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

Abstract

The application discloses a caterpillar angle adjusting method and device, equipment, storage medium and program product, relates to the tunnel disease detection technical field, and the method comprises the steps of: acquiring vehicle running state data through a logic controller; based on a caterpillar angle adjusting algorithm, generating a push rod control signal according to the vehicle running state data and tunnel circular cross-section characteristic data; and controlling the extension and retraction of the electric push rod according to the push rod control signal to adjust the angle of the caterpillar of the caterpillar diagnosis vehicle contacting the ground. The application controls the extension and retraction of the electric push rod according to the vehicle running state data and tunnel circular cross-section characteristic data based on the caterpillar angle adjusting algorithm to adjust the angle of the caterpillar of the caterpillar diagnosis vehicle contacting the ground, so that the caterpillar diagnosis vehicle runs at an angle suitable for the circular cross-section tunnel, and the effect of shock absorption is achieved. Thus, the problem that the wheels of the existing tunnel diagnosis vehicle cannot swing is solved, and the stable operation of the caterpillar diagnosis vehicle in the circular cross-section tunnel is ensured.

Description

TECHNICAL FIELD

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

[0002] A large number of tunnels need to be built for subway construction projects. The subway tunnel scene can be divided into a pre-track acceptance stage (without rails), a pre-traffic acceptance stage (with rails), and an operation stage (with rails). Tunnel disease diagnosis in the no-rail scene is one of the key projects in acceptance. However, the wheels of the existing tunnel diagnosis vehicle for tunnel disease diagnosis in the no-rail scene cannot swing in angle, the contact area of the wheels with the tunnel is small, and the force on the wheels is uneven.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a crawler angle adjusting method, device, equipment, storage medium and program product, which aims to solve the technical problem that the wheels of the existing tunnel diagnosis vehicle cannot swing in angle.

[0005] To achieve the above-mentioned purpose, the present application provides a crawler angle adjusting method, which comprises:

[0006] acquiring vehicle running state data through the logic controller;

[0007] generating a push rod control signal based on a preset crawler angle adjusting algorithm according to the vehicle running state data and preset tunnel circular cross-section characteristic data;

[0008] controlling the electric push rod to extend or retract according to the push rod control signal, so as to adjust the angle of the crawler of the crawler diagnosis vehicle contacting the ground.

[0009] In an embodiment, the step of acquiring vehicle running state data through the logic controller comprises:

[0010] measuring the distance between the crawler diagnosis vehicle and the inner wall of the tunnel through a preset distance measuring sensor to obtain vehicle inner wall distance data;

[0011] monitoring the attitude of the crawler diagnosis vehicle through a preset gyroscope acceleration sensor to obtain vehicle attitude data;

[0012] obtaining the vehicle running state data according to the vehicle inner wall distance data and the vehicle attitude data through the logic controller.

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

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

[0015] calculating a current track contact angle according to the vehicle running state data;

[0016] calculating a target push rod extension amount and a target push rod extension speed according to the target track contact angle and the current track contact angle based on the track angle adjustment algorithm;

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

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

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

[0020] calculating the target push rod extension amount according to the track contact angle difference based on the track angle adjustment algorithm;

[0021] obtaining angle adjustment time according to the current speed data;

[0022] obtaining the target push rod extension speed according to the target push rod extension amount and the angle adjustment time.

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

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

[0025] controlling the extension and retraction amplitude of the electric push rod according to the push rod extension and retraction amplitude control signal;

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

[0027] In an 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 comprises:

[0028] receiving a speed control instruction sent by a preset remote control device;

[0029] According to the vehicle speed control instruction, second current vehicle speed data is acquired, and the vehicle speed control instruction is parsed to obtain target vehicle speed data;

[0030] According to the second current vehicle speed data and the target vehicle speed data, a motor speed regulation signal is generated;

[0031] According to the motor speed regulation signal, the speed of the track motor is adjusted to control the speed of the track diagnostic vehicle.

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

[0033] A data acquisition module is configured to acquire vehicle running state data through the logic controller;

[0034] A signal generation module is configured to generate a push rod control signal based on a preset track angle adjusting algorithm and according to the vehicle running state data and preset tunnel circular cross-section characteristic data;

[0035] A push rod control module is configured to control the electric push rod to extend or retract according to the push rod control signal, so as to adjust the angle of the track of the track diagnostic vehicle contacting the ground.

[0036] In addition, to achieve the above-mentioned purpose, the application also provides a track angle adjusting device, which comprises 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 adjusting method as described above.

[0037] In addition, to achieve the above-mentioned purpose, the application also provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the track angle adjusting method as described above.

