Control all-in-one machine for bridge inspection vehicle and control method thereof

Abstract

The invention discloses a control all-in-one machine for a bridge inspection vehicle and a control method of the control all-in-one machine, and relates to the field of inspection vehicle electric control systems.The control all-in-one machine comprises an encoder, a tilt angle sensor and variable frequency driving units which are all connected with a core control unit; the encoder and the tilt angle sensor are arranged on a truss of the bridge inspection vehicle; the encoder collects the rotation angle of the truss, and the tilt angle sensor collects the tilt angle of the truss. When the rotation angle is larger than the set rotation angle, the core control unit determines the running speed of the left-row motor and the running speed of the right-row motor according to the rotation angle, and when the inclination angle is larger than the set inclination angle, the core control unit determines the running speed of the left lifting motor and the running speed of the right lifting motor according to the inclination angle. And according to the determined running speed of each motor, driving the corresponding motor to run at the corresponding speed through each variable frequency driving unit. According to the control all-in-one machine for the bridge inspection vehicle, functions of an electric control system of a traditional bridge inspection vehicle are integrated, and the applicability of the control all-in-one machine for the bridge inspection vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of the electric control system of inspection vehicles, and particularly to a control integrated machine for bridge inspection vehicles and its control method. Background Art

[0002] Currently, the production of the electric control system of inspection vehicles often adopts the non-standard design and manual production mode. And with the different requirements of the functions of different bridge inspection vehicles, the electric control system of the inspection vehicle will also change accordingly, resulting in that most of the electric control systems of inspection vehicles need to be designed and manufactured separately according to the requirements of each bridge and each inspection vehicle. At the same time, with the development of the technology of bridge inspection vehicles, the control functions of inspection vehicles are becoming more and more abundant, and the requirements for the electric control system of inspection vehicles are also getting higher and higher. The existing design, production and manufacturing cycle of the electric control system of inspection vehicles gradually cannot meet the development needs of inspection vehicles. Summary of the Invention

[0003] The purpose of this application is to provide a control integrated machine for bridge inspection vehicles and its control method to improve the applicability of the control integrated machine for bridge inspection vehicles.

[0004] To achieve the above purpose, the following solutions are provided in this application:

[0005] In the first aspect, this application provides a control integrated machine for bridge inspection vehicles, including: a core control unit, an encoder, an inclination sensor, a first variable-frequency drive unit, a second variable-frequency drive unit, a third variable-frequency drive unit, and a fourth variable-frequency drive unit; the encoder, the inclination sensor, the first variable-frequency drive unit, the second variable-frequency drive unit, the third variable-frequency drive unit, and the fourth variable-frequency drive unit are all connected to the core control unit;

[0006] The encoder is arranged on the truss of the bridge inspection vehicle; the encoder is used to collect the rotation angle of the truss during the forward / backward operation;

[0007] The inclination sensor is arranged on the truss of the bridge inspection vehicle; the inclination sensor is used to collect the inclination angle of the truss during the ascending / descending operation;

[0008] The core control unit is used to judge whether the rotation angle is greater than the set rotation angle. If so, it determines the running speed of the left traveling motor and the right traveling motor according to the rotation angle, and also judges whether the inclination angle is greater than the set inclination angle. If so, it determines the running speed of the left lifting motor and the right lifting motor according to the inclination angle;

[0009] The first variable-frequency drive unit is used to control the left traveling motor to run at the running speed of the left traveling motor;

[0010] The second variable-frequency drive unit is used to control the right-running motor to run at the running speed of the right-running motor;

[0011] The third variable-frequency drive unit is used to control the left lifting motor to run at the running speed of the left lifting motor;

[0012] The fourth variable-frequency drive unit is used to control the right lifting motor to run at the running speed of the right lifting motor.

[0013] Optionally, it further includes: a variable-frequency power supply unit; one end of the variable-frequency power supply unit is connected to the core control unit; the other end of the variable-frequency power supply unit is connected to the brakes of the left-running motor, the right-running motor, the left lifting motor, and the right lifting motor;

[0014] The variable-frequency power supply unit is used to supply power to the brakes of the left-running motor, the right-running motor, the left lifting motor, and the right lifting motor.

