CN114633801B - Automatic deviation correcting system and method for walking of beam transporting vehicle tunnel - Google Patents

Automatic deviation correcting system and method for walking of beam transporting vehicle tunnel Download PDF

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Publication number
CN114633801B
CN114633801B CN202210429306.3A CN202210429306A CN114633801B CN 114633801 B CN114633801 B CN 114633801B CN 202210429306 A CN202210429306 A CN 202210429306A CN 114633801 B CN114633801 B CN 114633801B
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steering
wheel set
distance
virtual
wheel
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CN114633801A (en
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游向荣
金恩泽
王冬梅
黄羽晨
李伟
胡天鑫
朱帅
汪想
张贝嘉
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Wuhan University of Science and Engineering WUSE
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Wuhan University of Science and Engineering WUSE
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
    • B62D5/12—Piston and cylinder
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a steering model, a deviation correcting system and a deviation correcting method for a beam transport vehicle tunnel traveling wheel set, wherein the steering model comprises the following steps: encoder group, controller, wheelset, laser sensor, steering cylinder. The encoder set is arranged at the upper end of the vertical shaft of the wheel set and used for acquiring the real-time angle of the wheel set; the laser sensors are arranged at four corners of the girder transporting vehicle and used for detecting the distance between the girder transporting vehicle and the tunnel lining so as to obtain the distance between the box girder and the tunnel lining; the steering cylinder is connected with the wheel set and controls the wheel set to steer; the encoder set is connected with the controller, the controller reads the encoder values of the wheel set, calculates the actual angle of the wheel set, controls each steering cylinder to stretch and retract by utilizing the proposed steering model based on the virtual vehicle body to realize the steering of the wheel set, and adjusts the posture of the beam transporting vehicle. The invention has high deviation correcting speed, the steering center is determined according to the deviation amount condition of the girder transporting vehicle based on the steering model of the virtual vehicle body, and the steering center is updated timely, so that the girder transporting vehicle is flexible, stable and safe in steering, and the invention is suitable for the posture adjustment of the multi-axis independent steering vehicle in a narrow space.

Description

Automatic deviation correcting system and method for walking of beam transporting vehicle tunnel
Technical Field
The invention relates to an automatic deviation correcting system and method, which are mainly used for controlling the gesture of a beam transporting vehicle passing through a tunnel body, in particular to a steering model based on a virtual vehicle body for the tunnel running of the beam transporting vehicle and an automatic deviation correcting system.
Background
The girder transporting vehicle is an important device for transporting the box girders in railway construction. Because the space of the tunnel is limited, after the girder transporting vehicle is provided with the box girder and enters the tunnel, the distance between the edges of the two sides of the box girder and the lining of the tunnel is about 100 mm-200 mm, and the box Liang Ji is easy to collide with the lining of the tunnel. When the beam transporting vehicle is used for observing and commanding walking by manpower to pass through the tunnel, collision tunnel lining is easy to occur, so that the beam transporting vehicle is prevented from colliding with the tunnel lining, the walking speed of the beam transporting vehicle is required to be reduced to below 20% of the rated speed under the condition of nursing by a plurality of people, and the accident of collision tunnel lining still occurs sometimes, so that normal production is seriously influenced.
According to the deviation correcting method based on visual identification, a tunnel center line is pulled and set, and a camera is arranged at the rear end of each tunnel Liang Cheqian and used for tracking the center line, so that deviation correction is realized. The tunnel is provided with a channel in the middle, so that cross operation exists, the integrity of a central line cannot be guaranteed, and the tunnel is large in dust, so that the recognition effect of a camera is affected. The error operation is easy to generate, the deviation correcting effect is seriously affected, and the method has high cost and is difficult to maintain.
According to the correction method based on the laser radar or the depth camera, the laser radar or the depth camera is used for acquiring the tunnel center line and the beam transporting vehicle offset, and then the posture adjustment of the beam transporting vehicle is controlled through a steering mode that the conventional splayed or semi-splayed steering center is fixed. The deflection of the beam transporting vehicle in the tunnel is random, the conventional splayed or semi-splayed steering center is fixed, the steering center is not selected according to the deflection of the beam transporting vehicle, the beam transporting vehicle is frequently twisted and slowly corrected in the deflection correcting process because the tunnel space is narrow and the beam transporting vehicle is transported Liang Chechang to 40 m and is inflexible in steering, the problem of complex deflection of the beam transporting vehicle cannot be solved, and the gesture of the beam transporting vehicle in the tunnel is difficult to be quickly and safely corrected. In order to align the beam transporting vehicle, if the steering angle of each wheel set is calculated according to the offset of the beam transporting vehicle in a tunnel, sliding friction exists between the tire and the ground, the tire and the vehicle body structure are damaged, and potential safety hazards are brought.