[0038] In addition, to achieve the above-mentioned purpose, the application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the track angle adjusting method as described above.

[0039] The application provides a caterpillar angle adjusting method, which is based on a caterpillar angle adjusting algorithm, controls the extension and retraction of an electric push rod according to vehicle running state data and tunnel circular cross-section feature data, adjusts the angle of the caterpillar of a caterpillar diagnostic vehicle contacting the ground, and enables the caterpillar diagnostic vehicle to run at an angle suitable for a circular cross-section tunnel, thereby achieving the effect of shock absorption. Thus, the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing is solved, and the stable operation of the caterpillar diagnostic vehicle in the circular cross-section tunnel is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0040] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the application and, together with the specification, serve to explain the principles of the application.

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0042] Figure 1 A flowchart provided by the caterpillar angle adjusting method embodiment one of the application;

[0043] Figure 2 A structure diagram of the transmission between the electric push rod and the caterpillar provided by the embodiment one of the application;

[0044] Figure 3 A diagram of the caterpillar diagnostic vehicle running at an angle suitable for a circular cross-section tunnel provided by the embodiment one of the application;

[0045] Figure 4 A flowchart provided by the caterpillar angle adjusting method embodiment two of the application;

[0046] Figure 5 A module structure diagram of the caterpillar angle adjusting device of the embodiment of the application;

[0047] Figure 6 A device structure diagram of the hardware running environment involved in the caterpillar angle adjusting method in the embodiment of the application.

[0048] Explanation of the reference signs:

[0049] 1, rack; 11, connecting beam; 2, caterpillar component; 3, angle adjusting component;

[0050] 31, driving assembly; 311, driving piece; 312, push rod; 313, guide rail; 314, sliding block;

[0051] 32, driven assembly; 321, connecting rod; 3211, main body; 3212, universal joint;

[0052] 4, connecting seat; 41, lug; 20, detection mechanism; 30, control mechanism.

[0053] The purposes, functional features and advantages of the present application will be further explained in conjunction with the embodiments, with reference to the accompanying drawings. DETAILED DESCRIPTION

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

[0055] In order to better understand the technical solutions of the present application, the specific embodiments will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0056] The main solution of the embodiments of the present application is:

[0057] Obtain vehicle running state data through the logic controller;

[0058] Generate a push rod control signal based on a preset track angle adjustment algorithm according to the vehicle running state data and preset tunnel circular cross-section characteristic data;

[0059] Control the extension and retraction of the electric push rod according to the push rod control signal to adjust the angle of the track of the track diagnosis vehicle contacting the ground.

[0060] In the prior art, a large number of tunnels need to be built in subway construction projects, and the subway tunnel scene can be divided into a pre-track acceptance stage (without rails), a pre-traffic acceptance stage (with rails), and an operation stage (with rails). The tunnel defect diagnosis in the non-rail scene is one of the key projects in the acceptance. The wheels of the existing tunnel diagnosis vehicle for tunnel defect diagnosis in the non-rail scene cannot swing, the contact area of the wheels with the tunnel is small, and the force on the wheels is uneven.

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

[0062] It should be noted that the execution subject of the 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 tracked diagnostic vehicle is taken as an example to describe the embodiment and each of the following embodiments.

[0063] Based on this, the application provides a tracked angle adjustment method, which is described with reference to Figure 1 , Figure 1 The figure is a flowchart of the first embodiment of the tracked angle adjustment method of the application.

[0064] In the embodiment, the tracked angle adjustment method is applied to a tracked diagnostic vehicle, which includes a logic controller and an electric push rod, and the method includes steps S10-S30.

[0065] Step S10: acquiring vehicle running state data through the logic controller;

[0066] The tracked diagnostic vehicle acquires vehicle running state data through the logic controller, which aims to comprehensively understand the dynamic situation of the vehicle in actual operation, including acceleration, inclination angle, load, etc. These data are the basic input of the subsequent tracked angle adjustment algorithm and directly affect 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 tracked angle needs to be adjusted to adapt to the current working condition.

[0067] In a feasible implementation manner, step S10 can include steps S101-S103.

[0068] Step S101: measuring the distance between the tracked diagnostic vehicle and the inner wall of the tunnel through a preset distance measuring sensor to obtain vehicle inner wall distance data;

[0069] Step S102: monitoring the attitude of the tracked diagnostic vehicle through a preset gyroscope acceleration sensor to obtain vehicle attitude data;

[0070] Step S103: acquiring the vehicle running state data according to the vehicle inner wall distance data and the vehicle attitude data through the logic controller.

