allowable deviation range. If the chassis deviates to the right, the vehicle corrects to a 5-degree angle to the left and corrects the deviation distance to within the allowable deviation range.

[0010] Furthermore, the deviation correction control method is implemented based on a deviation correction control device, and the deviation correction control device includes: A laser radar scanner is used to collect obstacle signals around the crawler chassis, and the laser radar scanner sends the collected obstacle signals around the crawler chassis to the industrial computer; The industrial computer obtains the point coordinates of the surrounding tunnel walls through the laser radar sensor connected to the network port; after calculation by the algorithm in the industrial computer, the shortest distance between the chassis body and the tunnel walls on both sides and the angle parameters between the chassis centerline and the tunnel centerline are output and sent to the PLC control system; The PLC control system receives the real-time measurement parameter signal and calculates the correction signal according to the real-time measurement parameter, and the PLC control system sends the correction signal to the electronically controlled proportional valve; The electronically controlled proportional valve is connected to the hydraulic travel motor. The electronically controlled proportional valve receives a deviation correction signal and adjusts the corresponding proportional valve opening according to the deviation correction signal, thereby controlling the rotation direction and speed of the hydraulic travel motor.

[0011] Furthermore, the obstacle signal around the crawler chassis includes the distance from the center of the vehicle body to the left and right walls.

[0012] Furthermore, the model of the PLC control system is S7-1500PLC.

[0013] Furthermore, the laser radar scanner is installed on the crawler chassis of the work vehicle.

[0014] Compared with the prior art, the present invention has the following advantages: The algorithm of the present invention solves the problem that the hydraulic crawler chassis cannot move autonomously in the tunnel; the present invention enables the hydraulic crawler chassis to move autonomously in the underground tunnel according to the operation requirements; by collecting the tunnel dimension data and the vehicle posture data in real time; judging the current vehicle posture and thus realizing the autonomous deviation correction walking of the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 It is a plan view schematically showing the positional relationship between the chassis and the tunnel of the present invention. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0018] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0019] The present invention uses radar sensors mainly to detect the walking direction of the crawler chassis and the distance information from the lanes on both sides; uses algorithms to determine the current state of the vehicle body; and adjusts the output of the PLC to control the crawlers on both sides to walk at different speeds, thereby achieving the purpose of autonomous deviation correction.

[0020] The present invention provides a deviation correction device for autonomous walking of a hydraulic chassis based on PLC control, comprising: A laser radar scanner is used to collect obstacle signals around the tracked chassis. The laser radar scanner sends the collected obstacle signals around the tracked chassis to the industrial computer. A 16-line laser radar scanner is installed at a position selected on the hydraulic chassis to collect obstacle conditions around the tracked chassis, especially the distance from the center of the vehicle body to the left and right walls.

[0021] The industrial computer receives obstacle signals around the crawler chassis and calculates real-time measurement parameters based on the obstacle signals around the crawler chassis, and transmits them to the S7-1500PLC control system through the S7 protocol of the Ethernet interface; The PLC control system receives the real-time measurement parameter signal and calculates the correction signal according to the real-time measurement parameter, and the PLC control system sends the correction signal to the electronically controlled proportional valve; The electronically controlled proportional valve is connected to the hydraulic travel motor. The electronically controlled proportional valve receives a deviation correction signal and adjusts the corresponding proportional valve opening according to the deviation correction signal, thereby controlling the rotation direction and speed of the hydraulic travel motor.

[0022] The present invention also provides a deviation correction control method for autonomous walking of a hydraulic chassis based on PLC control, comprising the following steps: S1, collecting obstacle signals around the crawler chassis; S2, based on the obstacle signals around the crawler chassis, calculate the shortest distance from the geometric center of the chassis to both sides of the lane and the angle with the geometric center line of the traveling direction; S3, calculating the offset distance and angle between the geometric center line of the chassis in the direction of travel and the center line of the lane according to the shortest distance from the geometric center of the chassis to both sides of the lane and the angle with the geometric center line of the direction of travel; like Figure 1 middle, α 1. α 2. L 1. L 2 is the measurement parameter provided by the laser radar and the acquisition computer system to the PLC controller. For the convenience of calculation, the above data are all positive numbers; the following calculations are implemented in the algorithm: S31. Calculate the offset angle α between the geometric centerline of the chassis's traveling direction and the centerline of the lane:

