Crawler angle adjusting method and device, equipment, storage medium and program product

Abstract

The invention discloses a track angle adjusting method and device, equipment, a storage medium and a program product, and relates to the technical field of tunnel disease detection.The method comprises the steps that vehicle traveling state data are obtained through a logic controller; a push rod control signal is generated based on a track angle adjustment algorithm according to the vehicle traveling state data and the tunnel circular section feature data; controlling the electric push rod to stretch out and draw back according to the push rod control signal so as to adjust the ground contact angle of the crawler of the crawler diagnosis vehicle. Based on a track angle adjusting algorithm, the electric push rod is controlled to stretch out and draw back according to the vehicle traveling state data and the tunnel circular section characteristic data, so that the angle of the track of the track diagnosis vehicle in contact with the ground is adjusted, the track diagnosis vehicle is made to travel at the angle suitable for the circular section tunnel, and the damping effect is achieved. Therefore, the problem that wheels of an existing tunnel diagnosis vehicle cannot swing by an angle is solved, and stable operation of the crawler belt diagnosis vehicle in the tunnel with the circular section is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel disease detection, and in particular to a track angle adjustment method, device, equipment, storage medium and program product. Background Art

[0002] Subway construction projects require the construction of a large number of tunnels. Subway tunnel scenarios can be divided into the pre-track-laying acceptance stage (trackless), the pre-opening acceptance stage (tracked) and the operation stage (tracked). Tunnel disease diagnosis in trackless scenarios is one of the key projects in acceptance. However, the wheels of existing tunnel diagnosis vehicles for tunnel disease diagnosis in trackless scenarios cannot swing, the contact area between the wheels and the tunnel is small, and the wheels are unevenly stressed.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present application is to provide a track angle adjustment method, device, equipment, storage medium and program product, aiming to solve the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing to an angle.

[0005] To achieve the above purpose, the present application proposes a method for adjusting the track angle, the method comprising:

[0006] Acquiring vehicle travel status data through the logic controller;

[0007] Based on a preset track angle adjustment algorithm, a push rod control signal is generated according to the vehicle travel state data and preset tunnel circular cross-section characteristic data;

[0008] According to the push rod control signal, the electric push rod is controlled to be extended and retracted to adjust the angle at which the crawler track of the crawler diagnostic vehicle contacts the ground.

[0009] In one embodiment, the step of obtaining the vehicle travel status data through the logic controller includes:

[0010] The distance between the crawler diagnostic vehicle and the inner wall of the tunnel is measured by a preset distance measuring sensor to obtain the vehicle inner wall distance data;

[0011] The posture of the crawler diagnostic vehicle is monitored by a preset gyro acceleration sensor to obtain vehicle posture data;

[0012] The vehicle travel status data is obtained through the logic controller according to the vehicle inner wall distance data and the vehicle posture data.

[0013] In one embodiment, the step of generating a push rod control signal based on a preset track angle adjustment algorithm according to the vehicle travel state data and preset tunnel circular cross-section characteristic data comprises:

[0014] Calculating a target track contact angle according to the circular cross-section characteristic data of the tunnel;

[0015] Calculating a current track contact angle according to the vehicle travel state data;

[0016] Based on the track angle adjustment algorithm, a target push rod extension amount and a target push rod extension speed are calculated according to the target track contact angle and the current track contact angle;

[0017] The push rod control signal is generated according to the target push rod extension amount and the target push rod extension speed.

[0018] In one embodiment, the step of calculating the target push rod extension amount and the target push rod extension speed based on the track angle adjustment algorithm and the target track contact angle and the current track contact angle comprises:

[0019] Calculating a track contact angle difference according to the target track contact angle and the current track contact angle;

[0020] Based on the track angle adjustment algorithm, the target push rod extension amount is calculated according to the track contact angle difference;

[0021] Acquire first current vehicle speed data, and obtain angle adjustment time according to the current vehicle speed data;

[0022] The target push rod extension and retraction speed is obtained according to the target push rod extension and retraction amount and angle adjustment time.

[0023] In one embodiment, the step of controlling the extension and retraction of the electric push rod according to the push rod control signal comprises:

[0024] Generate a push rod extension amplitude control signal and a push rod extension speed control signal according to the push rod control signal;

[0025] Controlling the telescopic range of the electric push rod according to the push rod telescopic range control signal;

[0026] The extension and retraction speed of the electric push rod is controlled according to the push rod extension and retraction speed control signal.

[0027] In one embodiment, after the step of controlling the extension and retraction of the electric push rod according to the push rod control signal, the method further includes:

[0028] Receiving a vehicle speed control command sent by a preset remote control device;

[0029] According to the vehicle speed control instruction, obtaining second current vehicle speed data, and parsing the vehicle speed control instruction to obtain target vehicle speed data;

[0030] generating a motor speed control signal according to the second current vehicle speed data and the target vehicle speed data;

[0031] The rotation speed of the crawler motor is adjusted according to the motor speed regulation signal to control the speed of the crawler diagnostic vehicle.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a track angle adjustment device, which is applied to a track diagnostic vehicle, the track diagnostic vehicle includes a logic controller and an electric push rod, and the device includes:

[0033] A data acquisition module, used to acquire vehicle travel status data through the logic controller;

[0034] A signal generating module, for generating a push rod control signal based on a preset track angle adjustment algorithm, according to the vehicle travel state data and preset tunnel circular cross-section characteristic data;

[0035] The push rod control module is used to control the extension and retraction of the electric push rod according to the push rod control signal, so as to adjust the angle at which the crawler track of the crawler diagnostic vehicle contacts the ground.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a track angle adjustment device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the track angle adjustment method described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the track angle adjustment method described above are implemented.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the track angle adjustment method described above are implemented.

