CN114879667A - Course angle control method for tunnel maintenance platform truck - Google Patents

Abstract

The invention discloses a course angle control method for a tunnel maintenance platform truck. The course angle control method consists of a control mechanism and an execution mechanism; the control mechanism is arranged on a front two-dimensional laser radar of a front cross beam and a rear two-dimensional laser radar of a rear cross beam of the operation platform, and the PLC control module; the executing mechanism is arranged at the bottom of the platform and runs along respective tracks of a left running wheel and a right running wheel, and the executing mechanism is controlled by the control mechanism and drives a left hydraulic motor of the left running wheel and a right hydraulic motor of the right running wheel. According to the method, a posture analysis algorithm is built according to a walking model of the platform truck in the tunnel, data information required by the posture analysis algorithm is acquired by combining a sensor technology, and the posture of the platform truck is automatically adjusted by adjusting the rotating speed of the hydraulic motors of the left wheel and the right wheel to form a rotating speed difference.

Description

Translated fromChinese

一种隧道维护平台车航向角控制方法A heading angle control method of a tunnel maintenance platform vehicle

技术领域technical field

本发明属于控制技术领域，尤其属于PLC、传感器集成控制技术领域，涉及一种隧道维护平台车设备，特别涉及一种能反馈航向角信息并进行航向角调整的自动行走平台车控制方法。The invention belongs to the technical field of control, in particular to the technical field of PLC and sensor integrated control, and relates to a tunnel maintenance platform vehicle equipment, in particular to a control method for an automatic traveling platform vehicle capable of feeding back heading angle information and adjusting the heading angle.

背景技术Background technique

隧道盾构施工过程中，往往需要对管片进行维护处理，需要有一种作业平台搭载修复设备以及各种材料。在没有专用设备条件下，工程中往往采用类似于脚手架的简易平台，该脚手架平台危险系数高、移动不方便、施工效率低、影响渣土运输车通行。因此开发一种自行式隧道维护平台车具有重要意义，隧道维护平台车的技术关键在于平台车的航向角控制。本发明利用PLC、传感器技术结合平台车应用特点和隧道维护要求设计了一种隧道维护平台车航向角控制方法。In the process of tunnel shield construction, it is often necessary to maintain the segment, and a working platform is required to carry repair equipment and various materials. In the absence of special equipment, a simple platform similar to a scaffold is often used in the project. The scaffold platform has a high risk factor, is inconvenient to move, has low construction efficiency, and affects the passage of muck trucks. Therefore, it is of great significance to develop a self-propelled tunnel maintenance platform vehicle. The technical key of the tunnel maintenance platform vehicle lies in the heading angle control of the platform vehicle. The invention designs a heading angle control method of the platform vehicle for tunnel maintenance by utilizing PLC and sensor technology in combination with the application characteristics of the platform vehicle and the requirements of tunnel maintenance.

发明内容SUMMARY OF THE INVENTION

本发明所要解决的问题是提供一种隧道维护平台车航向角控制方法。本发明方法基于PLC与传感器技术，能够实现平台车自动行走控制，能反馈平台车的航向角信息并及时纠偏，保证平台车安全行驶。The problem to be solved by the present invention is to provide a heading angle control method of a tunnel maintenance platform vehicle. The method of the invention is based on PLC and sensor technology, can realize the automatic walking control of the platform vehicle, can feed back the heading angle information of the platform vehicle and correct the deviation in time, so as to ensure the safe running of the platform vehicle.