[0015] Optionally, it further includes: a rectifier filter; the rectifier filter is respectively connected to the variable-frequency power supply unit and the brakes of the left-running motor, the right-running motor, the left lifting motor, and the right lifting motor.

[0016] Optionally, it further includes: an anemometer; the anemometer is connected to the core control unit;

[0017] The anemometer is used to collect the ambient wind speed; when the ambient wind speed is greater than the set wind speed, the core control unit will stop outputting all operation instructions to make the bridge inspection vehicle in a stopped state.

[0018] Optionally, it further includes: a potentiometer; the potentiometer is connected to the core control unit; the potentiometer is used to input the initial speed of the bridge inspection vehicle.

[0019] Optionally, the core control unit includes:

[0020] A left and right running motor speed determination sub-unit, which is used to determine the running speeds of the left-running motor and the right-running motor according to the rotation angle;

[0021] A left and right lifting motor speed determination sub-unit, which is used to determine the running speeds of the left lifting motor and the right lifting motor according to the tilt angle.

[0022] Optionally, the left and right running motor speed determination sub-unit is specifically used for:

[0023] According to the rotation angle and the set rotation origin value, determine the deviation value of the left and right walking of the bridge inspection vehicle;

[0024] Judge whether the deviation value of the left and right walking of the bridge inspection vehicle is greater than the first deviation setting value;

[0025] If so, according to the deviation value of the left and right movement of the bridge inspection vehicle and the set target value, use PID proportional control to determine the first PID control value;

[0026] Calculate the sum of the initial speed and the first PID control value to obtain the running speed of the left motor;

[0027] Calculate the difference between the initial speed and the first PID control value to obtain the running speed of the right motor.

[0028] Optionally, the left and right lifting motor running speed determination subunit is specifically used for:

[0029] According to the tilt angle and the set tilt origin value, determine the deviation value of the left and right lifting of the bridge inspection vehicle;

[0030] Judge whether the deviation value of the left and right lifting of the bridge inspection vehicle is greater than the second deviation setting value;

[0031] If so, according to the deviation value of the left and right lifting of the bridge inspection vehicle and the set target value, use PID proportional control to determine the second PID control value;

[0032] Calculate the sum of the initial speed and the second PID control value to obtain the running speed of the left lifting motor;

[0033] Calculate the difference between the initial speed and the second PID control value to obtain the running speed of the right lifting motor.

[0034] In a second aspect, the present application provides a control method for a control integrated machine for a bridge inspection vehicle. The control method for the control integrated machine for a bridge inspection vehicle is applied to the above-mentioned control integrated machine for a bridge inspection vehicle. The control method for the control integrated machine for a bridge inspection vehicle includes:

[0035] Obtain the rotation angle of the truss of the bridge inspection vehicle during the forward / backward movement, or the tilt angle of the truss during the up / down movement;

[0036] When the obtained is the rotation angle:

[0037] Judge whether the rotation angle is greater than the set rotation angle. If so, determine the running speeds of the left motor and the right motor according to the rotation angle;

[0038] Control the left motor and the right motor of the bridge inspection vehicle according to the running speeds of the left motor and the right motor;

[0039] When the obtained is the tilt angle:

[0040] Determine whether the inclination angle is greater than a set inclination angle. If so, determine the running speed of the left lifting motor and the running speed of the right lifting motor according to the inclination angle;

[0041] Control the left lifting motor and the right lifting motor of the bridge inspection vehicle according to the running speed of the left lifting motor and the running speed of the right lifting motor.

[0042] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the control method of the control integrated machine for a bridge inspection vehicle described in any one of the above.