[0039] The present application provides a method for adjusting the track angle. Based on the track angle adjustment algorithm, the electric push rod is controlled to extend and retract according to the vehicle running state data and the circular cross-section characteristic data of the tunnel, so as to adjust the angle at which the track of the track diagnostic vehicle contacts the ground, so that the track diagnostic vehicle can travel at an angle suitable for the circular cross-section tunnel, and achieve a shock absorption effect. Thus, the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing at an angle is solved, and the stable operation of the track diagnostic vehicle in the circular cross-section tunnel is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 A schematic diagram of a process flow provided for Embodiment 1 of the crawler angle adjustment method of the present application;

[0043] Figure 2 A schematic diagram of the structure of the transmission between the electric push rod and the crawler belt provided in the first embodiment of the present application;

[0044] Figure 3 A schematic diagram of a tracked diagnostic vehicle provided in Embodiment 1 of the present application traveling at an angle suitable for a circular cross-section tunnel;

[0045] Figure 4 A schematic diagram of a process flow provided for Embodiment 2 of the crawler angle adjustment method of the present application;

[0046] Figure 5 This is a schematic diagram of the module structure of the crawler angle adjustment device of the embodiment of the present application;

[0047] Figure 6 Schematic diagram of the equipment structure of the hardware operating environment involved in the crawler angle adjustment method in the embodiment of the present application.

[0048] Description of Figure Numbers:

[0049] 1. Frame; 11. Connecting beam; 2. Track components; 3. Angle adjustment components;

[0050] 31. Active component; 311. Driving member; 312. Push rod; 313. Guide rail; 314. Sliding block;

[0051] 32. driven assembly; 321. connecting rod; 3211. main body; 3212. universal coupling;

[0052] 4. Connecting seat; 41. Lug; 20. Detection mechanism; 30. Control mechanism.

[0053] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0055] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0056] The main solutions of the embodiments of this application are:

[0057] Acquiring vehicle travel status data through the logic controller;

[0058] Based on a preset track angle adjustment algorithm, a push rod control signal is generated according to the vehicle travel state data and preset tunnel circular cross-section characteristic data;

[0059] According to the push rod control signal, the electric push rod is controlled to be extended and retracted to adjust the angle at which the crawler track of the crawler diagnostic vehicle contacts the ground.

[0060] In the existing technology, a large number of tunnels need to be built in subway construction projects. The subway tunnel scene can be divided into the pre-track laying acceptance stage (trackless), the pre-opening acceptance stage (tracked) and the operation stage (tracked). Tunnel disease diagnosis in the trackless scene is one of the key projects in the acceptance. However, the wheels of the existing tunnel diagnosis vehicles for tunnel disease diagnosis in trackless scenes cannot swing, the contact area between the wheels and the tunnel is small, and the wheels are unevenly stressed.

[0061] The present application provides a solution, based on the track angle adjustment algorithm, according to the vehicle running state data and the circular cross-section characteristic data of the tunnel, to control the extension and retraction of the electric push rod to adjust the angle of the track of the track diagnostic vehicle contacting the ground, so that the track diagnostic vehicle can travel at an angle suitable for the circular cross-section tunnel, and achieve a shock absorption effect. Thus, the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing at an angle is solved, and the stable operation of the track diagnostic vehicle in the circular cross-section tunnel is guaranteed.

[0062] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a tracked diagnostic vehicle, etc. The following takes the tracked diagnostic vehicle as an example to illustrate this embodiment and the following embodiments.

[0063] Based on this, the present application embodiment provides a method for adjusting the track angle. Figure 1 , Figure 1 This is a flow chart of the first embodiment of the crawler angle adjustment method of the present application.

[0064] In this embodiment, the track angle adjustment method is applied to a track diagnostic vehicle, the track diagnostic vehicle includes a logic controller and an electric push rod, and the method includes steps S10 to S30:

[0065] Step S10, obtaining vehicle travel status data through the logic controller;

[0066] The track diagnostic vehicle obtains the vehicle's running status data through the logic controller, with the aim of fully understanding the dynamic situation of the vehicle in actual operation, including acceleration, inclination, load and other information. These data are the basic inputs for the subsequent track angle adjustment algorithm, directly affecting the accuracy and adaptability of the adjustment. Through these data, the system can determine whether the vehicle is in a stable state, whether there is a risk of slipping, or whether the track angle needs to be adjusted to adapt to the current working conditions.

[0067] In a feasible implementation, step S10 may include steps S101 to S103:

[0068] Step S101, measuring the distance between the crawler diagnostic vehicle and the inner wall of the tunnel by a preset distance measuring sensor to obtain vehicle inner wall distance data;

[0069] Step S102, monitoring the posture of the crawler diagnostic vehicle through a preset gyroscope acceleration sensor to obtain vehicle posture data;

[0070] Step S103, obtaining the vehicle travel status data according to the vehicle inner wall distance data and the vehicle posture data through the logic controller.

