CN103669188B - Milling machine and rotating direction control method, device, steering control system - Google Patents
Milling machine and rotating direction control method, device, steering control system Download PDFInfo
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- CN103669188B CN103669188B CN201310674423.7A CN201310674423A CN103669188B CN 103669188 B CN103669188 B CN 103669188B CN 201310674423 A CN201310674423 A CN 201310674423A CN 103669188 B CN103669188 B CN 103669188B
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Abstract
The invention provides a kind of milling machine and rotating direction control method, device, steering control system.Rotating direction control method, comprising: the current demarcation position obtaining non-milling road surface and milling road surface; According to the reference position on milling machine and the position relationship between this current boundary position, control turning to of milling machine.The present invention is by crossing the measurement of the distance on road surface and non-milling road surface to milling, draw direction controlling when milling machine works, thus the object in the direction of milling machine when reaching automatic control work, alleviate the working strength of operator, effectively decrease potential safety hazard during milling machine work, improve the milling efficiency of milling machine simultaneously.
Description
Technical field
The present invention relates to milling machine field, more specifically, relate to a kind of milling machine and rotating direction control method, device, steering control system.
Background technology
Milling machine is the maintenance of equipment of a kind of pavement maintenance efficiently, and in the course of the work, its course changing control all operates realization by tractor driver to milling machine of the prior art.
Ensure the milling exceeded when the changing milling road surface to milling again in order to ensure efficiency, tractor driver must control milling machine at every turn and walk along the edge on the road surface of milling last time as far as possible, thus ensures that the often place on road surface is all by milling.Like this, can cause when real work, too much energy has been used in and has controlled on the direction of travel of milling machine by tractor driver, but during milling machine real work, tractor driver needs to pay close attention to a lot of operation informations, energy can not be placed in the accurate control in direction completely.Further, milling route is operated by tractor driver completely, makes the degree of dependence of tractor driver's subjectivity larger, may reduce the milling efficiency of milling machine when fatigue appears in tractor driver, also reduces safety during milling machine work.
Summary of the invention
The present invention aims to provide a kind of milling machine and rotating direction control method, device, steering control system, to solve in prior art the problem of the automatic control that cannot realize milling route.
For solving the problems of the technologies described above, according to a first aspect of the invention, provide a kind of rotating direction control method of milling machine, comprising: the current demarcation position obtaining non-milling road surface and milling road surface; According to the reference position on milling machine and the position relationship between this current boundary position, control turning to of milling machine.
Further, the current demarcation position obtaining non-milling road surface and milling road surface comprises: obtain arrange in the same horizontal line and the distance of multiple discrete reference point that milling machine is synchronized with the movement and the non-milling road surface below corresponding reference point or the vertical direction between milling road surface, wherein, multiple reference point is by being 1 by non-milling road surface to the direction number consecutively on milling road surface, 2, n, the distance corresponding to multiple reference point is respectively D
1, D
2..., D
n; According to the distance corresponding to each reference point, determine current demarcation position.
Further, according to the distance corresponding to each reference point, determine that current demarcation position comprises: reference range setting steps, the distance corresponding to the reference point being numbered n is set to reference range; Current distance setting steps, is set to current distance by the distance corresponding to the reference point being numbered j, wherein, and j ∈ [n-1,1]; Current demarcation position judgment step, whether the first difference of judgment standard distance and current distance is in the first allowed band, if, then and the distance of numbering less that reference point corresponding to adjacent with the reference point corresponding to current distance is circulated perform above-mentioned judgement as current distance, until the first difference exceeds the first allowed band and using the reference point corresponding to current distance now as current demarcation position.
Further, in current distance setting steps, j=n-1.
Further, according to the reference position on milling machine and the position relationship between this current boundary position, also comprise before controlling the turning to of milling machine: whether the difference between the numbering judging the numbering of the reference point corresponding to current demarcation position and the reference point corresponding to history boundary position of previous moment exceeds the second allowed band, if so, then using the history boundary position of previous moment as current demarcation position.
