The invention relates to a split type girder transporting vehicle attitude control method, system and device and a medium. The method comprises the steps that attitude information of a front girder transporting trolley and a rear girder transporting trolley which carry box girders and run on a lane is obtained in real time; and according to the pose information, determining transverse deviation values between the front beam transporting trolley and the center of the lane and between the rear beam transporting trolley and the center of the lane and corner values between the front beam transporting trolley and the box beam and between the rear beam transporting trolley and the box beam, and judging whether the front beam transporting trolley and the rear beam transporting trolley deviate from the center of the lane or not. When judging that the front girder transporting trolley and the rear girder transporting trolley deviate from the center of the lane, controlling the front girder transporting trolley to run to the center of the lane after the transverse deviation value of the front girder transporting trolley serves as input and wheel set steering serves as output, and controlling the rear girder transporting trolley to run to the center of the lane after the rear girder transporting trolley and the box girder turn angle value and the transverse deviation value serve as input and wheel set steering serves as output; and the rear beam transporting trolley is controlled to steer in a half-splayed mode or steer in an inclined mode and then runs to the center of the lane, and transverse control and automatic centering of the front beam transporting trolley and the rear beam transporting trolley are completed.
本申请涉及一种分体式运梁车姿态控制方法、系统、设备及介质,所述方法包括:实时获取载有箱梁的前运梁台车和后运梁台车行驶在车道上的位姿信息。根据位姿信息确定前运梁台车和后运梁台车与车道中心的横向偏差值,以及前运梁台车和后运梁台车分别与箱梁的转角值,判断前运梁台车和后运梁台车是否偏离车道中心。当判断前运梁台车和后运梁台车偏离车道中心后,以前运梁台车的横向偏差值为输入,以轮组转向为输出,控制前运梁台车半八字转向后行驶至车道中心,以后运梁台车与箱梁的转角值和横向偏差值为输入,以轮组转向为输出,控制后运梁台车半八字转向或斜行转向后行驶至车道中心,完成前运梁台车和后运梁台车横向控车和自动回中。
Split type beam transporting vehicle attitude control method, system, equipment and medium
一种分体式运梁车姿态控制方法、系统、设备及介质
25.06.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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