[0071] The track diagnostic vehicle transmits a signal (such as laser, ultrasonic wave or radar wave) through a preset distance measuring sensor and receives its reflected signal, calculates the round-trip time or phase difference of the signal, measures the distance between the track diagnostic vehicle and the inner wall of the tunnel, and obtains the vehicle inner wall distance data. The purpose is to obtain real-time distance data between the track diagnostic vehicle and the inner wall of the tunnel so that the system can determine whether the vehicle is close to the inner wall of the tunnel, whether there is a risk of collision, and whether the track angle needs to be adjusted to optimize the vehicle's running posture; then the track diagnostic vehicle is monitored through a preset gyroscope acceleration sensor, and the track diagnostic vehicle's posture and dynamic changes are monitored in real time to obtain vehicle posture data. These data can help the system determine whether the vehicle is in a stable state, whether there is a risk of tilting or rollover, or whether the track angle needs to be adjusted to optimize the vehicle's running posture; finally, the vehicle inner wall distance data and vehicle posture data are integrated into vehicle travel state data to provide comprehensive input information for the subsequent track angle adjustment algorithm. This data fusion process can improve the accuracy and reliability of the data and ensure the accuracy of the track angle adjustment.

[0072] It should be noted that the distance sensor is a sensor that can measure the distance between objects. Common types include laser rangefinders, ultrasonic sensors and radar sensors. They are used to measure the distance between the tracked diagnostic vehicle and the inner wall of the tunnel, and convert the measurement results into electrical signals and transmit them to the logic controller; the gyroscope acceleration sensor is an integrated sensor that includes a gyroscope and an accelerometer. The gyroscope is used to measure the angular velocity (rotation speed) of the vehicle, and the accelerometer is used to measure the acceleration of the vehicle. The combination of the two can provide the vehicle's posture and motion information, which is used to monitor the vehicle's posture and dynamic changes in real time, and provide the logic controller with the vehicle's inclination, pitch angle, yaw angle, acceleration and other data.

[0073] In this embodiment, the distance between the vehicle and the inner wall of the tunnel is measured by the distance sensor, and the posture of the vehicle is monitored by the gyroscope acceleration sensor. The two types of data are fused to generate comprehensive vehicle travel status data. This multi-dimensional data collection and fusion can provide the precise position, posture and motion state of the vehicle in the tunnel, providing a comprehensive basis for subsequent control and decision-making; the distance sensor provides the distance data between the vehicle and the inner wall of the tunnel, and the gyroscope acceleration sensor provides the posture and dynamic change data of the vehicle. By fusing these data through the logic controller, the error of a single sensor can be reduced, the accuracy and reliability of the data can be improved, and the high-precision and high-reliability data can ensure the stable operation of the vehicle in a complex environment and reduce control errors caused by data errors; the distance sensor and the gyroscope acceleration sensor can monitor the status of the vehicle in real time, and the logic controller can quickly process these data and generate vehicle travel status data. This real-time and dynamic adaptability enables the vehicle to quickly respond to environmental changes, adapt to complex working conditions in the tunnel, and improve the overall performance of the system. As a result, the tracked diagnostic vehicle can achieve comprehensive, high-precision and high-reliability vehicle status perception. This multi-dimensional data collection and fusion not only improves the stability of the vehicle in complex environments, but also solves the problems of single sensor data limitations, insufficient data fusion accuracy, and insufficient real-time performance in traditional methods. This comprehensive data collection and processing method provides a solid foundation for subsequent control and decision-making, and significantly improves the overall performance of the system.

[0074] Step S20, based on a preset track angle adjustment algorithm, generating a push rod control signal according to the vehicle travel state data and preset tunnel circular cross-section characteristic data;

[0075] Step S30, controlling the electric push rod to extend and retract according to the push rod control signal to adjust the angle at which the crawler track of the crawler diagnostic vehicle contacts the ground.

[0076] The track diagnostic vehicle generates a push rod control signal based on a preset track angle adjustment algorithm, according to the vehicle's travel status data and preset tunnel circular section characteristic data. The purpose is to convert the vehicle's travel status data and tunnel characteristic data into specific push rod control signals to ensure that the track can maintain the optimal contact angle under different working conditions, which helps to improve the vehicle's stability and passability, reduce track wear, extend its service life, and adapt to complex tunnel environments. Then, according to the push rod control signal, the electric push rod is controlled to extend and retract to adjust the angle at which the track of the track diagnostic vehicle contacts the ground. The purpose is to convert the push rod control signal into an actual mechanical action, optimize the track's force condition by adjusting the contact angle between the track and the ground, improve the vehicle's stability and passability, and reduce track wear and extend its service life. This adjustment is particularly important for the operation of the track diagnostic vehicle in complex terrain (such as tunnels).

