Bridge maintenance vehicle walking control system and control method for ultra-wide curve bridge

Abstract

The invention relates to the technical field of bridge maintenance vehicle synchronous walking control, in particular to a bridge maintenance vehicle walking control system and method for an ultra-wide curve bridge. Whether walking is synchronous or not is detected in real time through the range finders installed at the left end and the right end of the bridge maintenance car and at the fixed position of the inner ring of a curved bridge body, deviation rectification is conducted on the maintenance car through the PLC programmable control technology in combination with the left portal frequency converter and the right portal frequency converter, and walking synchronization is kept; and then the real-time running speed is monitored through the left portal frame encoder and the right portal frame encoder, and it is ensured that the maintenance car can stably run at the expected running speed. A full-automatic control mode is adopted, safety and reliability are achieved, operation is easy, abrasion of the bridge maintenance vehicle in the running process can be effectively reduced, and running efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of synchronous running control of a bridge maintenance vehicle, and in particular to a running control system and a control method of a bridge maintenance vehicle for an ultra-wide curved bridge. Background Art

[0002] Bridge inspection vehicles are important equipment in the field of modern bridge maintenance, especially for large bridges with large spans and wide decks. Traditional manual inspection and suspension telescopic arm devices are difficult to fully cover all parts of the bridge, and under-hung bridge inspection vehicles are usually used for maintenance. However, in the actual operation process, the wear and looseness of the mechanical transmission device, the imbalance of the power supply voltage, the influence of external resistance such as wind force, etc., will cause the left and right sides of the bridge inspection vehicle to gradually accumulate running errors, and eventually there will be a problem of asynchronous running. At the least, the running mechanism will be stuck, affecting the inspection efficiency, and at the worst, it may cause derailment, causing serious safety hazards.

[0003] At present, many bridge maintenance vehicle running synchronization systems rely on absolute encoders to keep the running synchronization of the left and right tires by ensuring that the running displacement of the left and right tires is the same. However, this solution has obvious technical limitations and cannot solve the cumulative error caused by tire slippage; on curved bridges, the running synchronization control is more difficult and complicated due to the significant difference in the running path length of the inner and outer rings. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in view of the shortcomings of the existing technology, a travel control system and control method for a bridge maintenance vehicle for an ultra-wide curved bridge is provided, which can keep the left and right sides of the bridge maintenance vehicle synchronized, and stably run along the direction of the curved bridge body at the desired travel speed, thereby improving the efficiency of bridge maintenance operations.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] The present invention provides a travel control system for a bridge maintenance vehicle of an ultra-wide curved bridge, which is used for synchronous travel control of the left travel gantry and the right travel gantry of an under-hung bridge maintenance vehicle, and is characterized by comprising a PLC controller, a distance detection device, a speed detection device, a left gantry frequency converter and a right gantry frequency converter;

[0007] The distance detection device is connected to the PLC controller via wireless communication and is used to detect the real-time positions of the left and right sides of the bridge maintenance vehicle; the speed detection device is installed on the bridge maintenance vehicle and is connected to the PLC controller and is used to detect the real-time speeds of the left and right gantry of the bridge maintenance vehicle; the left gantry frequency converter and the right gantry frequency converter are respectively connected to the input terminals of the drive motors on the left and right gantry;

[0008] The PLC controller communicates in real time with the distance detection device, the speed detection device, the left gantry frequency converter and the right gantry frequency converter via a wireless network.

[0009] According to the above technical solution, the distance detection device includes three distance meters, two of which are active distance meters that move with the bridge maintenance vehicle, and one is a stationary reference distance meter.

[0010] According to the above technical solution, the two movable distance meters are respectively installed at the left and right ends of the bridge maintenance vehicle, corresponding to the inner circle and outer circle of the curved bridge body, and the reference distance meter is installed on the inner circle of the curved bridge body.

[0011] According to the above technical solution, the speed detection device includes a left gantry encoder and a right gantry encoder, which are respectively installed on the running wheels of the left gantry and the right gantry of the bridge maintenance vehicle and connected to the output end of the drive motor.

[0012] According to the above technical solution, the PLC controller includes a human-computer interaction interface, which can display the real-time distance between each distance meter and the real-time travel speed of the left and right gantry of the bridge maintenance vehicle.