For the above reasons, there is an urgent need to develop a steering model and an automatic deviation correcting system with low cost, easy use and good deviation correcting effect.
Disclosure of Invention
The invention mainly solves the problems existing in the prior art and provides an automatic deviation correcting system and method for the walking of a beam transport vehicle tunnel. By adopting the automatic deviation correcting system, manual intervention operation is not needed, judgment control can be carried out on any condition deviation of the beam transporting vehicle, and a good deviation correcting effect can be obtained.
The technical problems of the invention are mainly solved by the following technical proposal:
an automatic deviation rectifying system for beam transport vehicle tunnel walking, comprising: the device comprises an encoder set, a controller, a wheel set, a laser sensor and a steering cylinder, wherein the encoder set is connected with the controller, the steering cylinder is connected with the wheel set, and the laser sensor is arranged at four corners of a girder transporting vehicle body;
the encoder set is an absolute value encoder set and is arranged at the upper end of the vertical shaft of the running wheel set and used for acquiring the real-time angle of the wheel set;
the laser sensor is used for detecting the distance between the beam transporting vehicle and the tunnel lining, so as to obtain the distance between the box beam and the tunnel lining; the steering oil cylinder is used for controlling steering action of the wheel set and adjusting the posture of the beam transporting vehicle;
the controller is used for reading the value of the wheel set encoder, calculating to obtain the actual angle of the wheel set, and controlling the steering oil cylinder to stretch and retract to realize the steering of the wheel set; the controller is provided with a steering model based on a virtual vehicle body, wherein the steering model based on the virtual vehicle body comprises a diagonal steering mode, a virtual half-splay mode and a virtual splay mode.
Preferably, the controller obtains the distance between the box girder and the tunnel lining according to the measurement of the laser ranging sensors arranged at four corners of the car body, determines the corresponding steering mode based on the steering model of the virtual car body, calculates and obtains the corners of each wheel group of the girder transporting car, thereby controlling the oil cylinder, automatically completing the running steering, realizing the posture adjustment of the girder transporting car and completing the rectification task of the girder transporting car.
The invention also provides a method for automatically correcting the walking of the beam transport vehicle tunnel, which is characterized by comprising the following steps:
s1, detecting the distance, namely detecting the distance between a box girder and a tunnel lining in real time by using laser sensors arranged at four corners of a girder transporting vehicle body, and transmitting the distance information acquired by the laser sensors to a controller;
s2, selecting a steering mode, namely comparing the distances between the box girder and tunnel lining, which are detected by laser sensors at four corners of a girder transporting vehicle body in real time, and judging whether to rectify the deviation and selecting a corresponding steering mode;
s3, calculating steering angles of all wheel sets, virtually lengthening a vehicle body and a box girder based on the distance between the box girder and the periphery of a tunnel, enabling lining distances of two opposite angles of the lengthened box girder to be equal, determining a steering center o, updating the steering center in real time, and calculating the steering angles of all the wheel sets according to an Ackerman steering principle;
s4, adjusting the posture of the beam transporting vehicle, wherein the controller is used for reading the numerical value of the wheel set encoder, calculating the actual angle of the wheel set, and controlling the steering oil cylinder to stretch and retract to realize the steering of the wheel set and the correction of the longitudinal central line of the vehicle.
Preferably, in the step S1, the measured distance is cleaned by using an extended kalman filtering algorithm, and the cleaned distance information is transmitted to the controller.
Preferably, in the step S2,
(1) when x is 1 ＝x 2 ＝x 3 ＝x 4 When the beam transporting vehicle is in a normal posture, correction is not needed;
(2) when x is 2 ＝x 4 >x 1 ＝x 3 When the beam transporting vehicle is in parallel deflection of the central line, the deviation correction is completed by adopting a diagonal steering mode based on a steering model of the virtual vehicle body;
(3) when x is 2 >＝x 3 >x 4 >＝x 1 Or x 1 >＝x 4 >x 3 >＝x 2 When the beam transporting vehicle is in splayed center line cross deflection, a virtual splayed mode is adopted to finish deviation correction based on a steering model of the virtual vehicle body;
(4) when x is 2 >x 4 >＝x 3 >x 1 Or x 1 >x 3 >＝x 4 >x 2 When the beam transporting vehicle is in cross deflection of the half splayed center line, a virtual half splayed mode is adopted to finish deviation correction based on a steering model of the virtual vehicle body;
wherein x is 1 Distance x between left front wheel and tunnel lining 2 Distance x between right front wheel and tunnel lining 3 Lining the left rear wheel and the tunnelDistance x of (x) 4 The distance between the right rear wheel and the tunnel lining is provided.