本发明通过以下技术方案实现：The present invention is achieved through the following technical solutions:

一种隧道维护平台车航向角控制方法，隧道维护平台由行走装置、支撑装置、作业平台、平台扶梯和平台护栏构成，其特征在于：航向角控制方法由控制机构和执行机构组成；A heading angle control method for a tunnel maintenance platform vehicle, wherein the tunnel maintenance platform is composed of a traveling device, a support device, a working platform, a platform escalator and a platform guardrail, and is characterized in that: the heading angle control method is composed of a control mechanism and an executive mechanism;

所述控制机构包括：设置于作业平台前横梁的前置二维激光雷达和后横梁的后置二维激光雷达，PLC控制模块；The control mechanism includes: a front two-dimensional laser radar set on the front beam of the working platform, a rear two-dimensional laser radar on the rear beam, and a PLC control module;

所述执行机构包括：设置于平台底部并沿各自轨道行走的左行走轮和右行走轮，由控制机构控制并驱动左行走轮的左液压马达、驱动右行走轮的右液压马达。The actuator includes: left and right traveling wheels arranged at the bottom of the platform and traveling along their respective tracks, a left hydraulic motor that drives the left traveling wheel and a right hydraulic motor that drives the right traveling wheel controlled by the control mechanism.

控制方法包括以下步骤：The control method includes the following steps:

1)PLC控制模块参数初始化，包括：二维激光雷达左前侧测距值L_左前，二维激光雷达左后侧测距值L_左后，二维激光雷达右前侧测距值L_右前，二维激光雷达测距值右后侧L_右后，当前航向角γ，允许航线角γmax，隧道半径R，二维激光雷达高度h，姿态参数K2；1) Initialization of PLC control module parameters, including: 2D lidar left front ranging value L_{front left} , 2D lidar left rear ranging value L_{left rear} , 2D lidar right front ranging value L_{front right} , 2D lidar ranging value L front Lidar ranging value is_{the right} rear L, the current heading angle γ, the allowable route angle γmax, the tunnel radius R, the two-dimensional lidar height h, and the attitude parameter K2;

2)前置和后置两组激光雷达固定在作业平台前、后横梁上，并实时获取L_左前、L_右前、L_左后、L_右后测距值并实时传送给PLC控制模块；2) Two sets of front and rear lidars are fixed on the front and rear beams of the work platform, and real-time acquisition of L_{left front} , L_{right front} , L_{left rear} , L_{right rear} ranging values and real-time transmission to the PLC control module;

3)PLC控制模块检测数据合法性；3) The PLC control module detects the validity of the data;

4)PLC控制模块计算前后椭圆长轴长度：4) The PLC control module calculates the length of the long axis of the front and rear ellipse:

前L1＝L_左前+L_右前；后L2＝L_左后+L_右后；Front L1 = L_{left front} + L_{right front} ; rear L2 = L_{left rear} + L_{right rear} ;

5)PLC控制模块计算当前航向角γ；

5) The PLC control module calculates the current heading angle γ;

6)PLC控制模块判断和控制调整：6) PLC control module judgment and control adjustment:

根据步骤5)计算结果，如γ≤γmax，则K2＝0，显示当前航向角γ并退出；According to the calculation result of step 5), if γ≤γmax, then K2=0, display the current heading angle γ and exit;

根据步骤5)计算结果，如γ＞γmax，则K2＝1，控制机构控制左液压马达驱动左行走轮、或控制右液压马达驱动右行走轮调整平台姿态；According to the calculation result of step 5), if γ>γmax, then K2=1, the control mechanism controls the left hydraulic motor to drive the left traveling wheel, or controls the right hydraulic motor to drive the right traveling wheel to adjust the attitude of the platform;

7)调整结束后，重复步骤2)至步骤6)γ≤γmax后结束。7) After the adjustment, repeat step 2) to step 6) γ≤γmax and end.

本发明方法根据平台车在隧道的行走模型搭建合适的姿态分析算法，并结合传感器技术获取姿态分析算法中所需要的数据信息，通过调节左右车轮液压马达转速形成转速差自动调节平台车的姿态。The method of the invention builds a suitable attitude analysis algorithm according to the walking model of the platform vehicle in the tunnel, obtains the data information required in the attitude analysis algorithm in combination with the sensor technology, and automatically adjusts the attitude of the platform vehicle by adjusting the rotational speed of the left and right wheel hydraulic motors to form a rotational speed difference.