Further, according to the reference position on milling machine and the position relationship between this current boundary position, also comprise before controlling the turning to of milling machine: obtain milling machine construction and to advance the boundary path in front; Deviation between the current demarcation position relatively obtained by the boundary position obtaining non-milling road surface and milling road surface and boundary path, if deviation exceeds the 3rd allowed band, then using the history boundary position of previous moment as current demarcation position.
Further, obtain the advance boundary path in front of milling machine construction to comprise: according to range determination method or image taking method obtain be positioned at milling machine construction advance front boundary position thus obtain the path that demarcates.
Further, obtain the advance boundary path in front of milling machine construction to comprise: obtain pavement image; Current demarcation position is obtained according to pavement image.
Further, according to the reference position on milling machine and the position relationship between this current boundary position, control turning to of milling machine to comprise: if current demarcation position is positioned at the side of the reference position on milling machine, then control milling machine and turn to the opposite side contrary with side.
Further, when the quantity of reference point is odd number, reference position is the position at that reference point place of middle in the multiple reference points on same level line, when the quantity of reference point is even number, reference position is the position at any one reference point place in two reference points of middle in the multiple reference points on same level line.
According to a second aspect of the invention, provide a kind of steering control device of milling machine, comprising: current demarcation position acquisition module, for obtaining the current demarcation position on non-milling road surface and milling road surface; Course changing control module, for according to the position relationship between the reference position on milling machine and this current boundary position, controls turning to of milling machine.
Further, current demarcation position acquisition module comprises: distance acquisition module, for obtain setting in the same horizontal line and the distance of multiple discrete reference point that milling machine is synchronized with the movement and the non-milling road surface below corresponding reference point or the vertical direction between milling road surface, wherein, multiple reference point is by being 1 by non-milling road surface to the direction number consecutively on milling road surface, 2 ... n, the distance corresponding to multiple reference point is respectively D
1, D
2..., D
n; Position determination module, for the distance corresponding to each reference point, determines current demarcation position.
Further, position determination module comprises: reference range arranges module, for the distance corresponding to the reference point being numbered n is set to reference range; Current distance arranges module, for the distance corresponding to the reference point being numbered j is set to current distance, wherein, and j ∈ [n-1,1]; Current demarcation position judging module, for the first difference of judgment standard distance and current distance whether in the first allowed band, if, then and the distance of numbering less that reference point corresponding to adjacent with the reference point corresponding to current distance is circulated perform above-mentioned judgement as current distance, until the first difference exceeds the first allowed band and using the reference point corresponding to current distance now as current demarcation position.
Further, also comprise: error correction module, for the first numbering and previous moment that judge reference point corresponding to current demarcation position history boundary position corresponding to reference point second number between difference whether exceed the second allowed band, if so, then using the history boundary position of previous moment as current demarcation position.
Further, also comprising: Trace predict module, to advance the boundary path in front for obtaining milling machine construction; Error correction module, for comparing the deviation between the current demarcation position that obtained by current demarcation position acquisition module and boundary path, if deviation exceeds the 3rd allowed band, then using the history boundary position of previous moment as current demarcation position.
Further, current demarcation position acquisition module comprises: pavement image acquisition module, for obtaining pavement image; Image processing module, for obtaining current demarcation position according to pavement image.
According to a third aspect of the present invention, provide a kind of steering control system of milling machine, comprising: current demarcation position detection unit, for obtaining the current demarcation positional information on non-milling road surface and milling road surface; Control device, for obtaining the current demarcation position on non-milling road surface and milling road surface according to current demarcation positional information, and according to the reference position on milling machine and the position relationship between this current boundary position, controls turning to of milling machine.
Further, current demarcation position detection unit comprises multiple spaced detecting unit successively, for obtain setting in the same horizontal line and the distance of multiple discrete reference point that milling machine is synchronized with the movement and the non-milling road surface below corresponding reference point or the vertical direction between milling road surface; Control device, according to the relation of multiple distance with reference range, determines current demarcation position.