Preferably, in the step S3, the beam transporting vehicle turns right at an angle of each wheel set in the virtual splayed mode:
the right steering angle of each wheel set in the virtual half splayed mode:
wherein, given signal of a given steering wheel is theta, and rotation angle of each wheel set on the right side of the whole vehicle is alpha i Rotation angle beta of each wheel set on left side of whole vehicle i ，i∈[1,n]N is the total axle number of the beam transporting vehicle; the distance between the left wheel set and the right wheel set is d, the distance from the virtual last axle wheel set to the first axle wheel set is L, and the length L of the vehicle body 0 The distance from the axes of the other wheel groups to the first axle wheel group is l i 。
Preferably, in the step S3, the beam transport vehicle turns left at an angle of each wheel set in the virtual splayed mode:
left steering angle of each wheel set in the virtual half splayed mode:
wherein, given signal of a given steering wheel is theta, and rotation angle of each wheel set on the right side of the whole vehicle is alpha i Rotation angle beta of each wheel set on left side of whole vehicle i ，i∈[1,n]N is the total axle number of the beam transporting vehicle; the distance from the right wheel set to the instant steering center of the whole vehicle is r; the distance between the left wheel set and the right wheel set is d, the distance from the virtual last axle wheel set to the first axle wheel set is L, and the length L of the vehicle body 0 The distance from the axes of the other wheel groups to the first axle wheel group is l i 。
Preferably, the vehicle body and the box girder are virtually lengthened, so that the tunnel lining distances between two opposite angles of the lengthened box girder are equal,
in the virtual splayed mode, the vehicle body is virtually lengthened to a virtual right rear wheel distance tunnel lining distance equal to x 1 At this time:
in the virtual half splayed mode, the vehicle body is virtually lengthened to the virtual right rear wheel distance, and the tunnel lining distance is equal to x, and at the moment:
wherein,,and in the normal posture, the distance between the box girder and the tunnel lining is x, and the deflection angle of the vehicle body is gamma.
Preferably, the vehicle body and the box girder are virtually lengthened, so that the tunnel lining distances between two opposite angles of the lengthened box girder are equal,
in the virtual splayed mode, the vehicle body is virtually lengthened to a virtual left rear wheel distance, and the tunnel lining distance is equal to x 2 At this time:
in the virtual half splayed mode, the vehicle body is virtually lengthened to a virtual left rear wheel distance, and the tunnel lining distance is equal to x, and at the moment:
wherein,,and in the normal posture, the distance between the box girder and the tunnel lining is x, and the deflection angle of the vehicle body is gamma.
Compared with the prior art, the invention has the following advantages:
1. the automatic degree is high, and automatic deviation correction can be realized without manual intervention; 2. the deviation correcting speed is high, the steering center is determined according to the deflection quantity of the beam transporting vehicle based on the steering model of the virtual vehicle body, the steering is flexible, and the beam transporting wheel set can be prevented from frequently steering in the deviation correcting process; 3. the cost performance is high, the price of the laser sensor is low compared with that of a laser radar and a depth camera, the reliability is high, and the maintenance is easy; 4. the application range is wide, and the method is suitable for posture adjustment of the multi-axis independent steering transport vehicle in a narrow space.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a schematic view of the mechanical and electrical parts of the present invention.
Fig. 3 is a schematic view of the travelling posture of a girder carrier through a tunnel.
FIG. 4 is a schematic view of the steering angle relationship in the diagonal steering mode.
FIG. 5 is a schematic diagram of a virtual splay mode steering angle relationship.
FIG. 6 is a schematic diagram of a virtual half-splayed mode steering angle relationship.