[0023] in, is the angle between the horizontal centerline of the vehicle body and the left lane wall, It is the angle between the horizontal centerline of the vehicle body and the right lane wall; S32, calculate the offset distance between the geometric centerline of the chassis's travel direction and the centerline of the lane L :

[0024] in, is the distance between the center of the vehicle chassis and the left lane wall, It is the distance between the center of the vehicle chassis and the right side of the laneway wall.

[0025] S4, judging the current posture of the chassis based on the offset distance and angle between the geometric centerline of the chassis's traveling direction and the centerline of the lane; When the left angle α 1 is less than When the body angle is biased to the left, the offset angle Set to a negative number; when the right angle α 2 is less than When the body angle is tilted to the right, the offset angle Set to a positive number; when L When it is a positive number, it means that the chassis is biased to the right side of the lane. L When it is a negative number, it means that the chassis is biased to the left side of the alley.

[0026] S5. Control the corresponding hydraulic proportional valve based on the current posture of the chassis. In order to achieve the adaptability of the deviation correction algorithm to the chassis walking speed, the output control is performed in the form of a percentage of the set speed.

[0027] When the distance between the centerline of the chassis and the centerline of the lane is within ±100mm, the chassis walking followability control is performed according to the angle between the chassis and the lane, and the control target is that the absolute value of the deviation angle is less than 0.5 degrees; when the deviation angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the right track speed to 70%, otherwise the left track speed is reduced to 70%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, when the body deviates to the left, the left track speed is reduced to 80%, and the right track speed is reduced to 30%; otherwise, the left track speed is reduced to 30%, and the right track speed is reduced to 80%; When the distance between the centerline of the chassis and the centerline of the lane is within -100mm to -150mm, the chassis deviates to the right side of the lane, and the angle between the chassis and the lane is set to 1.0 degrees to the left; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 70%, otherwise the speed of the left track is reduced to 70%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 80%, and the speed of the right track is reduced to 30%; otherwise, the speed of the left track is reduced to 30%, and the speed of the right track is reduced to 80%; When the distance between the centerline of the chassis and the centerline of the lane is within 100mm to 150mm, the chassis deviates to the right side of the lane, and the angle between the chassis and the lane is set to 1.0 degrees to the right; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 70%, otherwise the speed of the left track is reduced to 70%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 80%, and the speed of the right track is reduced to 30%; otherwise, the speed of the left track is reduced to 30%, and the speed of the right track is reduced to 80%; When the distance between the centerline of the chassis and the centerline of the lane is within -150mm to -350mm, the chassis deviates to the right side of the lane, and the angle between the chassis and the lane is set to 3.0 degrees to the left; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 80%, otherwise the speed of the left track is reduced to 80%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 60%, and the speed of the right track is reduced to 20%; otherwise, the speed of the left track is reduced to 20%, and the speed of the right track is reduced to 60%; When the distance between the centerline of the chassis and the centerline of the lane is within 150mm to 350mm, the chassis deviates to the left side of the lane, and the angle between the chassis and the lane is set to 3.0 degrees to the right; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 80%, otherwise the speed of the left track is reduced to 80%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 60%, and the speed of the right track is reduced to 20%; otherwise, the speed of the left track is reduced to 20%, and the speed of the right track is reduced to 60%; When the distance between the centerline of the chassis and the centerline of the lane is beyond 350mm or -350mm, that is, the chassis deviates from the centerline by a large distance, the deviation is corrected after a certain angle is corrected according to the current distance between the chassis and the lane. That is, if the chassis deviates to the left, the vehicle corrects to a 5-degree angle to the right and corrects the deviation distance to within the allowable deviation range. If the chassis deviates to the right, the vehicle corrects to a 5-degree angle to the left and corrects the deviation distance to within the allowable deviation range.