[0077] It should be noted that the track angle adjustment algorithm is a calculation method based on mathematical models or logical rules. It is used to calculate the track angle that best suits the current working conditions based on the vehicle's travel state data and tunnel characteristic data, and convert it into a control signal for the electric push rod. The core of the algorithm is to determine the optimal contact angle between the track and the ground by analyzing the dynamic state of the vehicle and the geometric characteristics of the tunnel, thereby optimizing the force condition of the track and the running posture of the vehicle; the circular cross-section characteristic data of the tunnel is data that describes the shape of the tunnel, such as the radius, curvature, slope, etc. of the tunnel. As one of the inputs of the track angle adjustment algorithm, it helps the algorithm adjust the track angle according to the geometric characteristics of the tunnel to adapt to different tunnel environments; the electric push rod is an electromechanical actuator that can perform telescopic actions according to the control signal. By receiving the push rod control signal sent by the logic controller, the electric push rod can accurately change its telescopic length, thereby adjusting the contact angle between the track and the ground. This adjustment is achieved by changing the geometric relationship of the track support structure.

[0078] For example, refer to Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the structure of the transmission between the electric push rod and the crawler provided in the first embodiment of the present application. Figure 3 The crawler diagnostic vehicle provided in the first embodiment of the present application is a schematic diagram of traveling at an angle suitable for a circular cross-section tunnel, wherein the crawler diagnostic vehicle includes a frame 1; a connecting beam 11; a crawler component 2; an angle adjustment component 3; an active component 31; a driving member 311; a push rod 312; a guide rail 313; a slider 314; a driven component 32; a connecting rod 321; a main body 3211; a universal coupling 3212; a connecting seat 4; a lug 41; a detection mechanism 20; and a control mechanism 30. Specifically:

[0079] The programmable logic controller (PLC) is the core control component of the entire crawler diagnostic vehicle, which is equivalent to the brain of the vehicle. It collects remote control operation signals, speed signals, and other component signals, and after making corresponding judgments according to the program, it controls the actions of the lower-level component controllers to drive the vehicle to work normally.

[0080] By monitoring the dynamic changes of the current tracked diagnostic vehicle (the distance sensor measures the distance between the tracked diagnostic vehicle and the inner wall of the tunnel, and the gyroscope acceleration sensor monitors the current center of gravity of the tracked diagnostic vehicle, etc.), the electric push rod is controlled to extend and retract according to the changes, so that the angle of the track contacting the ground changes, so that the track can move at an angle suitable for the circular cross-section tunnel, thereby achieving a shock-absorbing effect.

[0081] In a feasible implementation manner, after step S30, steps S401 to S404 may also be included:

[0082] Step S401, receiving a vehicle speed control instruction sent by a preset remote control device;

[0083] Step S402, acquiring second current vehicle speed data according to the vehicle speed control instruction, and parsing the vehicle speed control instruction to obtain target vehicle speed data;

[0084] Step S403, generating a motor speed control signal according to the second current vehicle speed data and the target vehicle speed data;

[0085] Step S404, adjusting the rotation speed of the crawler motor according to the motor speed regulation signal to control the speed of the crawler diagnostic vehicle.

[0086] The track diagnostic vehicle receives the vehicle speed control command sent by the preset remote control device, and then obtains the current actual vehicle speed (the second current vehicle speed data) through the vehicle's speed sensor on the one hand, and parses the vehicle speed control command on the other hand to extract the target vehicle speed data therein. This process involves data acquisition, command parsing and data fusion, and the purpose is to obtain the current actual vehicle speed of the vehicle and clarify the target vehicle speed specified by the operator or the system. By comparing the current vehicle speed with the target vehicle speed, a data basis is provided for subsequent speed adjustment to ensure that the vehicle can accurately reach the desired speed; then, according to the second current vehicle speed data and the target vehicle speed data, a motor speed regulation signal is generated through a control algorithm (such as PID control, fuzzy control, etc.), and the signal is used to adjust the track The speed of the motor is adjusted so that the actual speed of the vehicle approaches or reaches the target speed. The purpose is to achieve precise control of the vehicle speed by calculating the motor speed control signal. By comparing the difference between the current vehicle speed and the target speed, the controller generates a corresponding speed control signal to drive the motor to accelerate or decelerate, ensuring that the vehicle can reach the target speed smoothly and accurately; finally, according to the motor speed control signal, the speed of the track motor is adjusted by adjusting the power supply voltage, current or frequency of the motor to control the speed of the track diagnostic vehicle. The purpose is to convert the motor speed control signal into an actual motor speed adjustment to ensure that the track diagnostic vehicle can accurately adjust the speed according to operating instructions or system requirements. This process directly determines the dynamic performance and speed control accuracy of the vehicle.

[0087] It should be noted that the remote control device is a device used to send vehicle speed control instructions, such as a wireless remote control, tablet computer, smart phone or other terminal device, allowing the operator or automation system to remotely control the speed of the tracked diagnostic vehicle; the motor speed control signal is used to instruct the motor driver to adjust the motor's supply voltage or current, thereby changing the speed of the vehicle; the track motor is a motor that drives the track to move, usually a DC motor or an AC motor, and the speed of the tracked diagnostic vehicle is controlled by adjusting its speed.