[0071] The crawler diagnostic vehicle calculates the distance between the crawler diagnostic vehicle and the tunnel inner wall by emitting signals (such as laser, ultrasonic or radar waves) and receiving their reflected signals through the preset ranging sensor, measures the time or phase difference of the signal round trip, obtains the vehicle inner wall distance data, the purpose is to obtain the real-time distance data between the crawler diagnostic vehicle and the tunnel inner wall, so that the system can judge whether the vehicle is close to the tunnel inner wall, whether there is a collision risk, and whether the crawler angle needs to be adjusted to optimize the running posture of the vehicle; then through the preset gyroscope acceleration sensor, the posture of the crawler diagnostic vehicle is monitored, the posture and dynamic change of the crawler diagnostic vehicle are monitored in real time, the vehicle posture data is obtained, which can help the system to judge whether the vehicle is in a stable state, whether there is a risk of tilting and overturning, or whether the crawler angle needs to be adjusted to optimize the running posture of the vehicle; finally, the vehicle inner wall distance data and the vehicle posture data are integrated into vehicle running state data, which provides comprehensive input information for the subsequent crawler angle adjustment algorithm, and this data fusion process can improve the accuracy and reliability of the data, and ensure the precision of the crawler angle adjustment.

[0072] It should be noted that the ranging sensor is a sensor that can measure the distance between objects, common types include laser range finder, ultrasonic sensor and radar sensor, which is used to measure the distance between the crawler diagnostic vehicle and the tunnel inner wall, and convert the measurement result into an electrical signal, which is transmitted to the logic controller; the gyroscope acceleration sensor is an integrated sensor that contains a gyroscope and an accelerometer, the gyroscope is used to measure the angular velocity (rotational speed) of the vehicle, the accelerometer is used to measure the acceleration of the vehicle, and the combination of the two can provide the attitude and motion information of the vehicle, which is used to monitor the attitude and dynamic change of the vehicle in real time, and provide the logic controller with data such as the inclination angle, pitch angle, yaw angle and acceleration of the vehicle.

[0073] In this embodiment, the distance between the vehicle and the inner wall of the tunnel is measured by the distance sensor, and the attitude of the vehicle is monitored by the gyroscope acceleration sensor. The fusion of these two types of data generates comprehensive vehicle running state data. This multi-dimensional data collection and fusion can provide accurate position, attitude and motion state of the vehicle in the tunnel, providing a comprehensive basis for subsequent control and decision-making. The distance sensor provides distance data between the vehicle and the inner wall of the tunnel, and the gyroscope acceleration sensor provides attitude and dynamic change data of the vehicle. Through the fusion processing of these data by the logic controller, the error of a single sensor can be reduced, and the accuracy and reliability of the data can be improved. High-precision and high-reliability data can ensure the stable operation of the vehicle in complex environments and reduce control errors caused by data errors. The distance sensor and the gyroscope acceleration sensor can monitor the state of the vehicle in real time, and the logic controller can quickly process these data and generate vehicle running state data. This real-time and dynamic adaptability enables the vehicle to quickly respond to environmental changes and adapt to complex conditions in the tunnel, improving the overall performance of the system. Therefore, the tracked diagnostic vehicle can achieve comprehensive, high-precision and high-reliability vehicle state 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, significantly improving the overall performance of the system.

[0074] In step S20, based on the preset tracked angle adjustment algorithm, the push rod control signal is generated according to the vehicle running state data and the preset tunnel circular cross-section characteristic data.

[0075] In step S30, the push rod control signal is used to control the extension and retraction of the electric push rod to adjust the angle of the tracked diagnostic vehicle's tracked ground contact.

[0076] The tracked diagnostic vehicle generates a push rod control signal based on a preset tracked angle adjustment algorithm and vehicle running state data and preset tunnel circular cross-section characteristic data. The purpose is to convert vehicle running state data and tunnel characteristic data into specific push rod control signals to ensure that the tracked diagnostic vehicle maintains the best contact angle under different working conditions, which helps to improve the stability and passability of the vehicle, reduce tracked wear and tear, and extend its service life. Then, according to the push rod control signal, the extension and retraction of the electric push rod are controlled to adjust the angle of the tracked diagnostic vehicle's tracked ground contact. The purpose is to convert the push rod control signal into actual mechanical action, optimize the stress condition of the tracked, improve the stability and passability of the vehicle, and reduce the wear and tear of the tracked, extend its service life. This adjustment is particularly important for the tracked diagnostic vehicle running in complex terrain such as tunnels.