Further, steering control system also comprises: boundary path detection unit, comprise detection arrays, detection arrays is formed by with the mutually isostructural detecting unit of multiple current demarcation position detection unit, is positioned at milling machine construction advances the current demarcation position in front for obtaining; Control device is electrically connected with boundary path detection unit, and according to boundary path detection unit inspection to multiple current demarcation positions determine that milling machine construction is advanced the boundary path in front, then the deviation between current demarcation position and boundary path obtained by current demarcation position detection unit is compared, if deviation exceeds the 3rd allowed band, then using the history boundary position of previous moment as current demarcation position.
Further, steering control system also comprises: image acquisition unit, is connected with control device, and for obtaining pavement image, control device obtains current demarcation position according to pavement image.
According to a fourth aspect of the present invention, provide a kind of milling machine, comprise above-mentioned steering control device or above-mentioned steering control system.
The present invention is by crossing the measurement of the distance on road surface and non-milling road surface to milling, draw direction controlling when milling machine works, thus the object in the direction of milling machine when reaching automatic control work, alleviate the working strength of operator, effectively decrease potential safety hazard during milling machine work, improve the milling efficiency of milling machine simultaneously.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates the structure principle chart of the steering control system in the present invention;
Fig. 2 diagrammatically illustrates the structural representation of boundary position detecting unit;
Fig. 3 diagrammatically illustrates the fundamental diagram of the steering control system had in the present invention;
Fig. 4 diagrammatically illustrates the structural representation of boundary path detection unit;
Fig. 5 diagrammatically illustrates control flow chart of the present invention;
Fig. 6 diagrammatically illustrates the decision flow chart of jump;
Fig. 7 diagrammatically illustrates operating mode schematic diagram during the first road surface;
Fig. 8 diagrammatically illustrates operating mode schematic diagram during the second road surface;
Fig. 9 diagrammatically illustrates operating mode schematic diagram during the third road surface; And
Figure 10 diagrammatically illustrates the functional block diagram of steering control device.
Detailed description of the invention
Below embodiments of the invention are described in detail, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As a first aspect of the present invention, please refer to Fig. 1 to Fig. 3, provide a kind of steering control system of milling machine, comprising: current demarcation position detection unit, for obtaining the current demarcation positional information on non-milling road surface and milling road surface; Control device, for obtaining the current demarcation position on non-milling road surface and milling road surface according to current demarcation positional information, and according to the reference position on milling machine and the position relationship between this current boundary position, controls turning to of milling machine.
Please refer to Fig. 1 to Fig. 3, current demarcation position detection unit can be arranged on milling machine 2, and synchronously moves along with the motion of milling machine.Like this, just detect in real time by current demarcation position detection unit road pavement (comprise non-milling road surface with milling road surface), thus obtain the current demarcation positional information on road surface, and this road boundary information is sent to control device.When after the current demarcation positional information that control device receives from current demarcation position detection unit, from this current boundary position information, determine actual current demarcation position.Then, this current boundary position and the reference position be arranged on milling machine can compare by control device, like this, just determine steering direction and degree by the relative position relation between this reference position and this current boundary position, thus control turning to of milling machine.Especially, in one embodiment, control device is connected with the front crawler belt switching valve of milling machine, by the control to front crawler belt switching valve, reaches the object controlling to turn to.
Please refer to Fig. 1 and Fig. 2, in one embodiment, current demarcation position detection unit can comprise multiple spaced detecting unit 3 successively, for obtain setting in the same horizontal line and multiple discrete reference point that milling machine 2 is synchronized with the movement and the non-milling road surface A below corresponding reference point or the distance between the B of milling road surface; Control device, according to the relation of multiple distance with reference range, determines current demarcation position.Such as, these detecting units can be range units of the prior art.As shown in Figure 2, these detecting units 3 are arranged on support 1, and arrange along a straight line, thus form current demarcation position detection unit.