[0088] In this embodiment, by receiving the speed control command sent by the remote control device, the vehicle can be remotely operated, and the operator can control the speed at a position far away from the vehicle, which improves the flexibility and safety of operation, and is particularly suitable for complex environments or dangerous areas; obtain the current vehicle speed data and parse the target vehicle speed data; generate a motor speed control signal according to the current vehicle speed and the target vehicle speed; adjust the motor speed according to the speed control signal, and through closed-loop control and real-time data processing, realize the precise control of the speed of the crawler diagnostic vehicle, ensuring that the vehicle can quickly and smoothly reach the target speed; obtain the current vehicle speed data in real time, and dynamically adjust the motor speed according to the target vehicle speed, the system can quickly respond to vehicle speed changes, adapt to dynamic environments, and reduce instability caused by speed changes; through closed-loop control, the system can monitor and adjust the motor speed in real time, reduce error accumulation, improve the reliability and stability of speed control, and reduce speed fluctuations caused by external interference or system errors. Thus, remote and precise speed control of the crawler diagnostic vehicle can be achieved, which not only improves the flexibility and safety of operation, but also solves the problems of insufficient accuracy, poor dynamic adaptability, low real-time performance and insufficient stability of traditional speed control systems through closed-loop control and real-time data processing. This comprehensive speed control method provides a solid technical guarantee for the stable operation of the tracked diagnostic vehicle in complex environments.

[0089] This embodiment provides a method for adjusting the track angle. Based on the track angle adjustment algorithm, the electric push rod is controlled to extend and retract according to the vehicle running state data and the circular cross-section characteristic data of the tunnel, so as to adjust the angle at which the track of the track diagnostic vehicle contacts the ground, so that the track diagnostic vehicle can travel at an angle suitable for the circular cross-section tunnel, thereby achieving a shock absorption effect. Thus, the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing at an angle is solved, and the stable operation of the track diagnostic vehicle in the circular cross-section tunnel is ensured.

[0090] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 4 , step S20 may include steps S201 to S204:

[0091] Step S201, calculating a target track contact angle according to the circular cross-section characteristic data of the tunnel;

[0092] Step S202, calculating the current track contact angle according to the vehicle travel state data;

[0093] Step S203, based on the track angle adjustment algorithm, according to the target track contact angle and the current track contact angle, a target push rod extension amount and a target push rod extension speed are calculated;

[0094] Step S204: generating the push rod control signal according to the target push rod extension amount and the target push rod extension speed.

[0095] The track diagnostic vehicle calculates the target track contact angle based on the circular cross-section characteristic data of the tunnel. The circular cross-section characteristic data of the tunnel (such as radius, curvature, etc.) directly affects the optimal contact angle between the track and the ground. The target track contact angle can be calculated based on these characteristic data through geometric relationships or mathematical models to ensure the running stability and passability of the track in the tunnel. The calculation of the target track contact angle can optimize the force distribution of the track, reduce wear, and improve the running efficiency of the vehicle in the tunnel; then, the current track contact angle is calculated based on the vehicle running state data, with the purpose of obtaining the actual contact angle of the current track for comparison with the target track contact angle. The current track contact angle is one of the important inputs of the adjustment algorithm, which is used to determine whether the track angle needs to be adjusted, as well as the direction and amount of adjustment; then, based on the track angle adjustment algorithm, According to the target track contact angle and the current track contact angle, the target push rod extension amount and the target push rod extension speed are calculated. The purpose is to generate a specific push rod extension instruction according to the difference between the target track contact angle and the current track contact angle. The target push rod extension amount and speed are key parameters for adjusting the track angle, which directly affect the effect and speed of the adjustment; finally, according to the target push rod extension amount and the target push rod extension speed, a specific push rod control signal is generated. The signal contains information such as the extension direction, extension amount and extension speed of the push rod, which is used to drive the electric push rod to perform the adjustment action. The control signal is usually output in the form of an electrical signal, which directly acts on the push rod driver to drive the electric push rod to perform the adjustment action, thereby achieving precise adjustment of the track contact angle. This process is the execution link of the entire track angle adjustment system, which directly determines the accuracy and efficiency of the adjustment.

[0096] It should be noted that the circular cross-section characteristic data of the tunnel is data that describes the geometric shape of the tunnel, including the radius and curvature of the tunnel, etc., which are used as input data for calculating the target track contact angle and directly affect the optimal contact state between the track and the ground; the target track contact angle is the ideal contact angle between the track and the ground calculated based on the tunnel characteristics, which is used as the target value for adjusting the track angle to guide the subsequent adjustment process; the current track contact angle is the actual contact angle between the track and the ground calculated based on the vehicle's traveling status data, which is used to reflect the current actual operating state of the track and is used for comparison with the target track contact angle.

[0097] In a feasible implementation, step S203 may include steps S2031 to S2034:

[0098] Step S2031, calculating a track contact angle difference according to the target track contact angle and the current track contact angle;

[0099] Step S2032, based on the track angle adjustment algorithm, the target push rod extension amount is calculated according to the track contact angle difference;

[0100] Step S2033, obtaining first current vehicle speed data, and obtaining angle adjustment time according to the current vehicle speed data;

[0101] Step S2034, obtaining the target push rod extension and retraction speed according to the target push rod extension and retraction amount and angle adjustment time.