[0077] It should be noted that the track angle adjustment algorithm is a calculation method based on mathematical model or logical rule, which is used to calculate the most suitable track angle for the current working condition according to the vehicle running state data and the tunnel feature data, and convert it into the control signal of the electric push rod. The core of the algorithm is to determine the optimal contact angle of the track with the ground by analyzing the dynamic state of the vehicle and the geometric characteristics of the tunnel, so as to optimize the stress condition of the track and the running posture of the vehicle. The tunnel circular cross-section feature data is the data describing the shape of the tunnel, such as the radius, curvature and slope of the tunnel, which is one of the inputs of the track angle adjustment algorithm, helping the algorithm to 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 extension and retraction 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 extension length, thereby adjusting the contact angle of the track with the ground. This adjustment is achieved by changing the geometric relationship of the track support structure.

[0078] Exemplarily, referring to Figure 2 and Figure 3 , Figure 2 The structure diagram of the electric push rod and the track transmission provided by the embodiment one of the application is shown in Figure 3 The schematic diagram of the track diagnostic vehicle provided by the embodiment one of the application running at an angle suitable for a circular cross-section tunnel is shown, wherein the track diagnostic vehicle comprises a rack 1, a connecting beam 11, a track component 2, an angle adjusting component 3, a driving assembly 31, a driving part 311, a push rod 312, a guide rail 313, a sliding block 314, a driven assembly 32, a connecting rod 321, a main body part 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 track diagnostic vehicle, which is equivalent to the brain of the vehicle. It collects the remote control running signal, the speed signal and other component signals, makes corresponding judgments according to the program, controls the action of the lower component controller, and drives the vehicle to work normally.

[0080] By monitoring the dynamic changes of the current track diagnostic vehicle (the distance measuring sensor measures the distance between the track diagnostic vehicle and the inner wall of the tunnel, the gyroscope acceleration sensor monitors the changes of the current center of gravity of the track 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 to adapt to the angle running of the circular cross-section tunnel, thereby achieving the effect of shock absorption.

[0081] In a possible implementation, after step S30, steps S401-S404 can also be included:

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

[0083] Step S402, obtaining 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 signal according to the second current vehicle speed data and the target vehicle speed data;

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

[0086] The track diagnostic vehicle receives a vehicle speed control instruction sent by a preset remote control device, then on the one hand, the current actual vehicle speed (second current vehicle speed data) is obtained through the speed sensor of the vehicle, and on the other hand, the target vehicle speed data is extracted by parsing the vehicle speed control instruction. This process involves data collection, instruction analysis and data fusion, the purpose is to obtain the current actual vehicle speed of the vehicle, and to specify the target vehicle speed of the operator or system, by comparing the current speed and the target speed, to provide data basis for subsequent speed adjustment, to ensure that the vehicle can accurately reach the expected speed; then according to the second current vehicle speed data and the target vehicle speed data, a motor speed signal is generated through a control algorithm (such as PID control, fuzzy control, etc.), which is used to adjust the speed of the track motor, so that the actual speed of the vehicle approaches or reaches the target speed, the purpose is to realize the accurate control of the vehicle speed by calculating the motor speed signal, by comparing the difference between the current speed and the target speed, the controller generates the corresponding speed signal to drive the motor to speed up or slow down, to ensure that the vehicle can smoothly and accurately reach the target speed; finally, according to the motor speed 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 signal into actual motor speed adjustment, to ensure that the track diagnostic vehicle can accurately adjust the speed according to the operation instruction or system requirement, 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 for sending vehicle speed control instructions, such as a wireless remote control, a tablet computer, a smart phone or other terminal devices, allowing the operator or automated system to remotely control the speed of the track diagnostic vehicle; the motor speed signal is used to guide the motor driver to adjust the power supply voltage or current of the motor, so as to change the speed of the vehicle; the track motor is an electric motor that drives the track to move, usually a direct current motor or an alternating current motor, the speed of which is adjusted to control the speed of the track diagnostic vehicle.

[0088] In this embodiment, the vehicle can realize remote operation by receiving the speed control instruction sent by the remote control device, and the operator can control the speed from a location away from the vehicle, improving the flexibility and safety of operation, especially suitable for complex environments or dangerous areas; current speed data is obtained and target speed data is parsed; a motor speed signal is generated according to the current speed and the target speed; the motor speed is adjusted according to the speed signal, and through closed-loop control and real-time data processing, accurate control of the tracked diagnostic vehicle speed is realized, ensuring that the vehicle can quickly and smoothly reach the target speed; real-time current speed data is obtained, and the motor speed is dynamically adjusted according to the target speed, so that the system can quickly respond to 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 accurate speed control of the tracked diagnostic vehicle can be realized, which not only improves the flexibility and safety of operation, but also solves the problems of insufficient precision, 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] The embodiment provides a tracked angle adjusting method, which is based on a tracked angle adjusting algorithm and adjusts the angle of the tracked diagnostic vehicle contacting the ground by controlling the extension and retraction of the electric push rod according to the vehicle running state data and the tunnel circular cross-section characteristic data, so that the tracked diagnostic vehicle can run at an angle suitable for the circular cross-section tunnel, thereby achieving the effect of shock absorption. Thus, the technical problem that the wheels of the existing tunnel diagnostic vehicle cannot swing is solved, and the stable operation of the tracked diagnostic vehicle in the circular cross-section tunnel is ensured.