[0028] The deviation correction algorithm of the present invention is mainly to control the chassis not to deviate from the geometric center line of the lane during the walking process; in this way, the vehicle will automatically turn and correct the deviation along the direction of the lane during the walking process, so as to achieve the purpose of autonomous walking; the main logic of the algorithm is as follows: When the horizontal distance between the center line of the chassis and the center line of the lane is within ±100mm, the chassis is considered to be in the center of the lane, that is, the degree dial needs to be controlled to move in a direction parallel to the center line of the lane. The algorithm outputs the speed of the track based on the angle between the center line of the chassis and the center line of the lane; that is, if the angle is biased to the left, the right track slows down, and if the angle is biased to the right, the left track slows down.

[0029] When the absolute value of the horizontal distance difference between the center line of the chassis and the center line of the lane is between 100 and 150 mm, it is considered that the chassis has deviated slightly. That is, the chassis needs to be controlled to slightly correct the deviation during the forward movement. The algorithm determines the direction of the chassis deviation and adjusts the center line of the chassis and the center line of the lane to continue moving forward at an angle of 0.5 to 1.0 degrees to achieve the effect of following the deviation correction.

[0030] Similar to the above process, when the center of the chassis deviates from the center of the tunnel by 150 to 350 mm, the chassis will correct its deviation and move forward at an angle of 3.0 to 3.5 degrees; at the same time, the track speed will be reduced to 90% of the full speed to move forward; when the center of the chassis deviates from the center of the tunnel by more than 350 mm, the chassis will correct its deviation and move forward at an angle of 4.5 to 5.0 degrees; at the same time, the track speed will be reduced to 80% of the full speed to achieve the effect of slow following correction.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A deviation correction control method for autonomous walking of hydraulic chassis based on PLC control, characterized in that: The steps include: S1, collecting obstacle signals around the crawler chassis; S2, based on the obstacle signals around the crawler chassis, calculate the shortest distance from the geometric center of the chassis to both sides of the lane and the angle with the geometric center line of the traveling direction; S3, calculating the offset distance and angle between the geometric center line of the chassis in the direction of travel and the center line of the lane according to the shortest distance from the geometric center of the chassis to both sides of the lane and the angle with the geometric center line of the direction of travel; S4, judging the current posture of the chassis based on the offset distance and angle between the geometric centerline of the chassis's traveling direction and the centerline of the lane; S5. Control the corresponding hydraulic proportional valve based on the current posture of the chassis.

2. The deviation correction control method for autonomous walking of a hydraulic chassis based on PLC control according to claim 1 is characterized in that: S3 specifically includes: S31. Calculate the offset angle α between the geometric centerline of the chassis's traveling direction and the centerline of the lane: in, is the angle between the horizontal centerline of the vehicle body and the left lane wall, It is the angle between the horizontal centerline of the vehicle body and the right lane wall; S32. Calculate the offset distance L between the geometric centerline of the chassis's traveling direction and the centerline of the lane: in, is the distance between the center of the vehicle chassis and the left lane wall, It is the distance between the center of the vehicle chassis and the right side of the laneway wall.

3. The deviation correction control method based on PLC control of hydraulic chassis autonomous walking according to claim 1 is characterized in that: S4 specifically includes the following steps: When the left angle α1 is less than When the body angle is biased to the left, the offset angle Set to a negative number; when the right angle α2 is less than When the body angle is tilted to the right, the offset angle Set to a positive number; When L is a positive number, it means that the chassis is biased toward the right side of the alley. When L is a negative number, it means that the chassis is biased toward the left side of the alley.