Please refer to Fig. 3, current demarcation position detection unit is arranged on milling machine 2, one pleurapophysis is for the outside of milling machine, and extend to the direction on non-milling road surface, that is, a part for current demarcation position detection unit is positioned at the top on non-milling road surface, and another part is positioned at the top on milling road surface.Thus, just can detect non-milling road surface and milling road surface relative to the distance (i.e. height) of the support of current demarcation position detection unit.Control device judges the situation of change of the distance detected by multiple detecting unit, and obtains current demarcation position.Such as, because milling road surface is lower than non-milling road surface, the distance that the distance that the detecting unit being therefore positioned at milling upper pavement surface detects detects than the detecting unit being positioned at non-milling upper pavement surface is large.Control device is by the comparison to each distance, and determine the jump of distance, namely this jump corresponds to current demarcation position.
In one embodiment, the reference position of milling machine can be the position at certain detecting unit Da place.During practical operation, can to excessively artificial mode, first that this detecting unit is corresponding with the actual boundary position on road surface in advance.Such as, reference position can be that detecting unit of the middle being positioned at current demarcation position detection unit.Like this, in the process that subsequent construction is advanced, just can control having turned to of milling machine according to this reference position.Please refer to Fig. 3, if the current demarcation position that control device is determined is positioned at the left side of reference position, so control device just control milling machine turn left to; Otherwise, then turn right to.
Further, control device can also according to the horizontal range between reference position and current demarcation position, determines the angle that turns to or degree.Further, also these information can be shown in display unit in real time, to make operating personnel can from Real Time Observation screen in the process turned to, the situation of change between reference position and current demarcation position.Especially, control device also after reference position and current demarcation position consistency being detected, can control milling machine and stops continuing to turn to automatically.
Consider convexo concave when current demarcation position detection unit and pavement construction, the actual current demarcation position determined of control device is likely caused to occur error even mistake, please refer to Fig. 4, in a preferred embodiment, steering control system also comprises: boundary path detection unit, comprise detection arrays, detection arrays is formed by with the mutually isostructural detecting unit of multiple current demarcation position detection unit, is positioned at milling machine construction advances the current demarcation position in front for obtaining; Control device is electrically connected with boundary path detection unit, and according to boundary path detection unit inspection to multiple current demarcation positions determine that milling machine construction is advanced the boundary path in front, then the deviation between current demarcation position and boundary path obtained by current demarcation position detection unit is compared, if deviation exceeds the 3rd allowed band, then using the history boundary position of previous moment as current demarcation position.This history boundary position can be current time before the current demarcation position that uses of a certain moment (such as 1 second, 2 seconds etc.).
Like this, by the path pre-estimated, just can judge that whether the boundary position of the current time that control device draws is reasonable, get rid of irrational boundary position.Further, because the actual boundary position in road surface can not be undergone mutation, therefore, when finding that the boundary position determined of control device is unreasonable, the boundary position of the historical juncture before section a certain blink can be utilized to replace the boundary position of current time to carry out course changing control.Thus, accuracy of the present invention, reliability and adaptivity can be improved, be applicable to the operating mode that there is interference or road surface convexo concave complexity.In another interchangeable embodiment, course changing control is carried out in the boundary path that the present invention also can directly use above-mentioned prediction to obtain.
In a further advantageous embodiment, steering control system also comprises: image acquisition unit, is connected with control device, and for obtaining pavement image (such as, by camera or industrial camera etc.), control device obtains current demarcation position according to pavement image.Especially, control device also directly can obtain according to pavement image the path that demarcates, and directly utilizes this boundary path to carry out course changing control.
By the one section of boundary path cooked up in this each embodiment, direction of travel can be controlled more accurately, the speed of travel faster can be dealt with simultaneously.
The distance on road surface and non-milling road surface is crossed in the installation place that the present invention measures this device by a range unit and milling, direction controlling when showing that milling machine works by control device analytical calculation, thus the object in the direction of milling machine when reaching automatic control work, alleviate the working strength of operator, effectively decrease potential safety hazard during milling machine work, improve the milling efficiency of milling machine simultaneously.
As a second aspect of the present invention, please refer to Fig. 5, provide a kind of rotating direction control method of milling machine, comprising: the current demarcation position obtaining non-milling road surface and milling road surface; According to the reference position on milling machine and the position relationship between this current boundary position, control turning to of milling machine.Especially, when the quantity of reference point is odd number, reference position is the position at that reference point place of middle in the multiple reference points on same level line, when the quantity of reference point is even number, reference position is the position at any one reference point place in two reference points of middle in the multiple reference points on same level line.