[0090] Based on the first embodiment of the present application, the same or similar contents as the above-mentioned embodiment one can be referred to the above introduction, and will not be described in detail hereinafter. On this basis, please refer to Figure 4 , step S20 can include steps S201-S204:

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

[0092] Step S202, calculating a current tracked contact angle according to the vehicle running state data;

[0093] Step S203, calculating a target push rod extension and retraction amount and a target push rod extension and retraction speed according to the target tracked contact angle and the current tracked contact angle based on the tracked angle adjusting algorithm;

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

[0095] The tracked diagnostic vehicle calculates the target track contact angle according to the tunnel circular cross-section characteristic data, which directly affects the optimal contact angle of the track with the ground. Through geometric relationships or mathematical models, the target track contact angle can be calculated according to these characteristic data to ensure the running stability and passability of the track in the tunnel. The calculation of the target track contact angle can optimize the stress distribution of the track, reduce wear, and at the same time improve the running efficiency of the vehicle in the tunnel. Then, according to the vehicle running state data, the current track contact angle is calculated, the purpose is to obtain the actual contact angle of the current track, so as to compare 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, the target push rod telescopic amount and the target push rod telescopic speed are calculated according to the target track contact angle and the current track contact angle. The purpose is to generate specific push rod telescopic instructions according to the difference between the target track contact angle and the current track contact angle. The target push rod telescopic amount and speed are the key parameters for adjusting the track angle, which directly affect the adjustment effect and speed. Finally, according to the target push rod telescopic amount and the target push rod telescopic speed, the specific push rod control signal is generated. This signal contains information such as the telescopic direction, telescopic amount and telescopic speed of the push rod, which is used to drive the electric push rod to perform adjustment actions. The control signal is usually output in the form of an electrical signal, which directly acts on the driver of the push rod to drive the electric push rod to perform adjustment actions, thereby realizing the 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 tunnel circular cross-section characteristic data is the data describing the geometric shape of the tunnel, including the radius, curvature, etc. of the tunnel, which is used as input data for calculating the target track contact angle and directly affects the optimal contact state of the track with the ground. The target track contact angle is the ideal contact angle of the track with the ground calculated according to the tunnel characteristics, which is used as the target value of the track angle adjustment to guide the subsequent adjustment process. The current track contact angle is the actual contact angle of the track with the ground calculated according to the vehicle running state data, which is used to reflect the current actual running state of the track and to compare with the target track contact angle.

[0097] In a possible implementation, step S203 can include steps S2031-S2034:

[0098] Step S2031, calculating the 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, the first current vehicle speed data is obtained, and the angle adjustment time is obtained according to the current vehicle speed data;

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

[0102] The track diagnosis vehicle calculates the track contact angle difference according to the target track contact angle and the current track contact angle, which aims to quantify the deviation of the track contact angle and provide basic data for subsequent push rod extension amount calculation. The size and direction (positive or negative) of the angle difference determine the direction and amplitude of the push rod extension. Then, based on the track angle adjustment algorithm, the target push rod extension amount is calculated according to the track contact angle difference using geometric relationships, mechanical models or control theory (such as PID control, fuzzy control, etc.). Then, the first current vehicle speed data is obtained, and the angle adjustment time required for the track angle adjustment is calculated through a pre-set algorithm or empirical formula according to the first vehicle speed data. Generally, the faster the vehicle speed, the shorter the angle adjustment time, to ensure that the track angle can be adjusted in time to maintain the stability and passability of the vehicle. Finally, the target push rod extension speed is obtained according to the target push rod extension amount and the angle adjustment time.