[0102] The track diagnostic vehicle calculates the track contact angle difference based on the target track contact angle and the current track contact angle. The purpose is to quantify the deviation of the track contact angle and provide basic data for the subsequent calculation of the push rod extension and retraction amount. The size and direction (positive or negative) of the angle difference determine the direction and amplitude of the push rod to be extended and retracted; then based on the track angle adjustment algorithm, according to the track contact angle difference, the target push rod extension and retraction amount is calculated using geometric relationships, mechanical models or control theories (such as PID control, fuzzy control, etc.); then the first current vehicle speed data is obtained, and based on the first vehicle speed data, the time required for track angle adjustment (angle adjustment time) can be calculated through a preset algorithm or empirical formula. Generally, the faster the vehicle speed, the shorter the angle adjustment time, so as to ensure that the track angle can be adjusted in time to maintain the stability and passability of the vehicle; finally, according to the target push rod extension and retraction amount and the angle adjustment time, the target push rod extension and retraction speed is obtained.

[0103] In this embodiment, the target track contact angle and the current track contact angle are compared to calculate the angle difference. This difference directly reflects the deviation between the current state of the track and the target state, providing an accurate quantitative basis for subsequent adjustments and ensuring the accuracy of the adjustment direction and amplitude; based on the track angle adjustment algorithm, the target push rod extension amount is calculated according to the angle difference. The algorithm can dynamically adjust the extension amount according to the actual working conditions to ensure the flexibility and adaptability of the adjustment. By dynamically calculating the extension amount, the system can flexibly adjust according to the actual deviation to improve the accuracy and efficiency of the adjustment; the current vehicle speed data is obtained, and the angle adjustment time is calculated according to the vehicle speed. The calculation of the adjustment time takes into account the dynamic characteristics of the vehicle to ensure the smoothness and rapidity of the adjustment process. By calculating the adjustment time in real time, the system can dynamically adjust according to the vehicle speed to reduce the adjustment error caused by speed changes; the target push rod extension speed is calculated according to the target push rod extension amount and the angle adjustment time. This speed control ensures that the push rod can reach the target position smoothly and quickly during the adjustment process. Through precise speed control, the system can quickly respond to angle deviations, reduce adjustment time, and improve the overall performance of the system. As a result, the track diagnostic vehicle can achieve precise adjustment of the track contact angle, which not only improves the calculation accuracy of the angle deviation and the calculation flexibility of the push rod extension, but also solves the problems of inaccurate calculation, inflexible adjustment, insufficient real-time performance and inaccurate control in traditional methods through real-time adjustment time and precise speed control. This comprehensive adjustment method provides a solid technical guarantee for the stable operation of the track diagnostic vehicle in complex environments and significantly improves the overall performance of the system.

[0104] In another feasible implementation, step S30 may include steps S301 to S303:

[0105] Step S301, generating a push rod extension amplitude control signal and a push rod extension speed control signal according to the push rod control signal;

[0106] Step S302, controlling the telescopic range of the electric push rod according to the push rod telescopic range control signal;

[0107] Step S303, controlling the extension and retraction speed of the electric push rod according to the push rod extension and retraction speed control signal.

[0108] The track diagnostic vehicle generates a push rod extension amplitude control signal and a push rod extension speed control signal according to the push rod control signal. The push rod control signal is a comprehensive signal that includes the amplitude and speed information of the push rod extension. Then, according to the push rod extension amplitude control signal, the extension amplitude of the electric push rod is controlled, and according to the push rod extension speed control signal, the extension speed of the electric push rod is controlled.

[0109] In the present embodiment, the comprehensive push rod control signal is decomposed into a push rod extension amplitude control signal and a push rod extension speed control signal. This decomposition enables the system to accurately control the extension amplitude and speed respectively, thereby improving the control accuracy and flexibility, and ensuring that the movement of the electric push rod is more in line with expectations; according to the push rod extension amplitude control signal, the extension distance of the electric push rod is accurately controlled, and through closed-loop control and feedback mechanism, the system can ensure that the push rod reaches the target position accurately, reduces the track angle deviation caused by inaccurate extension amplitude, and improves the accuracy of track angle adjustment; according to the push rod extension speed control signal, the extension speed of the electric push rod is accurately controlled, and through speed control and feedback mechanism, the system can ensure that the push rod runs smoothly during the adjustment process, reduces the mechanical shock caused by speed mutation, extends the equipment life, and improves the stability and response speed of the system; the system can simultaneously control the extension amplitude and speed of the electric push rod, ensure the smoothness and rapidity of the track angle adjustment process, realize comprehensive dynamic control of the electric push rod, and improve the overall performance of the system. As a result, the crawler diagnostic vehicle can achieve accurate telescopic range and speed control of the electric push rod, which not only improves the accuracy and flexibility of the control signal, but also solves the problems of inaccurate telescopic range control, unstable telescopic speed control and insufficient dynamic control capability in traditional methods through closed-loop control and feedback mechanism. This comprehensive control method provides a solid technical guarantee for the stable operation of the crawler diagnostic vehicle in complex environments and significantly improves the overall performance of the system.