本发明控制方法应用于一种能够自动行走、可调节航向角的设备，通过在平台车车身上安装测距传感器采集平台车的航向角信息，并通过PLC单元驱动机械、液压执行元件，利用平台车左右轮液压马达的转速差实现平台车航向角的自动纠偏。The control method of the present invention is applied to a device that can automatically walk and can adjust the heading angle. The heading angle information of the platform vehicle is collected by installing a ranging sensor on the body of the platform vehicle, and the mechanical and hydraulic actuators are driven by the PLC unit. The speed difference between the left and right wheel hydraulic motors of the vehicle realizes the automatic correction of the heading angle of the platform vehicle.

本发明实现了隧道维护平台车的航向角自动调节，保证了设备在允许的航向角范围内行走。The invention realizes the automatic adjustment of the heading angle of the tunnel maintenance platform vehicle, and ensures that the equipment travels within the allowable heading angle range.

本发明针对平台车在隧道内行走方式，构建了平台车的姿态算法，并根据算法合理的确定了传感器的安装位置，能够有效的控制平台车的航向角。The invention constructs an attitude algorithm of the platform vehicle according to the way that the platform vehicle travels in the tunnel, and reasonably determines the installation position of the sensor according to the algorithm, which can effectively control the heading angle of the platform vehicle.

附图说明Description of drawings

图1为平台车在圆形管道内行走模型；Figure 1 is a model of the platform vehicle walking in a circular pipe;

图2为平台车航向角示意图；Fig. 2 is the schematic diagram of the heading angle of the platform vehicle;

图3为二维激光雷达扫描示意图；Figure 3 is a schematic diagram of two-dimensional lidar scanning;

图4为二维激光雷达安装示意图；Figure 4 is a schematic diagram of the installation of a two-dimensional lidar;

图5为前置二维激光雷达扫描截面信息示意图；Figure 5 is a schematic diagram of the scanning section information of the front two-dimensional lidar;

图6为后置二维激光雷达扫描截面信息示意图；FIG. 6 is a schematic diagram of the scanning section information of the rear two-dimensional lidar;

图7为平台车航向角自动调节原理框图。Figure 7 is a schematic block diagram of the automatic adjustment of the heading angle of the platform vehicle.

图中，1是行走装置，2是支撑装置，3是伸缩作业平台，4是平台扶梯，5是固定作业平台，6是平台护栏；7位二维激光雷达，8为平台车横梁，9为隧道；10为前置二维激光雷达；11为后置二维激光雷达。In the figure, 1 is the walking device, 2 is the support device, 3 is the telescopic work platform, 4 is the platform escalator, 5 is the fixed work platform, 6 is the platform guardrail; 7-bit two-dimensional laser radar, 8 is the platform car beam, 9 is the platform car beam Tunnel; 10 is the front 2D lidar; 11 is the rear 2D lidar.

具体实施方式Detailed ways

下面结合具体实施方式对本发明进一步说明，具体实施方式是对本发明原理的进一步说明，不以任何方式限制本发明，与本发明相同或类似技术均没有超出本发明保护的范围。The present invention will be further described below in conjunction with the specific embodiments, which further illustrate the principles of the present invention and do not limit the present invention in any way, and the same or similar technologies as the present invention do not exceed the protection scope of the present invention.

结合附图。In conjunction with the attached drawings.

平台车在隧道内行走模型参见图1。See Figure 1 for the model of the platform vehicle walking in the tunnel.

平台车航向角示意图如图2所示，g1和g2为平台车前后两梁的中点，直线l₁为过g1点和g1点的直线，O₁为隧道的中心轴线在该平面内的投影，O₁与平台车前后两横梁的交点分别为k₁、k₂；l₂为过点k₁，k₂的直线。直线l₁与直线l₂的夹角即为平台车在隧道内的航向角γ。The schematic diagram of the heading angle of the platform truck is shown in Figure 2, g1 and g2 are the midpoints of the front and rear beams of the platform truck, the straight line_l1 is the straight line passing through points g1 and g1, and O1 is the projection of the central axis_of the tunnel in this plane , the intersection points of O₁ and the front and rear beams of the platform vehicle are respectively k₁ and k₂ ; l₂ is a straight line passing through the points k₁ and k₂ . The angle between the straight line l₁ and the straight line l₂ is the heading angle γ of the platform vehicle in the tunnel.