[0013] Based on the same inventive concept, the present invention also provides a travel control method for a bridge maintenance vehicle on an ultra-wide curved bridge, based on the control system as described above, mainly comprising the following steps:

[0014] S1, after the bridge maintenance vehicle is running, the outer circle running speed V1 and the inner circle running speed V2 of the curved bridge are obtained in real time through the speed detection device;

[0015] S2, define two active distance meters as point A and point B, where point A corresponds to the outer circle of the curved bridge body, point B corresponds to the inner circle of the curved bridge body, and the reference distance meter is at point D. Then, the actual displacement DB of the inner circle is obtained through the distance meter, and the expected displacement DB1 of the inner circle is calculated;

[0016] S2, judging whether the difference Z between the actual displacement of the inner ring and the expected displacement of the inner ring is less than the preset threshold value Z1, if so, the left gantry and the right gantry are moving synchronously, if not, the left gantry and the right gantry are moving asynchronously, and correction control is performed;

[0017] S3, judging whether the difference Z between the actual displacement of the inner ring and the expected displacement of the inner ring is less than the preset threshold value Z1, if so, the left gantry and the right gantry are moving synchronously, if not, the left gantry and the right gantry are moving asynchronously, and deviation correction control is performed;

[0018] S4, after completing the deviation correction control, determine whether the outer ring running speed V1 reaches the outer ring expected running speed V0, if so, the bridge maintenance vehicle keeps running, if not, proceed to step S5;

[0019] S5. Adjust the traveling speed through the left gantry frequency converter and the right gantry frequency converter. The inner ring traveling speed is adjusted corresponding to the outer ring traveling speed. After the overall bridge inspection vehicle reaches the desired speed, repeat step S2.

[0020] According to the above technical solution, the calculation formula for the expected displacement DB1 of the inner ring of the bridge inspection vehicle is as follows:

[0021]

[0022] In the formula, R is the inner ring radius of the curved bridge body, L is the width of the curved bridge body, and AD is the real-time distance between the outer ring distance measuring instrument of the inspection vehicle and the reference distance measuring instrument.

[0023] According to the above technical solution, the difference Z between the actual displacement DB of the inner ring and the expected displacement DB1 of the inner ring is Z = |DB - DB1|, and the preset threshold Z1 = L / 100.

[0024] According to the above technical solution, during deviation correction control, compare the actual displacement DB of the inner ring with the expected displacement DB1 of the inner ring. If DB > DB1, the inner ring travels too fast, and adjust the frequency converter to reduce the inner ring speed; if DB < DB1, the inner ring travels too slow, and adjust the frequency converter to increase the inner ring speed.

[0025] According to the above technical solution, the inner ring traveling speed V2 is adjusted according to the outer ring traveling speed V1, and the formula is as follows:

[0026]

[0027] The present invention has the following main advantages compared with the prior art:

[0028] 1. The present invention provides a traveling control system and control method for a bridge inspection vehicle on an ultra-wide curved bridge. The speeds of the left gantry and the right gantry of the inspection vehicle are obtained through speed detection devices, and a distance detection device is used to judge whether the traveling is synchronous. When the traveling of the inspection vehicle is asynchronous, the system automatically activates deviation correction control, and the traveling speed is adjusted through PLC programmable control technology to restore traveling synchronization, ensuring that the inspection vehicle can stably run at the desired traveling speed.

[0029] 2. The control system of the present invention adopts a double closed-loop mode. First, a closed-loop control is performed on whether the traveling is synchronous through a distance measuring instrument, and an automatic deviation correction control is performed through a PLC controller. On the basis of ensuring traveling synchronization, a second-level control is performed through the expected traveling speed of the outer ring of the inspection vehicle to ensure that the bridge inspection vehicle stably runs at the desired traveling speed.

[0030] 3. The present invention adopts a fully automatic control method, which is safe, reliable, simple to operate, can effectively reduce the wear during the operation of the bridge inspection vehicle, and improve the operation and inspection efficiency. Description of the Drawings

[0031] Figure 1 A schematic diagram of a travel control system for a bridge maintenance vehicle for an ultra-wide curved bridge provided by the present invention;

[0032] Figure 2 A flow chart of a method for controlling the movement of a bridge maintenance vehicle on an ultra-wide curved bridge provided by the present invention;

[0033] Figure 3 A real-time position diagram of a bridge maintenance vehicle during the travel of an ultra-wide curved bridge provided by the present invention.