[0043] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0044] The present application provides a control integrated machine for a bridge inspection vehicle and its control method, including: a core control unit, an encoder, an inclination sensor, a first frequency conversion drive unit, a second frequency conversion drive unit, a third frequency conversion drive unit, and a fourth frequency conversion drive unit; the encoder, the inclination sensor, and each frequency conversion drive unit are all connected to the core control unit. The encoder and the inclination sensor are arranged on the truss of the bridge inspection vehicle; the encoder is used to collect the rotation angle during the forward / backward running process of the truss, and the inclination sensor is used to collect the inclination angle during the ascending / descending running process of the truss. The core control unit is used to judge whether the rotation angle is greater than a set rotation angle. If so, determine the running speed of the left traveling motor and the running speed of the right traveling motor according to the rotation angle, and also judge whether the inclination angle is greater than a set inclination angle. If so, determine the running speed of the left lifting motor and the running speed of the right lifting motor according to the inclination angle. Then, according to the determined running speeds of each motor, drive the corresponding motor to run at the corresponding speed through each frequency conversion drive unit. By integrating the functions of the electric control system of the traditional bridge inspection vehicle into a set of control systems, the present application improves the applicability of the control integrated machine for a bridge inspection vehicle. Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0046] Figure 1 It is a structural block diagram of a control integrated machine for a bridge inspection vehicle provided by an embodiment of the present application;

[0047] Figure 2Schematic diagram of the overall structure of the control integrated machine for a bridge inspection vehicle provided by an embodiment of the present application;

[0048] Figure 3 Flowchart of the walking automatic deviation correction control provided by an embodiment of the present application;

[0049] Figure 4 Schematic diagram of the structure of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0050] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0051] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0052] In an exemplary embodiment, as shown in Figure 1 and Figure 2 , a control integrated machine for a bridge inspection vehicle is provided, including: a core control unit, an encoder, an inclination sensor, a first variable frequency drive unit (i.e., the variable frequency drive unit 1 in Figure 2 ), a second variable frequency drive unit (i.e., the variable frequency drive unit 2 in Figure 2 ), a third variable frequency drive unit (i.e., the variable frequency drive unit 3 in Figure 2 ), and a fourth variable frequency drive unit (i.e., the variable frequency drive unit 4 in Figure 2 ); the encoder, the inclination sensor, the first variable frequency drive unit, the second variable frequency drive unit, the third variable frequency drive unit, and the fourth variable frequency drive unit are all connected to the core control unit.

[0053] The encoder is arranged on the truss of the bridge inspection vehicle; the encoder is used to collect the rotation angle of the truss during the forward / backward movement.

[0054] The inclination sensor is arranged on the truss of the bridge inspection vehicle; the inclination sensor is used to collect the inclination angle of the truss during the ascending / descending movement.

[0055] The core control unit is used to determine whether the rotation angle is greater than the set rotation angle. If so, it determines the running speed of the left running motor and the right running motor according to the rotation angle, and also determines whether the tilt angle is greater than the set tilt angle. If so, it determines the running speed of the left lifting motor and the right lifting motor according to the tilt angle.

[0056] The first variable frequency drive unit is used to control the left running motor to run at the running speed of the left running motor.

[0057] The second variable frequency drive unit is used to control the right running motor to run at the running speed of the right running motor.

[0058] The third variable frequency drive unit is used to control the left lifting motor to run at the running speed of the left lifting motor.

[0059] The fourth variable frequency drive unit is used to control the right lifting motor to run at the running speed of the right lifting motor.

[0060] As an optional implementation, it further includes: a variable frequency power supply unit; one end of the variable frequency power supply unit is connected to the core control unit; the other end of the variable frequency power supply unit is connected to the brakes of the left running motor, the right running motor, the left lifting motor, and the right lifting motor.

[0061] The variable frequency power supply unit is used to supply power to the brakes of the left running motor, the right running motor, the left lifting motor, and the right lifting motor.

[0062] As an optional implementation, it further includes: a rectifier filter; the rectifier filter is respectively connected to the variable frequency power supply unit and the brakes of the left running motor, the right running motor, the left lifting motor, and the right lifting motor.

[0063] As an optional implementation, it further includes: an anemometer; the anemometer is connected to the core control unit.

[0064] The anemometer is used to collect the ambient wind speed; when the ambient wind speed is greater than the set wind speed, the core control unit will stop outputting all operation instructions to make the bridge inspection vehicle in a stopped state.

[0065] As an optional implementation, it further includes: a potentiometer; the potentiometer is connected to the core control unit; the potentiometer is used to input the initial speed of the bridge inspection vehicle.