安装在平台车前后两端作业平台横梁的二维激光雷达，通过扫描隧道截面信息计算得出平台车航向角，如图3所示，O₀为隧道的中心线，平台车在隧道内存在姿态偏差，所以激光雷达扫描得到的截面一个椭圆。由图3可知，平台车的航向角γ为椭圆截面S₁与隧道正截面S₂之间的夹角γ；由分析可知，线段L0与L间的夹角即为平面S1与平面S2之间的夹角，且有：cosγ＝L0/L。The two-dimensional laser radar installed on the beams of the working platform at the front and rear ends of the platform vehicle can calculate the heading angle of the platform vehicle by scanning the tunnel section information. As shown in Figure 3, O₀ is the center line of the tunnel, and the platform vehicle has an attitude in the tunnel. deviation, so the section obtained by the lidar scan is an ellipse. It can be seen from Fig. 3 that the heading angle γ of the platform vehicle is the angle γ between the elliptical section S₁ and the front section S₂ of the tunnel; it can be seen from the analysis that the angle between the line segments L0 and L is the angle between the plane S1 and the plane S2. , and there are: cosγ=L0/L.

线段L0的测量方法如图4所示，h为激光雷达安装点到隧道最低点的距离，隧道的直径为R，则

The measurement method of the line segment L0 is shown in Figure 4, where h is the distance from the lidar installation point to the lowest point of the tunnel, and the diameter of the tunnel is R, then

平台车在行走过程中，前后两端安装的激光雷达扫描得到的截面信息如图5和图6所示；During the walking process of the platform vehicle, the cross-section information obtained by the lidar scanning installed at the front and rear ends is shown in Figure 5 and Figure 6;

前置二维激光雷达10获得L_左前、L_右前值，则L1＝L_左前+L_右前；The front two-dimensional lidar 10 obtains L_{front left} and L_{front right} values, then L1=L_{front left} + L_{front right} ;

后置二维激光雷达11获得L_左后、L_右后值，则L2＝L_左后+L_右后。The rear two-dimensional laser radar 11 obtains the values of L_{rear left} and L rear_right , then L2=L_{rear left} + L rear_right .

根据下式计算当前航向角γ是：

The current heading angle γ is calculated according to the following formula:

图7为平台车航向角自动调节原理框图，如图所示，首先对二维激光雷达测距值L_左前、L_左后、L_右前、L_右后，当前航向角γ，允许航线角Ymax，隧道半径R，参数K2，L1，L2进行参数初始化处理。在触摸屏中输入当前隧道半径、二维激光雷达安装高度、允许航线角偏差，PLC读取二维激光雷达测距值以及触摸屏中的相关参数的值；PLC对数据的合法性进行检查，如果数据不合法，则会提示错误信息，并返回上一步，如果数据合法，则进行下一步数据运算处理。Figure 7 is the principle block diagram of the automatic adjustment of the heading angle of the platform vehicle. As shown in the figure, first, the two-dimensional lidar ranging values L_{front left} , L_{rear left} , L_{front right} , and L rear_right , the current heading angle γ, the allowable route angle Ymax, Tunnel radius R, parameters K2, L1, L2 are initialized. Enter the current tunnel radius, 2D lidar installation height, and allowable route angle deviation on the touch screen, and the PLC reads the 2D lidar ranging value and the values of related parameters on the touch screen; the PLC checks the validity of the data, if the data If it is not legal, it will prompt an error message and return to the previous step. If the data is legal, proceed to the next step of data processing.

PLC根据计算式

中航向角计算模型对平台车的当前航向角进行计算，并将计算结果与平台车的允许航向角进行比较，若当前航向角小于或等于允许航向角，则参数K2＝0，车则平台车不需要进行姿态调整；若当前航向角大于允许航向角，则参数K2＝1，则平台车会自动进行姿态调整。PLC according to the calculation formula

The middle heading angle calculation model calculates the current heading angle of the platform vehicle, and compares the calculation result with the allowable heading angle of the platform vehicle. If the current heading angle is less than or equal to the allowable heading angle, the parameter K2=0, the vehicle is the platform vehicle Attitude adjustment is not required; if the current heading angle is greater than the allowable heading angle, and the parameter K2=1, the platform vehicle will automatically adjust the attitude.