1-a laser ranging sensor; 2-encoder group, 3-controller group, 4-steering cylinder, 5-running wheel group.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the embodiments of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the invention and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
In the description of the present invention, unless otherwise indicated, the term "coupled" is to be interpreted broadly and may be, for example, fixedly coupled, detachably coupled, or integrally coupled. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Examples:
referring to fig. 1, the system schematic of the invention comprises: the device comprises an encoder set 2, a controller set 3, a travelling wheel set 5, a laser sensor 1 for detecting the distance between the periphery of the beam transporting vehicle and the lining of a tunnel, and a steering cylinder 4 for controlling the steering of the wheel set. Wherein the controller group 3 controls the laser sensor 1 and the steering cylinder 4 on each running wheel group 5 respectively.
Referring to fig. 2, a schematic diagram of mechanical and electrical parts of the present embodiment, a system for automatically rectifying the deviation of a beam truck during tunnel travel, includes: the device comprises an encoder set 2, a controller set 3, a traveling wheel set 5, a laser ranging sensor 1 for detecting the lining distance between a girder transporting vehicle and a tunnel and an oil cylinder 4 for controlling steering of the wheel set, wherein the encoder set 2 is connected with the controller, the steering oil cylinder is connected with the traveling wheel set 5, and the laser ranging sensor 1 is arranged at four corners of the girder transporting vehicle body.
The encoder group 2 includes: the absolute value encoder group is arranged at the upper end of the vertical shaft of the travelling wheel group and used for acquiring the steering angle of the wheel group; the laser sensor is used for detecting the distance between the beam transporting vehicle and the tunnel lining, so as to obtain the distance between the box beam and the tunnel lining; the steering oil cylinder is used for controlling steering action of the wheel set; and the controller automatically selects a proper steering mode according to the obtained distance between the box girder and the tunnel lining, automatically completes steering of running, realizes posture adjustment of the girder transporting vehicle, and completes the correction task of the girder transporting vehicle.
Referring to fig. 3, 4, 5 and 6, the beam truck is generally 16-20 axis, and n-axis is used for illustration for simplicity.
As shown in fig. 3, the beam transporting vehicle passes through different postures of the tunnel, and the deviation correction is completed by selecting different steering modes based on the steering model of the virtual vehicle body, wherein x is the distance between the box beam and the tunnel lining in the normal posture.
(1) When x is 1 ＝x 2 ＝x 3 ＝x 4 When the beam transporting vehicle is in a normal posture, correction is not needed;
(2) when x is 2 ＝x 4 >x 1 ＝x 3 When the beam transporting vehicle is in parallel deflection of the central line, the deviation correction is completed by adopting a diagonal steering mode based on a steering model of the virtual vehicle body;
(3) when x is 2 >＝x 3 >x 4 >＝x 1 Or x 1 >＝x 4 >x 3 >＝x 2 When the beam transporting vehicle is in splayed center line cross deflection, a virtual splayed mode is adopted to finish deviation correction based on a steering model of the virtual vehicle body;
(4) when x is 2 >x 4 >＝x 3 >x 1 Or x 1 >x 3 >＝x 4 >x 2 When the beam transporting vehicle is in cross deflection of the half splayed center line, a virtual half splayed mode is adopted to finish deviation correction based on a steering model of the virtual vehicle body;
wherein x is 1 Distance x between left front wheel and tunnel lining 2 Distance x between right front wheel and tunnel lining 3 Distance x between left rear wheel and tunnel lining 4 The distance between the right rear wheel and the tunnel lining is provided.
Wherein, the beam transporting vehicle is in splayed central line crossing deflection and half splayed central line crossing deflection, which belong to central line crossing deflection.
FIG. 4 is a schematic diagram of the steering angle relationship in the diagonal mode, wherein the steering angles of the wheel sets are the same when the beam truck is in parallel deflection of the center line.