[0066] As an optional implementation, the core control unit includes:

[0067] The left and right traveling motor speed determination subunit is configured to determine the left traveling motor speed and the right traveling motor speed according to the rotation angle.

[0068] Specifically, the left and right traveling motor speed determination subunit is specifically configured to:

[0069] Determine the deviation value of the left and right travel of the bridge inspection vehicle according to the rotation angle and the set rotation origin value.

[0070] Judge whether the deviation value of the left and right travel of the bridge inspection vehicle is greater than the first deviation setting value.

[0071] If so, determine the first PID control value by using PID proportional control according to the deviation value of the left and right travel of the bridge inspection vehicle and the set target value.

[0072] Calculate the sum of the initial speed and the first PID control value to obtain the left traveling motor speed.

[0073] Calculate the difference between the initial speed and the first PID control value to obtain the right traveling motor speed.

[0074] The left and right lifting motor speed determination subunit is configured to determine the left lifting motor speed and the right lifting motor speed according to the tilt angle.

[0075] Specifically, the left and right lifting motor speed determination subunit is specifically configured to:

[0076] Determine the deviation value of the left and right lifting of the bridge inspection vehicle according to the tilt angle and the set tilt origin value.

[0077] Judge whether the deviation value of the left and right lifting of the bridge inspection vehicle is greater than the second deviation setting value.

[0078] If so, determine the second PID control value by using PID proportional control according to the deviation value of the left and right lifting of the bridge inspection vehicle and the set target value.

[0079] Calculate the sum of the initial speed and the second PID control value to obtain the left lifting motor speed.

[0080] Calculate the difference between the initial speed and the second PID control value to obtain the right lifting motor speed.

[0081] The control all-in-one machine for bridge inspection vehicles integrates the functions of the electric control cabinet systems of various existing types of bridge inspection vehicles. One control all-in-one machine for bridge inspection vehicles can be used as the control system for various types of inspection vehicles, featuring multi-purpose and rich functions.

[0082] Its functions include: synchronous linear walking, automatic walking deviation correction, manual deviation correction, walking speed regulation, truss telescoping, truss rotation, lifting control, automatic truss lifting deviation correction, wind speed protection, limit position protection, overload protection, overcurrent protection, etc.

[0083] Manual deviation correction: The operator can select the operation of the drive mechanism on one side through the operation panel of the control integrated machine of the bridge inspection vehicle, and make the drive mechanisms on both sides reach the same plane by controlling the forward and backward operation of the drive mechanism on one side to perform manual deviation correction operation.

[0084] Walking speed regulation: A speed regulation knob is set on the operation panel of the control integrated machine of the bridge inspection vehicle. The operator can set the running speed of the inspection vehicle through the speed regulation knob. When the operator turns the speed regulation knob, the core control unit will adjust the output frequency of each variable frequency drive unit in real time according to the data input by the knob, and then adjust the speed of the inspection vehicle.

[0085] Truss telescoping: The operator can select the truss telescoping function of the inspection vehicle through the operation panel of the control integrated machine of the bridge inspection vehicle. After the function is selected, the operator can send an action command to the core control unit through the "extend / retract" selection switch on the operation panel. After receiving the command, the core control unit controls the telescoping motor to drive the truss to "extend / retract" through each variable frequency drive unit.

[0086] Limit position protection: Multiple travel limit switches and proximity switches are set on each part of the bridge inspection vehicle body, and the signals are connected to the integrated machine. When the control integrated machine of the bridge inspection vehicle drives the inspection vehicle to run to the maximum position allowed by the structure, the corresponding travel switch or proximity switch will be triggered, and the signal will be input into the core control unit. After receiving the signal, the core control unit will immediately terminate the current operation mode to ensure operation safety.

[0087] Overload and overcurrent protection: ① Each variable frequency drive unit of the control integrated machine of the bridge inspection vehicle has the ability to detect the load condition of the drive motor in real time. When the motor runs in an overload or overcurrent situation, the variable frequency drive unit will immediately alarm and stop the operation of the faulty motor. ② The internal circuit of the control integrated machine of the bridge inspection vehicle has overload and overcurrent protection functions. When there is an overload or overcurrent situation in the power supply line, the electrical components will trip to protect safety.