4. The deviation correction control method based on PLC control of hydraulic chassis autonomous walking according to claim 1 is characterized in that: S5 specifically includes the following steps: When the distance between the centerline of the chassis and the centerline of the lane is within ±100mm, the chassis walking followability control is performed according to the angle between the chassis and the lane, and the control target is that the absolute value of the deviation angle is less than 0.5 degrees; when the deviation angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the right track speed to 70%, otherwise the left track speed is reduced to 70%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, when the body deviates to the left, the left track speed is reduced to 80%, and the right track speed is reduced to 30%; otherwise, the left track speed is reduced to 30%, and the right track speed is reduced to 80%; When the distance between the centerline of the chassis and the centerline of the lane is within -100mm to -150mm, the chassis deviates to the right side of the lane, and the angle between the chassis and the lane is set to 1.0 degrees to the left; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 70%, otherwise the speed of the left track is reduced to 70%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 80%, and the speed of the right track is reduced to 30%; otherwise, the speed of the left track is reduced to 30%, and the speed of the right track is reduced to 80%; When the distance between the centerline of the chassis and the centerline of the lane is within 100mm to 150mm, the chassis deviates to the right side of the lane, and the angle between the chassis and the lane is set to 1.0 degrees to the right; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 70%, otherwise the speed of the left track is reduced to 70%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 80%, and the speed of the right track is reduced to 30%; otherwise, the speed of the left track is reduced to 30%, and the speed of the right track is reduced to 80%; When the distance between the centerline of the chassis and the centerline of the lane is within -150mm to -350mm, the chassis deviates to the right side of the lane, and the angle between the chassis and the lane is set to 3.0 degrees to the left; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 80%, otherwise the speed of the left track is reduced to 80%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 60%, and the speed of the right track is reduced to 20%; otherwise, the speed of the left track is reduced to 20%, and the speed of the right track is reduced to 60%; When the distance between the centerline of the chassis and the centerline of the lane is within 150mm to 350mm, the chassis deviates to the left side of the lane, and the angle between the chassis and the lane is set to 3.0 degrees to the right; when the difference between the deviation angle and the target angle is greater than 0.5 degrees and less than 2 degrees, it deviates to the left and reduces the speed of the right track to 80%, otherwise the speed of the left track is reduced to 80%. When the deviation angle is greater than 2 degrees, it corrects the deviation slowly; that is, the body deviates to the left, the speed of the left track is reduced to 60%, and the speed of the right track is reduced to 20%; otherwise, the speed of the left track is reduced to 20%, and the speed of the right track is reduced to 60%; When the distance between the centerline of the chassis and the centerline of the lane is beyond 350mm or -350mm, that is, the chassis deviates from the centerline by a large distance, the deviation is corrected after a certain angle is corrected according to the current distance between the chassis and the lane. That is, if the chassis deviates to the left, the vehicle corrects to a 5-degree angle to the right and corrects the deviation distance to within the allowable deviation range. If the chassis deviates to the right, the vehicle corrects to a 5-degree angle to the left and corrects the deviation distance to within the allowable deviation range.

5. The deviation correction control method based on PLC control of hydraulic chassis autonomous walking according to claim 1 is characterized in that: The deviation correction control method is implemented based on a deviation correction control device, and the deviation correction control device comprises: A laser radar scanner is used to collect obstacle signals around the crawler chassis, and the laser radar scanner sends the collected obstacle signals around the crawler chassis to the industrial computer; The industrial computer obtains the point coordinates of the surrounding tunnel walls through the laser radar sensor connected to the network port; after calculation by the algorithm in the industrial computer, the shortest distance between the chassis body and the tunnel walls on both sides and the angle parameters between the chassis centerline and the tunnel centerline are output and sent to the PLC control system; The PLC control system receives the real-time measurement parameter signal and calculates the correction signal according to the real-time measurement parameter, and the PLC control system sends the correction signal to the electronically controlled proportional valve; The electronically controlled proportional valve is connected to the hydraulic travel motor. The electronically controlled proportional valve receives a deviation correction signal and adjusts the corresponding proportional valve opening according to the deviation correction signal, thereby controlling the rotation direction and speed of the hydraulic travel motor.

6. The deviation correction method for autonomous walking of hydraulic chassis based on PLC control according to claim 5 is characterized in that: The obstacle signal around the crawler chassis includes the distance from the center of the vehicle body to the walls on the left and right sides.

7. The deviation correction method for autonomous walking of hydraulic chassis based on PLC control according to claim 5 is characterized in that: The model of the PLC control system is S7-1500PLC.

8. The deviation correction method based on PLC-controlled autonomous walking of hydraulic chassis according to claim 5 is characterized in that: The laser radar scanner is installed on the crawler chassis of the work vehicle.

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