[0103] In this embodiment, by comparing the target track contact angle and the current track contact angle, the angle difference is calculated, which directly reflects the deviation between the current state and the target state of the track, providing accurate quantitative basis for subsequent adjustment, 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, and the algorithm can dynamically adjust the extension amount according to the actual working condition, ensuring the flexibility and adaptability of the adjustment, and through dynamic calculation of the extension amount, the system can flexibly adjust according to the actual deviation, improving 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, ensuring the stability and rapidity of the adjustment process, and through real-time calculation of the adjustment time, the system can dynamically adjust according to the vehicle speed, reducing 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, which ensures that the push rod can smoothly and quickly reach the target position during the adjustment process, and through accurate speed control, the system can quickly respond to the angle deviation, reduce the adjustment time, and improve the overall performance of the system. Therefore, the track diagnostic vehicle can realize accurate adjustment of the track contact angle, not only improving the calculation accuracy of the angle deviation and the calculation flexibility of the push rod extension amount, but also solving the problems of inaccurate calculation, inflexible adjustment, insufficient real-time performance and inaccurate control in the traditional method through real-time adjustment time and accurate speed control. This comprehensive adjustment method provides a solid technical guarantee for the stable operation of the track diagnostic vehicle in complex environments, significantly improving the overall performance of the system.

[0104] In another possible implementation, step S30 can include steps S301-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 extension amplitude of the electric push rod according to the push rod extension amplitude control signal;

[0107] Step S303, controlling the extension speed of the electric push rod according to the push rod extension 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, and the push rod control signal is a comprehensive signal containing the amplitude and speed information of the push rod extension; then controls the extension amplitude of the electric push rod according to the push rod extension amplitude control signal, and controls the extension speed of the electric push rod according to the push rod extension speed control signal.

[0109] In this embodiment, the integrated 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 separately, improving the control accuracy and flexibility, and ensuring that the electric push rod operates 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. Through a closed-loop control and feedback mechanism, the system can ensure that the push rod accurately reaches the target position, reducing the track angle deviation caused by inaccurate extension amplitude and improving 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. Through a speed control and feedback mechanism, the system can ensure that the push rod runs smoothly during adjustment, reducing mechanical impact caused by sudden speed changes, prolonging the service life of the equipment, and improving the stability and response speed of the system. The system can simultaneously control the extension amplitude and speed of the electric push rod, ensuring the smoothness and speed of the track angle adjustment process, achieving comprehensive dynamic control of the electric push rod, and improving the overall performance of the system. As a result, the track diagnostic vehicle can achieve accurate extension amplitude and speed control of the electric push rod, not only improving the accuracy and flexibility of the control signal, but also solving the problems of inaccurate extension amplitude control, unstable extension speed control, and insufficient dynamic control capability in traditional methods through closed-loop control and feedback mechanisms. This comprehensive control method provides a solid technical guarantee for the stable operation of the track diagnostic vehicle in complex environments, significantly improving the overall performance of the system.

[0110] In this embodiment, the target track contact angle is calculated according to the circular cross-section characteristic data of the tunnel, which provides an accurate target value for track angle adjustment, ensures the optimal contact state of the track in the tunnel, optimizes the stress distribution of the track, reduces wear and tear, and improves the stability and passability of the vehicle; the current track contact angle is calculated according to the vehicle running state data, which reflects the actual state of the track in real time, provides high-precision real-time data, and ensures 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 amount and extension speed are calculated according to the difference between the target track contact angle and the current track contact angle, the adjustment parameters are dynamically calculated to ensure the smoothness and rapidity of the track angle adjustment process, reduce the adjustment time, and improve the system efficiency; the push rod control signal is generated according to the target push rod extension amount and extension speed, which directly guides the action of the electric push rod, realizes high-precision push rod control, ensures the accuracy and reliability of the track angle adjustment, and reduces error accumulation. Therefore, the track diagnosis vehicle can realize accurate adjustment of the track contact angle, which not only improves the calculation accuracy of the target angle and the monitoring real-time performance of the current angle, but also solves the problems of inaccurate calculation, untimely monitoring, inflexible adjustment and inaccurate control in the traditional method through dynamic adjustment parameter calculation and accurate control signal generation. This comprehensive adjustment method provides a solid technical guarantee for the stable operation of the track diagnosis 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 limit the track angle adjustment method of the present application. More forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0112] The present application also provides a track angle adjustment device, which is described in detail in the following Figure 5 The device is applied to a track diagnosis vehicle, which comprises a logic controller and an electric push rod, and the device comprises:

[0113] A data acquisition module 10 is configured to acquire vehicle running state data through the logic controller;

[0114] A signal generation module 20 is configured to generate a push rod control signal based on a preset track angle adjustment algorithm according to the vehicle running state data and preset tunnel circular cross-section characteristic data;

[0115] A push rod control module 30 is configured to control the electric push rod to extend or retract according to the push rod control signal, so as to adjust the angle at which the track of the track diagnosis vehicle contacts the ground.

[0116] Optionally, the data acquisition module 10 is further configured to:

[0117] The distance between the tracked vehicle and the tunnel wall is measured by a preset ranging sensor, and vehicle-wall distance data is obtained.