[0088] Expansion functions include: hot standby machine, wireless remote control, remote status / video monitoring, remote control, etc.

[0089] At the same time, the control integrated machine of the bridge inspection vehicle can be connected to two different types of power supplies. The integrated machine supports AC220V and DC320V power input, and can adapt to different power environments according to requirements.

[0090] In addition to the above components, the integrated control unit for bridge inspection vehicles also includes a large-sized wall-through heat dissipation unit, a PCB board type relay output control unit, a cabinet, and input / output interfaces.

[0091] Large-sized wall-through heat dissipation unit: The large-sized wall-through heat dissipation unit is installed in the integrated control unit for bridge inspection vehicles in close contact with the heat dissipation plates of each frequency conversion drive unit. Its main function is to transfer the heat generated by each frequency conversion drive unit outside the cabinet for heat dissipation during the operation of the integrated control unit for bridge inspection vehicles, so as to ensure the long-term operation of the integrated control unit for bridge inspection vehicles under full load.

[0092] PCB board type relay output control unit: It integrates and miniaturizes the control circuits of multiple intermediate relays in the traditional circuit onto the PCB board, and is also responsible for performing corresponding logic control according to the core control unit.

[0093] Cabinet and input / output connectors: It mainly refers to the shell of the integrated control unit for bridge inspection vehicles and the connectors for connecting to external cables (which can be omitted).

[0094] The following details some functions.

[0095] 1. Travel control, i.e., synchronous linear travel:

[0096] 1) Select the control function of the integrated unit to "travel" through the operation panel.

[0097] 2) Set the travel speed through the HMI or the panel potentiometer, or set it during travel.

[0098] 3) Input the "forward / backward" operation instruction to the core control unit through the "forward / backward" selection switch on the operation panel.

[0099] 4) After receiving the "forward / backward" operation instruction, the core control unit sends operation and speed instructions to the frequency conversion drive unit 1 and the frequency conversion drive unit 2 according to the deviation angle (rotation angle) of the left and right of the bridge inspection vehicle truss detected by the encoder, and at the same time sends an instruction to start the frequency conversion power supply unit to release the braking brakes of the left and right travel motors.

[0100] 5) After receiving the instructions from the core control unit, the frequency conversion drive units 1 and 2 drive the corresponding left and right travel motors to run at the set speed and direction.

[0101] 2. Automatic travel deviation correction control:

[0102] During the operation of the bridge inspection vehicle, the speed difference between the left and right drive motors of the bridge inspection vehicle and the inclination, angle and deviation of the left and right tracks may easily cause the truss to be out of sync with each other and tilt (one in front and one behind) during operation. In order to solve the problem of left and right operation synchronization, a set of encoders is set at the drive mechanism on one side. When the left and right are out of sync, a rotation angle will be generated and detected by the encoder. When the encoder measures a tilt angle greater than 0.3°, the core control unit will start the automatic deviation correction control of the travel, and control the running speed of the left and right motors after the deviation correction calculation to achieve automatic deviation correction control, such as Figure 3 As shown in the figure, the automatic deviation correction control process is as follows:

[0103] When the bridge inspection vehicle is in motion, the rotation detection value A1 (rotation angle) is obtained according to the encoder, and the rotation detection value A1 is compared with the system-set rotation origin value B1 to obtain the deviation value PV1 of the left and right walking of the bridge inspection vehicle, where PV1=A1-B1. When PV1>30, the correction calculation control logic of the core control unit will be triggered. The core control unit will obtain the deviation value PV1 and the system-set target value SV1, and perform PID proportional control calculation. By bringing in the preset proportional gain K, the PID output value MV1 (the first PID control value) is obtained. MV1=(PV1-SV1)*K, the left running speed H1 (left motor running speed) is calculated based on the obtained MV1 and the initial speed F input by the potentiometer, H1=F+MV1, and H1 is applied to the variable frequency drive unit 1 to control the left motor to run at the speed of H1, the right running speed H2 (right motor running speed) is calculated based on the obtained MV1 and the initial speed F input by the potentiometer, H2=F-MV1, and H2 is applied to the variable frequency drive unit 2 to control the right motor to run at the speed of H2, and automatic deviation correction is performed. When the left and right running deviation is equal to 0, the deviation correction control is stopped, and at the same time, the core control unit sets H1=H2 to make the left and right motors run at the same speed to ensure synchronization between the two.