[0034] In the figure: 1. Distance detection device; 2. PLC controller; 3. Left gantry frequency converter; 4. Right gantry frequency converter; 5. Left gantry encoder; 6. Right gantry encoder. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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 part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the application is usually placed when in use. They 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 direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0037] This embodiment provides a travel control system for a bridge maintenance vehicle on an ultra-wide curved bridge, which is used for synchronous travel control of the left and right travel gantry of a lower-hung bridge maintenance vehicle, such as Figure 1 As shown, it mainly includes a PLC controller 2 installed on a bridge maintenance vehicle, a distance detection device 1, a speed detection device, a left gantry frequency converter 3 and a right gantry frequency converter 4;

[0038] The distance detection device 1 is connected to the PLC controller 2 via wireless communication, and is used to detect the real-time positions of the left and right sides of the bridge maintenance vehicle; the speed detection device is installed on the bridge maintenance vehicle, and is connected to the PLC controller 2, and is used to detect the real-time speeds of the left and right gantry of the bridge maintenance vehicle; the left gantry inverter 3 and the right gantry inverter 4 are respectively connected to the input terminals of the drive motors on the left and right gantry;

[0039] The PLC controller 2 communicates in real time with the distance detection device 1, the speed detection device, the left gantry frequency converter 3 and the right gantry frequency converter 4 via a wireless network.

[0040] In this embodiment, the distance detection device 1 includes three distance meters, two of which are active distance meters that move with the bridge maintenance vehicle, and one is a stationary reference distance meter. The two active distance meters are respectively installed at the left and right ends of the bridge maintenance vehicle, corresponding to the inner and outer circles of the curved bridge body (the left gantry corresponds to the outer circle of the bridge, and the right gantry corresponds to the inner circle of the bridge), and the reference distance meter is installed at a fixed position on the inner circle of the curved bridge body.

[0041] In this embodiment, the speed detection device includes a left gantry encoder 5 and a right gantry encoder 6, which are respectively installed at the running wheels of the left gantry and the right gantry of the bridge maintenance vehicle, and are connected to the output end of the drive motor; the left gantry encoder 5 and the right gantry encoder 6 are used to monitor the rotation speed of the running wheels of the left gantry and the right gantry, and can output the running speed of the left gantry and the right gantry in real time according to the diameter of the running wheels.

[0042] In this embodiment, the left gantry inverter 3 and the right gantry inverter 4 are connected to the input ends of the drive motors on the left gantry and the right gantry, and can adjust the rotation speed of the drive motors to control the travel speeds of the left gantry and the right gantry respectively.

[0043] In this embodiment, the PLC controller 2 includes a human-computer interaction interface, which can display the real-time distance between each distance meter and the real-time travel speed of the left and right gantry of the bridge maintenance vehicle.

[0044] This embodiment provides a travel control system for a bridge maintenance vehicle for an extra-wide curved bridge, which can automatically keep the left and right sides of the bridge maintenance vehicle synchronized, and stably run along the bridge direction at a desired travel speed, thereby solving the problem of the bridge maintenance vehicle running out of sync along an extra-wide curved bridge.

[0045] The main principle is as follows: first, distance meters are installed at the left and right ends of the bridge maintenance vehicle and the fixed position of the inner circle of the curved bridge body to detect the real-time position, and whether the running is synchronized is determined according to the actual displacement of the inner circle and the expected displacement of the inner circle. Then, automatic deviation correction control is performed through the PLC controller 2 to maintain running synchronization. Then, the running speed is automatically adjusted through the incremental encoder installed at the running wheels of the left and right gantry to achieve the expected running speed, so as to achieve the synchronous running of the bridge maintenance vehicle on the ultra-wide curved bridge and stably run along the bridge direction at the expected running speed. In this embodiment, automatic detection and adjustment are specifically performed through the PLC program, which is safe and reliable.

[0046] like Figure 2As shown, this embodiment also provides a travel control method for a bridge maintenance vehicle on an ultra-wide curved bridge, based on the control system as described above, mainly comprising the following steps:

[0047] (1) First, set the relevant parameters in the PLC controller 2, including the inner circle radius R of the curved bridge body, the width L of the curved bridge body, the running error threshold Z1, and the expected running speed V0 of the outer circle of the bridge maintenance vehicle.

[0048] (2) Distance meters are installed at the left and right ends of the bridge maintenance vehicle and at fixed positions on the inner circle of the curved bridge body, and frequency converters and encoders are installed on the left and right gantry of the bridge maintenance vehicle.