[0118] The posture of the tracked vehicle is monitored by a preset gyroscope acceleration sensor, and vehicle posture data is obtained.

[0119] The vehicle running state data is obtained by the logic controller according to the vehicle-wall distance data and the vehicle posture data.

[0120] Optionally, the signal generation module 20 is further configured to:

[0121] According to the tunnel circular cross-section feature data, the target tracked contact angle is calculated;

[0122] According to the vehicle running state data, the current tracked contact angle is calculated;

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

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

[0125] Optionally, the signal generation module 20 is further configured to:

[0126] According to the target tracked contact angle and the current tracked contact angle, the tracked contact angle difference is calculated;

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

[0128] The first current vehicle speed data is obtained, and the angle adjustment time is obtained according to the current vehicle speed data;

[0129] According to the target push rod extension amount and the angle adjustment time, the target push rod extension speed is obtained.

[0130] Optionally, the push rod control module 30 is further configured to:

[0131] According to the push rod control signal, the push rod extension amplitude control signal and the push rod extension speed control signal are generated;

[0132] According to the push rod extension amplitude control signal, the extension amplitude of the electric push rod is controlled;

[0133] According to the push rod extension speed control signal, the extension speed of the electric push rod is controlled.

[0134] Optionally, the push rod control module 30 is further configured to:

[0135] receive a vehicle speed control instruction sent by a preset remote control device;

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

[0137] According to the second current vehicle speed data and the target vehicle speed data, generate a motor speed regulation signal;

[0138] According to the motor speed regulation signal, adjust the speed of the track motor to control the speed of the track diagnostic vehicle.

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

[0140] The present application provides a track angle adjustment device, which comprises at least one processor and a memory in communication connection with 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 to enable the at least one processor to execute the track angle adjustment method in Embodiment I.

[0141] Reference will now be made to Figure 6 which shows a structural diagram of a track angle adjustment device suitable for implementing the embodiments of the present application. The track angle adjustment device in the embodiments of the present application can include, but is not limited to, mobile terminals such as mobile phones, notebook 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), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 6 The track angle adjustment device shown is only an example, and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0142] As Figure 6As shown, the track angle adjustment apparatus can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a read only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for operation of the track angle adjustment apparatus are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 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: input devices 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; the 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 apparatus to communicate wirelessly or by wire with other devices to exchange data. Although the track angle adjustment apparatus having various systems is shown in the figure, it should be understood that all of the shown systems are not required to be implemented or possessed. More or less systems can be alternatively implemented or possessed.

[0143] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of embodiments of the present disclosure are performed.

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

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

[0146] The above description is merely illustrative of the application and is not intended to limit the scope of the application. Any changes and modifications that can be made to the application in light of the teachings described herein are to be encompassed by the application. Therefore, the scope of the application should be determined by the scope of the claims.

[0147] The application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e., a computer program) for performing the track angle adjustment method in the above-described embodiments.

[0148] The computer readable storage medium provided by the application may, for example, be a U disk, but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more conductive wires, a portable computer diskette, 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 the present embodiment, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted in any suitable medium, including but not limited to electrical wire, optical cable, RF (Radio Frequency), etc., or any suitable combination of the above.

[0149] The above computer readable storage medium can be included in the track angle adjustment device; or can exist separately and not be assembled into the track angle adjustment device.

[0150] The above computer readable storage medium carries one or more programs, which, when executed by the track angle adjustment device, cause the track angle adjustment device to:

[0151] Obtaining vehicle running state 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 running 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 extend or retract, so as to adjust the angle of the track of the track diagnosis vehicle contacting the ground.

[0154] Computer program code for carrying out operations of the present application can be written in one or more programming languages or combinations of languages including object oriented programming languages such as Java, Smalltalk, C++ as well as conventional procedural programming languages such as "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0155] The flow diagrams and the block diagrams in the drawings are illustrations of possible architectures, functions, and operations of systems, methods, and computer program products in accordance with various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0156] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0157] The readable storage medium provided by the 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 diagnosis vehicle cannot swing. Compared with the prior art, the computer readable storage medium provided by the application has the same beneficial effects as the track angle adjustment method provided by the above-mentioned embodiments, and will not be repeated here.

[0158] The application further provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the track angle adjustment method as described above.

[0159] The computer program product provided by the application can solve the technical problem that the wheels of the existing tunnel diagnosis vehicle cannot swing. Compared with the prior art, the computer program product provided by the application has the same beneficial effects as the track angle adjustment method provided by the above-mentioned embodiments, and will not be repeated here.