[0104] 3. Lifting control:

[0105] 1) Select the machine control function to "Lift" through the operation panel.

[0106] 2) Set the lifting speed through HMI or panel potentiometer or set it during the lifting process.

[0107] 3) Input the "up / down" operation command to the core control unit through the "up / down" selection switch on the operation panel;

[0108] 4) After the core control unit receives the "rise / fall" operation instruction, it sends operation and speed instructions to the frequency conversion drive unit 3 and the frequency conversion drive unit 4 based on the inclination angles detected by the inclination sensors for the left and right lifting of the bridge inspection vehicle truss. At the same time, it sends an instruction to start the frequency conversion power supply unit to release the braking brakes of the left and right lifting motors.

[0109] 5) After receiving the instructions from the core control unit, the frequency conversion drive units 3 and 4 drive the corresponding left lifting motor and right lifting motor to run at the set speed and direction.

[0110] 4. Automatic lifting deviation correction control:

[0111] During the operation of the bridge inspection vehicle, affected by the speed difference between the left and right lifting motors of the bridge inspection vehicle and the angle deviation between the left and right trusses, it is easy to occur that the lifting operation of the truss is out of sync during the lifting process, resulting in the problem of tilting (one high and one low) operation. To solve the problem of synchronous lifting operation, a set of inclination sensors is installed inside the middle lifting truss. When there is an out-of-sync situation on the left and right, an inclination angle will be generated and detected by the inclination sensors. When the inclination angle measured by the inclination sensors is greater than 3, the core control unit will start the automatic deviation correction control. After deviation correction calculation, it controls the running speeds of the left and right lifting motors to achieve automatic deviation correction control. The automatic lifting deviation correction control process is similar to the automatic walking deviation correction control process. The automatic lifting deviation correction control process is as follows:

[0112] When the bridge inspection vehicle is lifting and running, the inclination angle A2 is obtained according to the inclination sensors. The inclination angle A2 is compared with the system-set inclination origin value B2 to obtain the deviation value PV2 of the left and right lifting of the bridge inspection vehicle, where PV2 = A2 - B2. When PV2 > 300, the deviation correction calculation control logic of the core control unit will be triggered. The core control unit will obtain the deviation value PV2 and the system-set target value SV2, and perform the proportional control calculation of PID. By substituting the preset proportional gain K, the PID output value MV2 is obtained, where MV2 = (PV2 - SV2) * K. According to the obtained MV2 and the initial speed F input by the potentiometer, an addition calculation H3 = F + MV2 is performed to obtain the left lifting speed H3 (the running speed of the left lifting motor), and H3 is applied to the frequency conversion drive unit 3 to control the left lifting motor to run at the speed of H3. According to the obtained MV2 and the initial speed F input by the potentiometer, a subtraction calculation H4 = F - MV2 is performed to obtain the right lifting speed H4 (the running speed of the right lifting motor), and H4 is applied to the frequency conversion drive unit 4 to control the right lifting motor to run at the speed of H4, for automatic deviation correction adjustment. The deviation correction control stops when the left and right lifting inclination angles are equal to 0. At the same time, the core control unit makes H3 = H4 so that the left and right lifting motors run at the same speed to ensure synchronization between the two.

[0113] 5. Wind speed protection:

[0114] A wind speed sensor is installed inside the truss of the bridge inspection vehicle. The wind speed sensor is connected to the core control unit. When the measured ambient wind speed is greater than level 6 wind or the set wind speed, the core control unit will stop outputting all operation instructions to make the bridge inspection vehicle in a stopped state, and resume the operation function of the inspection vehicle after the measured wind speed is lower than the set wind speed.