Claims (1)

Translated fromChinese

1.一种隧道维护平台车航向角控制方法，隧道维护平台由行走装置、支撑装置、作业平台、平台扶梯和平台护栏构成，其特征在于：航向角控制方法由控制机构和执行机构完成；1. a heading angle control method of a tunnel maintenance platform vehicle, the tunnel maintenance platform is made up of running gear, support device, work platform, platform escalator and platform guardrail, it is characterized in that: the heading angle control method is completed by a control mechanism and an executive mechanism;所述控制机构包括：设置于作业平台前横梁的前置二维激光雷达和后横梁的后置二维激光雷达，PLC控制模块；The control mechanism includes: a front two-dimensional laser radar set on the front beam of the working platform, a rear two-dimensional laser radar on the rear beam, and a PLC control module;所述执行机构包括：设置于平台底部并沿各自轨道行走的左行走轮和右行走轮，由控制机构控制并驱动左行走轮的左液压马达、驱动右行走轮的右液压马达。The actuator includes: left and right traveling wheels arranged at the bottom of the platform and traveling along their respective tracks, a left hydraulic motor that drives the left traveling wheel and a right hydraulic motor that drives the right traveling wheel controlled by the control mechanism.控制方法包括以下步骤：The control method includes the following steps:1)PLC控制模块参数初始化，包括：前置二维激光雷达左前侧测距值L_左前，后置二维激光雷达左后侧测距值L_左后，前置二维激光雷达右前侧测距值L_右前，后置二维激光雷达测距值右后侧L_右后，当前航向角γ，允许航线角γmax，隧道半径R，二维激光雷达高度h，姿态参数K2；1) Initialization of the parameters of the PLC control module, including: the front 2D lidar ranging value L on the_{front left} , the rear 2D lidar ranging value L on the_{left rear} , and the front 2D lidar on the right front ranging The value L is_{front right} , the distance measurement value of the rear 2D lidar is L rear_right , the current heading angle γ, the allowable route angle γmax, the tunnel radius R, the height h of the 2D lidar, and the attitude parameter K2;2)前置和后置两组激光雷达固定在作业平台前、后横梁上，并实时获取L_左前、L_右前、L_左后、L_右后测距值并实时传送给PLC控制模块；2) Two sets of front and rear lidars are fixed on the front and rear beams of the work platform, and real-time acquisition of L_{left front} , L_{right front} , L_{left rear} , L_{right rear} ranging values and real-time transmission to the PLC control module;3)PLC控制模块检测数据合法性；3) The PLC control module detects the validity of the data;4)PLC控制模块计算前后椭圆长轴长度：4) The PLC control module calculates the length of the long axis of the front and rear ellipse:L1＝L_左前+L_右前，L2＝L_左后+L_右后；L1=L_{left front} +L_{right front} , L2=L_{left rear} +L_{right rear} ;5)PLC控制模块计算当前航向角γ：5) The PLC control module calculates the current heading angle γ:

6)PLC控制模块判断和控制调整：6) PLC control module judgment and control adjustment:根据步骤5)计算结果，如γ≤γmax，则K2＝0，显示当前航向角γ并退出；According to the calculation result of step 5), if γ≤γmax, then K2=0, display the current heading angle γ and exit;根据步骤5)计算结果，如γ＞γmax，则K2＝1，控制机构控制左液压马达驱动左行走轮、或控制右液压马达驱动右行走轮调整平台姿态；According to the calculation result of step 5), if γ>γmax, then K2=1, the control mechanism controls the left hydraulic motor to drive the left traveling wheel, or controls the right hydraulic motor to drive the right traveling wheel to adjust the attitude of the platform;7)调整结束后，重复步骤2)至步骤6)γ≤γmax后结束。7) After the adjustment, repeat step 2) to step 6) γ≤γmax and end.

Images