Tractor walking control system

• Main Authors: GAO DONG, WEI TIANHUA, FENG JICHI, XIAO XINXIANG, JIA YONGLE
• Format: Patent
• Language: Chinese; English
• Published: 20.10.2023
• Subjects: AIRCRAFT; AVIATION; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COSMONAUTICS; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING ORREPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; ELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLEDVEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL; GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLYADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFTCOMPONENTS, NOT OTHERWISE PROVIDED FOR; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL; VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISEPROVIDED FOR

The invention relates to a tractor walking control system, which comprises a driving control system, a radar and a battery, the driving control system comprises a remote controller, a PLC controller, a wheel side motor encoder and a gyroscope, the gyroscope, the remote controller and the PLC controller, the battery and the PLC controller, and the PLC controller and the wheel side motor encoder are connected through a CAN bus. The radars are placed in four directions of the tractor, and the gyroscope is placed in the center of the tractor. The system utilizes the remote controller to realize walking, turning, braking and sudden stop of the tractor; obstacles in a certain range in four directions are detected through the radar, and braking or sudden stop of the tractor is achieved; according to the system, the walking and turning functions of the tractor are completed through differential control, and the speed closed-loop control process is achieved through the gyroscope arranged on the tractor body. 本发明涉及一种牵引