[0115] The control integrated machine for the bridge inspection vehicle of the present application integrates most of the functions of the existing electric control systems of bridge inspection vehicles into a set of control systems to meet the control requirements of most bridge inspection vehicles. The integrated machine uses electronic circuit (PCB integrated circuit) technology to replace the electrical circuit design, and the entire electric control system of the integrated machine has the characteristics of small volume and rich functions. At the same time, to meet the development trend of more and more functional requirements of the inspection vehicle, multiple groups of programmable control I / O, communication, and analog input / output interfaces are reserved in the design of the integrated machine, which has the ability to expand remote control, remote monitoring, autonomous driving, and unmanned operation.

[0116] The control integrated machine for the bridge inspection vehicle is manufactured in batches using the existing mature integrated circuit design and production process, with controllable process and reliable quality.

[0117] Based on the same inventive concept, the embodiment of the present application also provides a control method applied to the control integrated machine for the bridge inspection vehicle involved above. The implementation solution provided by this method to solve the problem is similar to the implementation solution recorded in the above method. Therefore, the specific limitations in the embodiment of the control method provided below can refer to the limitations on the control integrated machine for the bridge inspection vehicle in the above text, and will not be repeated here.

[0118] In an exemplary embodiment, a control method for the control integrated machine for the bridge inspection vehicle is provided, including:

[0119] Obtain the rotation angle of the truss of the bridge inspection vehicle during forward / backward movement, or the tilt angle of the truss during upward / downward movement.

[0120] When the obtained is the rotation angle:

[0121] Judge whether the rotation angle is greater than the set rotation angle. If so, determine the running speeds of the left running motor and the right running motor according to the rotation angle.

[0122] Control the left running motor and the right running motor of the bridge inspection vehicle according to the running speeds of the left running motor and the right running motor.

[0123] When the obtained is the tilt angle:

[0124] Judge whether the tilt angle is greater than the set tilt angle. If so, determine the running speeds of the left lifting motor and the right lifting motor according to the tilt angle.

[0125] Control the left lifting motor and the right lifting motor of the bridge inspection vehicle according to the operating speed of the left lifting motor and the operating speed of the right lifting motor.

[0126] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the control method of the control integrated machine for the bridge inspection vehicle described above is implemented.

[0127] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the control method of the control integrated machine for the bridge inspection vehicle described above is implemented.

[0128] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the control method of the control integrated machine for the bridge inspection vehicle described above is implemented.

[0129] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as Figure 4 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used for the processor to exchange information with external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method of a control integrated machine for a bridge inspection vehicle is implemented.

[0130] Those skilled in the art can understand that Figure 4 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0131] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0132] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the various embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0133] The databases involved in the various embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the various embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0134] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0135] In this article, specific examples are used to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application. At the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. To sum up, the content of this specification should not be construed as a limitation to the present application.

Claims

1. An integrated control unit for a bridge inspection vehicle, characterized in that, Including: A core control unit, an encoder, an inclination sensor, a first variable-frequency drive unit, a second variable-frequency drive unit, a third variable-frequency drive unit, and a fourth variable-frequency drive unit; The encoder, the inclination sensor, the first variable-frequency drive unit, the second variable-frequency drive unit, the third variable-frequency drive unit, and the fourth variable-frequency drive unit are all connected to the core control unit; The encoder is arranged on the truss of the bridge inspection vehicle; the encoder is used to collect the rotation angle of the truss during the forward / backward operation; The inclination sensor is arranged on the truss of the bridge inspection vehicle; the inclination sensor is used to collect the inclination angle of the truss during the ascending / descending operation; The core control unit is used to judge whether the rotation angle is greater than the set rotation angle. If so, it determines the running speeds of the left and right running motors according to the rotation angle, and also judges whether the inclination angle is greater than the set inclination angle. If so, it determines the running speeds of the left and right lifting motors according to the inclination angle; The first variable-frequency drive unit is used to control the left running motor to run at the running speed of the left running motor; The second variable-frequency drive unit is used to control the right running motor to run at the running speed of the right running motor; The third variable-frequency drive unit is used to control the left lifting motor to run at the running speed of the left lifting motor; The fourth variable-frequency drive unit is used to control the right lifting motor to run at the running speed of the right lifting motor.