[0049] (3) After the bridge maintenance vehicle is in operation, the outer circle running speed V1 and the inner circle running speed V2 of the curved bridge are obtained in real time through the left gantry encoder and the right gantry encoder;

[0050] (4) Define the two active distance meters as point A and point B, where point A corresponds to the outer circle of the curved bridge body, point B corresponds to the inner circle of the curved bridge body, and the reference distance meter is point D. Then, the actual displacement DB of the inner circle is obtained through the distance meter, and the expected displacement DB1 of the inner circle is calculated;

[0051] (5) Determine whether the difference Z between the actual displacement of the inner ring and the expected displacement of the inner ring is less than a preset threshold value Z1. If so, the left gantry and the right gantry are moving synchronously. If not, the left gantry and the right gantry are moving asynchronously, and deviation correction control is performed;

[0052] (6) After completing the deviation correction control and restoring the running synchronization, determine whether the outer ring running speed V1 reaches the outer ring expected running speed V0.

[0053] (7) The running speed is adjusted by the left gantry inverter 3 and the right gantry inverter 4. The inner circle running speed of the bridge maintenance vehicle is adjusted according to the outer circle running speed. After the bridge maintenance vehicle as a whole reaches the expected speed, check again whether the running is still synchronized.

[0054] (8) The running status of the bridge maintenance vehicle is fully controlled by the PLC controller 2, including automatically judging the running status of the maintenance vehicle and adjusting the running speed so that the bridge maintenance vehicle can run stably at the desired running speed.

[0055] (9) After the travel is completed, the incremental encoder is reset to prepare for the next operation of the bridge maintenance vehicle.

[0056] In this embodiment, Figure 3 As shown in the figure, the calculation formula for the expected displacement DB1 of the inner ring of the bridge maintenance vehicle is as follows:

[0057]

[0058] Wherein, R is the inner radius of the curved bridge body, L is the width of the curved bridge body, and AD is the distance between the outer circle of the maintenance vehicle and the reference rangefinder.

[0059] In this embodiment, it is judged whether the difference Z between the actual displacement DB of the inner circle and the expected displacement DB1 of the inner circle is less than the preset threshold Z1, where Z = |DB - DB1| and Z1 = L / 100. If so, it indicates that the left gantry and the right gantry run synchronously. If not, it indicates that the left gantry and the right gantry run asynchronously and deviation correction control is required.

[0060] In this embodiment, when performing automatic deviation correction control, it is necessary to further compare the actual displacement DB of the inner circle with the expected displacement DB1 of the inner circle. If DB > DB1, it is judged that the inner circle of the maintenance vehicle runs too fast, and the frequency converter 4 of the right gantry is adjusted to reduce the speed; if DB < DB1, it is judged that the inner circle of the maintenance vehicle runs too slowly, and the frequency converter 4 of the right gantry is adjusted to increase the speed.

[0061] In this embodiment, the running speed V2 of the inner circle is adjusted according to the running speed V1 of the outer circle, and the formula is as follows:

[0062]

[0063] In this embodiment, the parts not detailed in this application are the same as or implemented by the prior art.

[0064] In summary:

[0065] 1. The present invention provides a running control system and control method for a bridge maintenance vehicle on an ultra-wide curved bridge. The speeds of the left and right gantries of the maintenance vehicle are obtained through speed detection devices, and a distance detection device is used to judge whether the running is synchronous. When the maintenance vehicle runs asynchronously, the system automatically activates deviation correction control, and the running speed is adjusted through PLC programmable control technology to restore running synchronization, ensuring that the maintenance vehicle can stably run at the expected running speed.

[0066] 2. The control system of the present invention adopts a double-closed-loop mode. First, a closed-loop control is performed on whether the running is synchronous through a rangefinder, and automatic deviation correction control is performed through a PLC controller. On the basis of ensuring running synchronization, a second-layer control is performed through the expected running speed of the outer circle of the maintenance vehicle to ensure that the bridge maintenance vehicle stably runs at the expected running speed.

[0067] 3. The present invention adopts a full-automatic control method, which is safe, reliable, simple to operate, can effectively reduce the wear during the operation of the bridge maintenance vehicle, and improve the operation and maintenance efficiency.