Referring to fig. 5 and 6, each wheel set turns right, the distance between the box girder and the tunnel lining is x, the deflection angle of the vehicle body is gamma, the given signal of the given steering wheel is theta, and the rotation angle of each wheel set on the right side of the whole vehicle is alpha i Rotation angle beta of each wheel set on left side of whole vehicle i ，i∈[1,n]The distance from the right wheel set to the instant steering center of the whole vehicle is r, the distance between the left wheel set and the right wheel set is d, the distance from the virtual last axle wheel set to the first axle wheel set is L, and the length L of the vehicle body is 0 The distance from the axes of the other wheel groups to the first axle wheel group is l i 。
Calculating a vehicle body offset angle gamma calculation formula:
in the virtual splayed mode, the vehicle body is virtually lengthened to a virtual right rear wheel distance tunnel lining distance equal to x 1 At this time:
in the virtual half splayed mode, the vehicle body is virtually lengthened to the virtual right rear wheel distance, and the tunnel lining distance is equal to x, and at the moment:
the beam transporting vehicle calculates the right corner of each wheel set in a virtual splayed mode according to the formula:
the right steering angle of each wheel set of the beam transporting vehicle can be obtained by the following formulas (4), (5) and (6):
when the virtual splayed mode turns leftwards, the angle of the first left front wheel set is the same as the given signal size and direction of the steering wheel, the angle of the last left rear virtual wheel set is the same as the given signal size and direction of the steering wheel, the directions are opposite, and the left corner calculation formula of each wheel set in the virtual splayed mode is obtained according to the same formula (7) and formula (8):
the beam transporting vehicle calculates the right rotation angle of each wheel set in a virtual half splayed mode by the following formula:
the right steering angle of each wheel set of the beam transporting vehicle can be obtained by the formula (11), the formula (12) and the formula (13):
when the virtual half-eight mode turns left, the angle of the first left front wheel set is the same as the given signal size and direction of the steering wheel, the angle of the last left rear virtual wheel set is the same as the given signal size and direction of the steering wheel, the directions are opposite, and the left corner calculation formula of each wheel set of the virtual half-eight mode is obtained according to the formula (14) and the formula (15) in the same way:
the controller measures the distance between the box girder and the tunnel lining according to the laser ranging sensors 1 arranged at four corners of the car body, determines the corresponding steering mode based on the steering model of the virtual car body, calculates and obtains the turning angle of each wheel set of the girder transporting car, thereby controlling the oil cylinder, automatically completing the steering of the wheel sets, realizing the posture adjustment of the girder transporting car and completing the correction task of the girder transporting car.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (4)

1. The utility model provides a fortune roof beam car tunnel walking automatic deviation rectifying method which characterized in that, the automatic deviation rectifying system of fortune roof beam car tunnel walking is used to rectify, the system of rectifying includes: the device comprises an encoder set, a controller, a wheel set, a laser sensor and a steering cylinder, wherein the encoder set is connected with the controller, the steering cylinder is connected with the wheel set, and the laser sensor is arranged at four corners of a girder transporting vehicle body;
the encoder set is an absolute value encoder set and is arranged at the upper end of the vertical shaft of the running wheel set and used for acquiring the real-time angle of the wheel set;
the laser sensor is used for detecting the distance between the beam transporting vehicle and the tunnel lining, so as to obtain the distance between the box beam and the tunnel lining; the steering oil cylinder is used for controlling steering action of the wheel set and adjusting the posture of the beam transporting vehicle;
the controller is used for reading the value of the wheel set encoder, calculating to obtain the actual angle of the wheel set, and controlling the steering oil cylinder to stretch and retract to realize the steering of the wheel set; the controller is provided with a steering model based on a virtual vehicle body, wherein the steering model based on the virtual vehicle body comprises a diagonal steering mode, a virtual half splay mode and a virtual splay mode; the controller obtains the distance between the box girder and the tunnel lining by measurement according to laser ranging sensors arranged at four corners of the car body, determines a corresponding steering mode based on a steering model of the virtual car body, calculates and obtains the turning angles of all wheel groups of the girder transporting car, thereby controlling the oil cylinders, automatically completing the steering of walking, realizing the posture adjustment of the girder transporting car and completing the correction task of the girder transporting car;
the method comprises the following steps:
s1, detecting the distance, namely detecting the distance between a box girder and a tunnel lining in real time by using laser sensors arranged at four corners of a girder transporting vehicle body, and transmitting the distance information acquired by the laser sensors to a controller;
s2, selecting a steering mode, namely comparing the distances between the box girder and tunnel lining, which are detected by laser sensors at four corners of a girder transporting vehicle body in real time, and judging whether to rectify the deviation and selecting a corresponding steering mode;