[0110] In this embodiment, the target track contact angle is calculated based on the circular cross-section characteristic data of the tunnel, providing an accurate target value for the track angle adjustment, ensuring the optimal contact state of the track in the tunnel, optimizing the force distribution of the track, reducing wear, and improving the stability and passability of the vehicle; the current track contact angle is calculated based on the vehicle travel state data, reflecting the actual state of the track in real time, providing high-precision real-time data, ensuring that the system can quickly respond to changes in the track angle and adapt to dynamic environments; based on the track angle adjustment algorithm, the target push rod extension and extension speed are calculated according to the difference between the target track contact angle and the current track contact angle, and the parameters are adjusted through dynamic calculation to ensure the smoothness and rapidity of the track angle adjustment process, reduce the adjustment time, and improve the system efficiency; a push rod control signal is generated according to the target push rod extension and extension speed to directly guide the action of the electric push rod, achieve high-precision push rod control, ensure the accuracy and reliability of the track angle adjustment, and reduce error accumulation. As a result, the track diagnostic vehicle can achieve precise adjustment of the track contact angle, which not only improves the calculation accuracy of the target angle and the real-time monitoring of the current angle, but also solves the problems of inaccurate calculation, untimely monitoring, inflexible adjustment and inaccurate control in traditional methods through dynamic adjustment of parameter calculation and precise control signal generation. This comprehensive adjustment method provides a solid technical guarantee for the stable operation of the track diagnostic vehicle in complex environments and significantly improves the overall performance of the system.

[0111] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the track angle adjustment method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0112] This application also provides a crawler angle adjustment device, please refer to Figure 5 The device is applied to a crawler diagnostic vehicle, the crawler diagnostic vehicle comprises a logic controller and an electric push rod, and the device comprises:

[0113] The data acquisition module 10 is used to acquire the vehicle travel status data through the logic controller;

[0114] A signal generating module 20, for generating a push rod control signal based on a preset track angle adjustment algorithm, according to the vehicle travel state data and preset tunnel circular cross-section characteristic data;

[0115] The push rod control module 30 is used to control the extension and retraction of the electric push rod according to the push rod control signal, so as to adjust the angle at which the crawler track of the crawler diagnostic vehicle contacts the ground.

[0116] Optionally, the data acquisition module 10 is further used for:

[0117] The distance between the crawler diagnostic vehicle and the inner wall of the tunnel is measured by a preset distance measuring sensor to obtain the vehicle inner wall distance data;

[0118] The posture of the crawler diagnostic vehicle is monitored by a preset gyro acceleration sensor to obtain vehicle posture data;

[0119] The vehicle travel status data is obtained through the logic controller according to the vehicle inner wall distance data and the vehicle posture data.

[0120] Optionally, the signal generating module 20 is further used for:

[0121] Calculating a target track contact angle according to the circular cross-section characteristic data of the tunnel;

[0122] Calculating a current track contact angle according to the vehicle travel state data;

[0123] Based on the track angle adjustment algorithm, a target push rod extension amount and a target push rod extension speed are calculated according to the target track contact angle and the current track contact angle;

[0124] The push rod control signal is generated according to the target push rod extension amount and the target push rod extension speed.

[0125] Optionally, the signal generating module 20 is further used for:

[0126] Calculating a track contact angle difference according to the target track contact angle and the current track contact angle;

[0127] Based on the track angle adjustment algorithm, the target push rod extension amount is calculated according to the track contact angle difference;

[0128] Acquire first current vehicle speed data, and obtain angle adjustment time according to the current vehicle speed data;

[0129] The target push rod extension and retraction speed is obtained according to the target push rod extension and retraction amount and angle adjustment time.

[0130] Optionally, the push rod control module 30 is further used for:

[0131] Generate a push rod extension amplitude control signal and a push rod extension speed control signal according to the push rod control signal;

[0132] Controlling the telescopic range of the electric push rod according to the push rod telescopic range control signal;

[0133] The extension and retraction speed of the electric push rod is controlled according to the push rod extension and retraction speed control signal.

[0134] Optionally, the push rod control module 30 is further used for:

[0135] Receiving a vehicle speed control command sent by a preset remote control device;

[0136] According to the vehicle speed control instruction, obtaining second current vehicle speed data, and parsing the vehicle speed control instruction to obtain target vehicle speed data;

[0137] generating a motor speed control signal according to the second current vehicle speed data and the target vehicle speed data;

[0138] The rotation speed of the crawler motor is adjusted according to the motor speed regulation signal to control the speed of the crawler diagnostic vehicle.

[0139] The track angle adjustment device provided by the present application adopts the track angle adjustment method in the above embodiment, which can solve the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing at an angle. Compared with the prior art, the beneficial effects of the track angle adjustment device provided by the present application are the same as the beneficial effects of the track angle adjustment method provided by the above embodiment, and the other technical features of the track angle adjustment device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0140] The present application provides a track angle adjustment device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the track angle adjustment method in the above-mentioned embodiment one.

[0141] Reference below Figure 6 , which shows a schematic diagram of the structure of a track angle adjustment device suitable for implementing the embodiment of the present application. The track angle adjustment device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The track angle adjustment device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0142] like Figure 6As shown, the track angle adjustment device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the track angle adjustment device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the track angle adjustment device to communicate with other devices wirelessly or by wire to exchange data. Although the track angle adjustment device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0143] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0144] The track angle adjustment device provided by the present application adopts the track angle adjustment method in the above embodiment, which can solve the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing at an angle. Compared with the prior art, the beneficial effects of the track angle adjustment device provided by the present application are the same as the beneficial effects of the track angle adjustment method provided by the above embodiment, and the other technical features of the track angle adjustment device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0145] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0146] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0147] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the track angle adjustment method in the above-mentioned embodiment.