[0160] The above-mentioned is only part of the embodiments of the application, and does not limit the patent scope of the application, and any equivalent structural transformation, direct / indirect application in other related technical fields within the technical concept of the application, and the contents of the specification and drawings are included in the patent protection scope of the application.

Claims

1. A track angle adjustment method characterized by, The method is applied to a track diagnostic vehicle comprising a logic controller and an electric push rod, and the method comprises: acquiring vehicle running state data through the logic controller; generating a push rod control signal based on a preset track angle adjustment algorithm according to the vehicle running state data and preset tunnel circular cross-section characteristic data; wherein the step of generating a push rod control signal based on a preset track angle adjustment algorithm according to the vehicle running state data and preset tunnel circular cross-section characteristic data comprises: calculating a target track contact angle according to the tunnel circular cross-section characteristic data; calculating a current track contact angle according to the vehicle running state data; calculating a target push rod extension amount and a target push rod extension speed based on the track angle adjustment algorithm according to the target track contact angle and the current track contact angle; wherein the step of calculating a target push rod extension amount and a target push rod extension speed based on the track angle adjustment algorithm according to the target track contact angle and the current track contact angle comprises: calculating a track contact angle difference value according to the target track contact angle and the current track contact angle; calculating the target push rod extension amount based on the track angle adjustment algorithm according to the track contact angle difference value; acquiring first current vehicle speed data and obtaining an angle adjustment time according to the current vehicle speed data; obtaining the target push rod extension speed according to the target push rod extension amount and the angle adjustment time; generating the push rod control signal according to the target push rod extension amount and the target push rod extension speed; controlling the electric push rod to extend or retract according to the push rod control signal, so as to adjust the angle of the track of the track diagnostic vehicle contacting the ground.

2. The method of claim 1, wherein, The step of acquiring vehicle running state data through the logic controller comprises: measuring the distance between the track diagnostic vehicle and the inner wall of the tunnel through a preset distance measuring sensor to obtain vehicle inner wall distance data; monitoring the attitude of the track diagnostic vehicle through a preset gyroscope acceleration sensor to obtain vehicle attitude data; obtaining the vehicle running state data through the logic controller according to the vehicle inner wall distance data and the vehicle attitude data.

3. The method of claim 1, wherein, The step of controlling the electric push rod to extend or retract according to the push rod control signal comprises: generating a push rod extension amplitude control signal and a push rod extension speed control signal according to the push rod control signal; controlling the extension amplitude of the electric push rod according to the push rod extension amplitude control signal; controlling the extension speed of the electric push rod according to the push rod extension speed control signal.

4. The method of claim 1, wherein, After the step of controlling the electric push rod to extend or retract according to the push rod control signal, the method further comprises: receiving a vehicle speed control instruction sent by a preset remote control device; acquiring second current vehicle speed data according to the vehicle speed control instruction and analyzing the vehicle speed control instruction to obtain target vehicle speed data; generating a motor speed regulation signal according to the second current vehicle speed data and the target vehicle speed data; adjusting the rotation speed of the track motor according to the motor speed regulation signal to control the speed of the track diagnostic vehicle.

5. A track angle adjustment device characterized by, The device is applied to a track diagnostic vehicle including a logic controller and an electric push rod, and the device includes: a data acquisition module configured to acquire vehicle running state data via the logic controller; a signal generation module configured to generate a push rod control signal based on a preset track angle adjustment algorithm according to the vehicle running state data and preset tunnel circular cross-section characteristic data; wherein the signal generation module is further configured to calculate a target track contact angle according to the tunnel circular cross-section characteristic data; calculate a current track contact angle according to the vehicle running state data; calculate a target push rod extension amount and a target push rod extension speed according to the target track contact angle and the current track contact angle based on the track angle adjustment algorithm; calculate a track contact angle difference value according to the target track contact angle and the current track contact angle; calculate the target push rod extension amount according to the track contact angle difference value based on the track angle adjustment algorithm; acquire first current vehicle speed data and obtain an angle adjustment time according to the current vehicle speed data; obtain the target push rod extension speed according to the target push rod extension amount and the angle adjustment time; generate the push rod control signal according to the target push rod extension amount and the target push rod extension speed; a push rod control module configured to control the electric push rod to extend or retract according to the push rod control signal to adjust the angle of the track of the track diagnostic vehicle to contact the ground.

6. A track angle adjustment apparatus characterized by comprising: The device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the track angle adjustment method according to any one of claims 1 to 4.

7. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the track angle adjustment method according to any one of claims 1 to 4.

8. A computer program product, characterised in that, The computer program product includes a computer program, and the computer program is executed by a processor to implement the steps of the track angle adjustment method according to any one of claims 1 to 4.

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