in the step S2 of the above-mentioned process,
(1) when x is 1 ＝x 2 ＝x 3 ＝x 4 When the beam transporting vehicle is in a normal posture, correction is not needed;
(2) when x is 2 ＝x 4 >x 1 ＝x 3 When the beam transporting vehicle is in parallel deflection of the central line, the deviation correction is completed by adopting a diagonal steering mode;
(3) when x is 2 >＝x 3 >x 4 >＝x 1 Or x 1 >＝x 4 >x 3 >＝x 2 When the beam transporting vehicle is in splayed center line cross deflection, a virtual splayed mode is adopted to finish deviation correction based on a steering model of the virtual vehicle body;
(4) when x is 2 >x 4 >＝x 3 >x 1 Or x 1 >x 3 >＝x 4 >x 2 When the beam transporting vehicle is in cross deflection of the half splayed center line, a virtual half splayed mode is adopted to finish deviation correction based on a steering model of the virtual vehicle body;
wherein x is 1 Distance x between left front wheel and tunnel lining 2 Distance x between right front wheel and tunnel lining 3 Distance x between left rear wheel and tunnel lining 4 The distance between the right rear wheel and the tunnel lining is set;
s3, calculating steering angles of all wheel sets, virtually lengthening a vehicle body and a box girder based on the distance between the box girder and the periphery of a tunnel, enabling lining distances of two opposite angles of the lengthened box girder to be equal, determining a steering center o, updating the steering center in real time, and calculating the steering angles of all the wheel sets according to an Ackerman steering principle;
when turning right, virtually lengthening the vehicle body to a virtual right rear wheel distance, wherein the tunnel lining distance is equal to x in a virtual splayed mode 1 At this time:
in the virtual half splayed mode, the vehicle body is virtually lengthened to the virtual right rear wheel distance, and the tunnel lining distance is equal to x, and at the moment:
wherein,,the distance between the box girder and the tunnel lining is x, the deflection angle of the vehicle body is gamma, L during normal posture 0 Is the length of the vehicle body;
when turning left, virtually lengthening the car body to a virtual left rear wheel distance, wherein the tunnel lining distance is equal to x in a virtual splay mode 2 At this time:
in the virtual half splayed mode, the vehicle body is virtually lengthened to a virtual left rear wheel distance, and the tunnel lining distance is equal to x, and at the moment:
wherein,,distance between box girder and tunnel lining in normal postureX, the body deflection angle is gamma;
s4, adjusting the posture of the beam transporting vehicle, wherein the controller is used for reading the numerical value of the encoder of the wheel set, calculating to obtain the actual angle of the wheel set, controlling the steering oil cylinder to stretch to realize the steering of the wheel set, controlling the steering action of the wheel set by the steering oil cylinder, adjusting the posture of the beam transporting vehicle, and realizing the correction of the longitudinal center line of the vehicle, wherein the encoder set is an absolute encoder set and is arranged at the upper end of the vertical shaft of the travelling wheel set, and the encoder set is used for obtaining the real-time angle of the wheel set.
2. The method for automatically correcting the walking of the beam transport vehicle tunnel according to claim 1, wherein in the step S1, the measured distance is cleaned by using an extended kalman filter algorithm, and the cleaned distance information is transmitted to the controller.
3. The system for automatically correcting deviation in tunnel travel of beam transport vehicle according to claim 1, wherein in the step S3, each wheel set of the beam transport vehicle turns right at an angle in a virtual splayed mode:
the right steering angle of each wheel set in the virtual half splayed mode:
wherein, given signal of a given steering wheel is theta, and rotation angle of each wheel set on the right side of the whole vehicle is alpha i Rotation angle of each wheel set on left side of whole vehicleDegree beta i ，i∈[1,n]N is the total axle number of the beam transporting vehicle; the distance between the left wheel set and the right wheel set is d, the distance from the virtual last axle wheel set to the first axle wheel set is L, and the length L of the vehicle body 0 The distance from the axes of the other wheel groups to the first axle wheel group is l i 。
4. The system for automatically correcting deviation in tunnel travel of beam transport vehicle according to claim 1, wherein in the step S3, each wheel set of the beam transport vehicle turns left at a steering angle in a virtual splayed mode:
left steering angle of each wheel set in the virtual half splayed mode:
wherein, given signal of a given steering wheel is theta, and rotation angle of each wheel set on the right side of the whole vehicle is alpha i Rotation angle beta of each wheel set on left side of whole vehicle i ，i∈[1,n]N is the total axle number of the beam transporting vehicle; the distance from the right wheel set to the instant steering center of the whole vehicle is r; the distance between the left wheel set and the right wheel set is d, the distance from the virtual last axle wheel set to the first axle wheel set is L, and the length L of the vehicle body 0 The distance from the axes of the other wheel groups to the first axle wheel group is l i 。
CN202210429306.3A 2022-04-22 2022-04-22 Automatic deviation correcting system and method for walking of beam transporting vehicle tunnel Active CN114633801B (en)

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CN202210429306.3A CN114633801B (en) 2022-04-22 2022-04-22 Automatic deviation correcting system and method for walking of beam transporting vehicle tunnel

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