2. The integrated control machine for bridge inspection vehicle according to claim 1, characterized in that, It also includes: A variable-frequency power supply unit; One end of the variable-frequency power supply unit is connected to the core control unit; the other end of the variable-frequency power supply unit is connected to the brakes of the left running motor, the right running motor, the left lifting motor, and the right lifting motor; The variable-frequency power supply unit is used to supply power to the brakes of the left running motor, the right running motor, the left lifting motor, and the right lifting motor.

3. The integrated control unit for a bridge inspection vehicle according to claim 2, wherein, It also includes: A rectifier filter; The rectifier filter is respectively connected to the variable-frequency power supply unit and the brakes of the left running motor, the right running motor, the left lifting motor, and the right lifting motor.

4. The integrated control machine for bridge inspection vehicle according to claim 1, wherein, It also includes: An anemometer; the anemometer is connected to the core control unit; The anemometer is used to collect the ambient wind speed; When the ambient wind speed is greater than the set wind speed, the core control unit will stop outputting all operation instructions to make the bridge inspection vehicle in a stopped state.

5. The integrated control machine for a bridge inspection vehicle according to claim 1, wherein, It also includes: A potentiometer; The potentiometer is connected to the core control unit; the potentiometer is used to input the initial speed of the bridge inspection vehicle.

6. The integrated control machine for a bridge inspection vehicle according to claim 1, characterized in that The core control unit includes: A left and right running motor speed determination sub-unit, which is used to determine the running speeds of the left and right running motors according to the rotation angle; A left and right lifting motor speed determination sub-unit, which is used to determine the running speeds of the left and right lifting motors according to the inclination angle.

7. The integrated control unit for a bridge inspection vehicle according to claim 6, characterized in that, The left and right running motor speed determination sub-unit is specifically used for: Determining the deviation value of the left and right walking of the bridge inspection vehicle according to the rotation angle and the set rotation origin value; Judging whether the deviation value of the left and right walking of the bridge inspection vehicle is greater than the first deviation setting value; If so, according to the deviation value of the left and right movement of the bridge inspection vehicle and the set target value, use PID proportional control to determine the first PID control value; Calculate the sum of the initial speed and the first PID control value to obtain the running speed of the left motor; Calculate the difference between the initial speed and the first PID control value to obtain the running speed of the right motor.

8. The integrated control machine for bridge inspection vehicle according to claim 6, wherein, The left and right lifting motor running speed determination subunit is specifically used for: According to the tilt angle and the set tilt origin value, determine the deviation value of the left and right lifting of the bridge inspection vehicle; Judge whether the deviation value of the left and right lifting of the bridge inspection vehicle is greater than the second deviation setting value; If so, according to the deviation value of the left and right lifting of the bridge inspection vehicle and the set target value, use PID proportional control to determine the second PID control value; Calculate the sum of the initial speed and the second PID control value to obtain the running speed of the left lifting motor; Calculate the difference between the initial speed and the second PID control value to obtain the running speed of the right lifting motor.

9. A control method for an integrated control unit of a bridge inspection vehicle, characterized in that, The control method of the control integrated machine for the bridge inspection vehicle is applied to the control integrated machine for the bridge inspection vehicle according to any one of claims 1-8. The control method of the control integrated machine for the bridge inspection vehicle includes: Obtain the rotation angle of the truss of the bridge inspection vehicle during forward / backward movement, or the tilt angle of the truss during upward / downward movement; When the obtained is the rotation angle: Judge whether the rotation angle is greater than the set rotation angle. If so, determine the running speeds of the left motor and the right motor according to the rotation angle; Control the left motor and the right motor of the bridge inspection vehicle according to the running speeds of the left motor and the right motor; When the obtained is the tilt angle: Judge whether the tilt angle is greater than the set tilt angle. If so, determine the running speeds of the left lifting motor and the right lifting motor according to the tilt angle; Control the left lifting motor and the right lifting motor of the bridge inspection vehicle according to the running speeds of the left lifting motor and the right lifting motor.

10. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the control method of the control integrated machine for the bridge inspection vehicle according to claim 7.

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