Such as, reference position can be a certain position be set in advance on milling machine, during practical operation, can to excessively artificial mode, and first that this reference position is corresponding with the actual boundary position on road surface in advance.Like this, in the process that subsequent construction is advanced, just can control having turned to of milling machine according to this reference position.Please refer to Fig. 3, if the current demarcation position determined is positioned at the left side of reference position, so control milling machine turn left to; Otherwise, then turn right to.
Preferably, incorporated by reference to Fig. 2, the current demarcation position obtaining non-milling road surface and milling road surface comprises: obtain arrange in the same horizontal line and the distance of multiple discrete reference point that milling machine is synchronized with the movement and the non-milling road surface below corresponding reference point or the vertical direction between milling road surface, wherein, multiple reference point is by being 1 by non-milling road surface to the direction number consecutively on milling road surface, 2 ... n, the distance corresponding to multiple reference point is respectively D
1, D
2..., D
n; According to the distance corresponding to each reference point, determine current demarcation position.Here distance, in fact refers to the difference in height on each reference point and road surface.
Preferably, please refer to Fig. 6, according to the distance corresponding to each reference point, determine that current demarcation position comprises: reference range setting steps, by be numbered n reference point corresponding to distance D
nbe set to reference range; Current distance setting steps, by be numbered j reference point corresponding to distance D
jbe set to current distance, wherein, j ∈ [n-1,1]; Current demarcation position judgment step, whether the first difference of judgment standard distance and current distance is in the first allowed band Q, if, then and the distance of numbering less that reference point corresponding to adjacent with the reference point corresponding to current distance is current distance (even j=j-1) and circulates to perform above-mentioned judgement, until the first difference exceeds the first allowed band Q and by current distance D
jcorresponding reference point is as current demarcation position.Preferably, in current distance setting steps, j=n-1.Incorporated by reference to Fig. 3, can first using the distance corresponding to the detecting unit of the rightmost side as reference range D
n, then from right to left each distance and this reference range are compared successively, like this, when finding that there is jump change, can jump be determined, thus obtain current demarcation position.
Fig. 7 to Fig. 9 respectively illustrates the road surface of three kinds of different situations.Wherein, when Fig. 7 is perfect condition, the interface on non-milling road surface and milling road surface, it is vertical direction, now only there is a jump.The interface of Fig. 8 is that domatic filters, and therefore, there is multiple jump.Fig. 9 is the situation that there is groove on non-milling road surface, in this case, also there is multiple jump.In order to realize the judgement of the complex working condition to multiple jump, when the process described above is used, because each distance compares with reference range by the never milling road surface direction to milling road surface successively, when first jump being detected, current demarcation position can be defined as.Thus when simplifying multi-hop point, be difficult to reasonably determine which jump is the problem of actual separation.
In order to avoid determining error during current demarcation position, the irrational boundary position of filtering, in a preferred embodiment, this method is according to the reference position on milling machine and the position relationship between this current boundary position, also comprise before controlling the turning to of milling machine: whether the difference between the second numbering j ' judging the first numbering j of the reference point corresponding to current demarcation position and the reference point corresponding to history boundary position of previous moment exceeds the second allowed band C, if so, then using history boundary position as current demarcation position.Wherein, the first numbering and second number between difference actually represent the range information of horizontal direction.On this basis, because the actual boundary position in road surface can not be undergone mutation, therefore, when finding that the boundary position determined is unreasonable, the boundary position of the historical juncture before section a certain blink can be utilized to replace the boundary position of current time to carry out course changing control.Thus, accuracy of the present invention, reliability and adaptivity can be improved, be applicable to the operating mode that there is interference or road surface convexo concave complexity.