[0068] The embodiments described above are part of the embodiments of the present invention, rather than all of the embodiments. The detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A travel control system for a bridge maintenance vehicle on an ultra-wide curved bridge, used for synchronous travel control of the left and right travel gantry of a down-hung bridge maintenance vehicle, characterized in that: It includes a PLC controller, a distance detection device, a speed detection device, a left gantry frequency converter, and a right gantry frequency converter; The distance detection device is wirelessly connected to the PLC controller and is used to detect the real-time positions on both sides of the bridge inspection vehicle; the speed detection device is installed on the bridge inspection vehicle and is connected to the PLC controller, and is used to detect the real-time speeds of the left gantry and the right gantry of the bridge inspection vehicle; the left gantry frequency converter and the right gantry frequency converter are respectively connected to the input ends of the drive motors on the left gantry and the right gantry; The PLC controller communicates in real time with the distance detection device, the speed detection device, the left gantry frequency converter, and the right gantry frequency converter through a wireless network.

2. The travel control system of a bridge maintenance vehicle for an ultra-wide curved bridge according to claim 1 is characterized in that: The distance detection device includes three rangefinders, two of which are movable rangefinders that move with the bridge inspection vehicle, and one is a stationary reference rangefinder.

3. The travel control system of a bridge maintenance vehicle for an ultra-wide curved bridge according to claim 2 is characterized in that: The two movable rangefinders are respectively installed at both ends of the bridge inspection vehicle, corresponding to the inner circle and the outer circle of the curved bridge body, and the reference rangefinder is installed on the inner circle of the curved bridge body.

4. The travel control system of a bridge maintenance vehicle for an ultra-wide curved bridge according to claim 1 or 2, characterized in that: The speed detection device includes a left gantry encoder and a right gantry encoder, which are respectively installed at the traveling wheels of the left gantry and the right gantry of the bridge inspection vehicle and are connected to the output ends of the drive motors.

5. The travel control system of a bridge maintenance vehicle for an ultra-wide curved bridge according to claim 1 or 2, characterized in that: The PLC controller includes a human-machine interface, which can display the real-time distance between each rangefinder and the real-time traveling speeds of the left gantry and the right gantry of the bridge inspection vehicle.

6. A method for controlling the movement of a bridge maintenance vehicle on an ultra-wide curved bridge, based on the control system according to any one of claims 1 to 5, characterized in that: It includes the following steps: S1, after the bridge inspection vehicle runs, through the speed detection device, the real-time traveling speed V1 of the outer circle of the curved bridge body and the real-time traveling speed V2 of the inner circle are obtained in real time; S2, define the two movable rangefinders as point A and point B, where point A corresponds to the outer circle of the curved bridge body, point B corresponds to the inner circle of the curved bridge body, and the reference rangefinder is point D. Then, through the rangefinders, the actual displacement DB of the inner circle is obtained, and the expected displacement DB1 of the inner circle is calculated; S3, judge whether the difference Z between the actual displacement of the inner circle and the expected displacement of the inner circle is less than the preset threshold Z1. If so, the left gantry and the right gantry travel synchronously. If not, the left gantry and the right gantry travel asynchronously, and deviation correction control is performed; S4, after the deviation correction control is completed, judge whether the outer circle traveling speed V1 reaches the expected outer circle traveling speed V0. If so, the bridge inspection vehicle continues to run. If not, continue with step S5; S5, adjust the traveling speed through the left gantry frequency converter and the right gantry frequency converter. The inner circle traveling speed is adjusted correspondingly according to the outer circle traveling speed. After the bridge inspection vehicle reaches the expected speed as a whole, repeat step S2.

7. The control method according to claim 6, characterized in that: The calculation formula for the expected displacement DB1 of the inner circle of the bridge inspection vehicle is as follows: In the formula, R is the radius of the inner circle of the curved bridge body, L is the width of the curved bridge body, and AD is the real-time distance between the outer circle rangefinder of the inspection vehicle and the reference rangefinder.

8. The control method according to claim 7, characterized in that: The difference Z between the actual displacement DB of the inner circle and the expected displacement DB1 of the inner circle is Z = |DB - DB1|, and the preset threshold Z1 = L / 100.

9. The control method according to claim 6, characterized in that: During the deviation correction control, compare the actual displacement DB of the inner circle with the expected displacement DB1 of the inner circle. If DB > DB1, the inner circle travels too fast, and adjust the frequency converter to reduce the inner circle speed; if DB < DB1, the inner circle travels too slow, and adjust the frequency converter to increase the inner circle speed.

10. The control method according to claim 6, characterized in that: The inner circle running speed V2 is adjusted according to the outer circle running speed V1, and the formula is as follows:

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