[0148] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0149] The computer-readable storage medium may be included in the track angle adjustment device; or may exist independently without being assembled into the track angle adjustment device.

[0150] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the track angle adjustment device, the track angle adjustment device:

[0151] Acquiring vehicle travel status data through the logic controller;

[0152] Based on a preset track angle adjustment algorithm, a push rod control signal is generated according to the vehicle travel state data and preset tunnel circular cross-section characteristic data;

[0153] According to the push rod control signal, the electric push rod is controlled to be extended and retracted to adjust the angle at which the crawler track of the crawler diagnostic vehicle contacts the ground.

[0154] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0155] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0156] The modules involved in the embodiments of the present application may be implemented by software or hardware, wherein the name of the module does not limit the unit itself in some cases.

[0157] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned track angle adjustment method, and can solve the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing at an angle. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the track angle adjustment method provided by the above-mentioned embodiment, and are not described in detail here.

[0158] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned track angle adjustment method when executed by a processor.

[0159] The computer program product provided by the present application can solve the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing at an angle. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the track angle adjustment method provided by the above embodiment, which will not be repeated here.

[0160] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for adjusting the track angle, characterized in that: The method is applied to a crawler diagnostic vehicle, the crawler diagnostic vehicle comprising a logic controller and an electric push rod, and the method comprises: Acquiring vehicle travel status data through the logic controller; Based on a preset track angle adjustment algorithm, a push rod control signal is generated according to the vehicle travel state data and preset tunnel circular cross-section characteristic data; According to the push rod control signal, the electric push rod is controlled to be extended and retracted to adjust the angle at which the crawler track of the crawler diagnostic vehicle contacts the ground.

2. The method according to claim 1, characterized in that The step of obtaining the vehicle running status data through the logic controller includes: The distance between the crawler diagnostic vehicle and the inner wall of the tunnel is measured by a preset distance measuring sensor to obtain the vehicle inner wall distance data; The posture of the crawler diagnostic vehicle is monitored by a preset gyro acceleration sensor to obtain vehicle posture data; The vehicle travel status data is obtained through the logic controller according to the vehicle inner wall distance data and the vehicle posture data.

3. The method according to claim 1, characterized in that The preset track angle adjustment algorithm is based on the vehicle running state data and the preset tunnel circular cross-section characteristic data. The steps to generate the actuator control signal include: Calculating a target track contact angle according to the circular cross-section characteristic data of the tunnel; Calculating a current track contact angle according to the vehicle travel state data; Based on the track angle adjustment algorithm, a target push rod extension amount and a target push rod extension speed are calculated according to the target track contact angle and the current track contact angle; The push rod control signal is generated according to the target push rod extension amount and the target push rod extension speed.

4. The method according to claim 3, characterized in that The step of calculating the target push rod extension amount and the target push rod extension speed based on the track angle adjustment algorithm and the target track contact angle and the current track contact angle comprises: Calculating a track contact angle difference according to the target track contact angle and the current track contact angle; Based on the track angle adjustment algorithm, the target push rod extension amount is calculated according to the track contact angle difference; Acquire first current vehicle speed data, and obtain angle adjustment time according to the current vehicle speed data; The target push rod extension and retraction speed is obtained according to the target push rod extension and retraction amount and angle adjustment time.

5. The method according to claim 1, characterized in that The step of controlling the extension and retraction of the electric push rod according to the push rod control signal comprises: Generate a push rod extension amplitude control signal and a push rod extension speed control signal according to the push rod control signal; Controlling the telescopic range of the electric push rod according to the push rod telescopic range control signal; The extension and retraction speed of the electric push rod is controlled according to the push rod extension and retraction speed control signal.

6. The method according to claim 1, characterized in that After the step of controlling the extension and retraction of the electric push rod according to the push rod control signal, the method further includes: Receiving a vehicle speed control command sent by a preset remote control device; According to the vehicle speed control instruction, obtaining second current vehicle speed data, and parsing the vehicle speed control instruction to obtain target vehicle speed data; generating a motor speed control signal according to the second current vehicle speed data and the target vehicle speed data; The rotation speed of the crawler motor is adjusted according to the motor speed regulation signal to control the speed of the crawler diagnostic vehicle.

7. A crawler track angle adjustment device, characterized in that: The device is applied to a crawler diagnostic vehicle, the crawler diagnostic vehicle comprises a logic controller and an electric push rod, and the device comprises: A data acquisition module, used to acquire vehicle travel status data through the logic controller; A signal generating module, for generating a push rod control signal based on a preset track angle adjustment algorithm, according to the vehicle travel state data and preset tunnel circular cross-section characteristic data; The push rod control module is used to control the extension and retraction of the electric push rod according to the push rod control signal, so as to adjust the angle at which the crawler track of the crawler diagnostic vehicle contacts the ground.

8. A crawler track angle adjustment device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the crawler track angle adjustment method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the crawler angle adjustment method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the crawler track angle adjustment method according to any one of claims 1 to 6 are implemented.

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