In another preferred embodiment, this method according to the position relationship between reference position on milling machine and this current boundary position, also comprises before controlling the turning to of milling machine: obtain milling machine construction and to advance the boundary path in front; Deviation between the current demarcation position relatively obtained by the boundary position obtaining non-milling road surface and milling road surface and boundary path, if deviation exceeds the 3rd allowed band, then using the history boundary position of previous moment as current demarcation position.On this basis, because the actual boundary position in road surface can not be undergone mutation, therefore, by the change between boundary position and the boundary path of prediction, judge that whether the boundary position determined is reasonable.When unreasonable, the boundary position of the historical juncture before section a certain blink can be utilized to replace the boundary position of current time to carry out course changing control.Thus, accuracy of the present invention, reliability and adaptivity can be improved, be applicable to the operating mode that there is interference or road surface convexo concave complexity.
In a preferred embodiment, obtain the advance boundary path in front of milling machine construction to comprise: according to the method identical with the current demarcation position on milling road surface with obtaining non-milling road surface, obtain be positioned at milling machine construction advance front boundary position thus obtain the path that demarcates.
Preferably, in the above-described embodiments, history boundary position is the current demarcation position obtained of previous moment, and wherein, the time difference between historical juncture and current time is the very first time.Such as, the very first time can be 1 second or 2 seconds etc., and it can be determined according to requirement of engineering.
In another preferred embodiment, obtain the advance boundary path in front of milling machine construction to comprise: obtain pavement image, such as, by camera or industrial camera etc.; Current demarcation position is obtained according to pavement image.Utilize image recognition processing technology of the prior art, current demarcation position can be obtained from pavement image.
Preferably, according to the reference position on milling machine and the position relationship between this current boundary position, control turning to of milling machine and comprise: if current demarcation position is positioned at the side of reference position, then control milling machine and turn to the opposite side contrary with side.Preferably, reference position is the position at a place in multiple reference point.
As a third aspect of the present invention, please refer to Figure 10, provide a kind of steering control device of milling machine, comprising: current demarcation position acquisition module 100, for obtaining the current demarcation position on non-milling road surface and milling road surface; Course changing control module, for according to the position relationship between the reference position on milling machine and this current boundary position, controls turning to of milling machine.
Preferably, incorporated by reference to Fig. 2, current demarcation position acquisition module comprises: distance acquisition module, for obtain setting in the same horizontal line and the distance of multiple discrete reference point that milling machine is synchronized with the movement and the non-milling road surface below corresponding reference point or the vertical direction between milling road surface, wherein, multiple reference point is by being 1,2 by non-milling road surface to the direction number consecutively on milling road surface, n, the distance corresponding to multiple reference point is respectively D
1, D
2..., D
n; Position determination module 110, for the distance corresponding to each reference point, determines current demarcation position.
Preferably, position determination module 100 comprises: reference range arranges module, for the distance corresponding to the reference point being numbered n is set to reference range; Current distance arranges module, for the distance corresponding to the reference point being numbered j is set to current distance, wherein, and j ∈ [n-1,1]; Current demarcation position judging module, for the first difference of judgment standard distance and current distance whether in the first allowed band, if, then and the distance of numbering less that reference point corresponding to adjacent with the reference point corresponding to current distance is current distance and circulates to perform above-mentioned judgement, until the first difference exceeds the first allowed band and using the reference point corresponding to current distance as current demarcation position.Preferably, arrange in module in current distance, the initial value of j is n-1.Incorporated by reference to Fig. 3, can first using the distance corresponding to the detecting unit of the rightmost side as reference range D
n, then from right to left each distance and this reference range are compared successively, like this, when finding that there is jump change, can jump be determined, thus obtain current demarcation position.
Preferably, also comprise: error correction module, for the first numbering and previous moment that judge reference point corresponding to current demarcation position history boundary position corresponding to reference point second number between difference whether exceed the second allowed band, if so, then using history boundary position as current demarcation position.
Preferably, also comprising: Trace predict module, to advance the boundary path in front for obtaining milling machine construction; Error correction module, for comparing the deviation between the boundary position that obtained by current demarcation position acquisition module and boundary path, if deviation exceeds the 3rd allowed band, then using the history boundary position of previous moment as current demarcation position.
Preferably, current demarcation position acquisition module comprises: pavement image acquisition module, for obtaining pavement image; Image processing module, for obtaining current demarcation position according to pavement image.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
As a fourth aspect of the present invention, provide a kind of milling machine, comprise above-mentioned steering control device or above-mentioned steering control system.Owing to have employed above-mentioned steering control device or steering control system, thus, the accuracy of travelling control when can ensure that milling machine works.
Pass through the present invention, only need on the basis of original milling machine electric-control system, add steering control device or the steering control system that has range finding linear array, milling machine can be made operationally automatically to adjust direction of travel, thus the fatigue strength of tractor driver is reduced, thus reduce the possibility of the safety problem that some are caused by tractor driver's operate miss, avoid the low milling efficiency that more subjective operation errors of tractor driver cause simultaneously.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (18)
1. a rotating direction control method for milling machine, is characterized in that, comprising:
Obtain the current demarcation position on non-milling road surface and milling road surface;
According to the reference position on described milling machine and the position relationship between this current boundary position, control turning to of described milling machine;
Wherein, obtain non-milling road surface to comprise with the current demarcation position on milling road surface:
Obtain arrange in the same horizontal line and the distance of multiple discrete reference point that described milling machine is synchronized with the movement and non-milling road surface described in below corresponding described reference point or the vertical direction between the described road surface of milling, wherein, described multiple reference point is by being 1 by described non-milling road surface to the direction number consecutively on the described road surface of milling, 2, n, the distance corresponding to described multiple reference point is respectively D
1, D
2..., D
n;
According to the distance corresponding to each described reference point, determine described current demarcation position.
2. rotating direction control method according to claim 1, is characterized in that, according to the distance corresponding to each described reference point, determines that described current demarcation position comprises:
Reference range setting steps, is set to reference range by the distance corresponding to the reference point being numbered n;
Current distance setting steps, is set to current distance by the distance corresponding to the reference point being numbered j, wherein, and j ∈ [n-1,1];
Current demarcation position judgment step, judge that the first difference of described reference range and described current distance is whether in the first allowed band, if, then and the distance of numbering less that reference point corresponding to adjacent with the reference point corresponding to described current distance is circulated perform above-mentioned judgement as current distance, until described first difference exceeds described first allowed band and using the reference point corresponding to described current distance now as described current demarcation position.
3. rotating direction control method according to claim 2, is characterized in that, in described current distance setting steps, and j=n-1.
4. rotating direction control method according to claim 1, is characterized in that, according to the reference position on described milling machine and the position relationship between this current boundary position, also comprises before controlling the turning to of described milling machine:
Whether the difference between the numbering judging the numbering of the reference point corresponding to described current demarcation position and the reference point corresponding to history boundary position of previous moment exceeds the second allowed band, if so, then using the history boundary position of described previous moment as described current demarcation position.
5. rotating direction control method according to claim 1, is characterized in that, according to the reference position on described milling machine and the position relationship between this current boundary position, also comprises before controlling the turning to of described milling machine:
Obtain milling machine construction to advance the boundary path in front;
Deviation between the current demarcation position relatively obtained by the boundary position on described acquisition non-milling road surface and milling road surface and described boundary path, if described deviation exceeds the 3rd allowed band, then using the history boundary position of previous moment as described current demarcation position.
6. rotating direction control method according to claim 5, is characterized in that, obtains the advance boundary path in front of milling machine construction and comprises:
According to range determination method or image taking method obtain be positioned at milling machine construction advance front boundary position thus obtain described boundary path.
7. rotating direction control method according to claim 5, is characterized in that, obtains the advance boundary path in front of milling machine construction and comprises:
Obtain pavement image;
Described current demarcation position is obtained according to described pavement image.
8. rotating direction control method according to claim 1, is characterized in that, according to the position relationship between described reference position on milling machine and this current boundary position, controls turning to of described milling machine and comprises:
If described current demarcation position is positioned at the side of the described reference position on described milling machine, then controls described milling machine and turn to the opposite side contrary with described side.
9. rotating direction control method according to claim 1, it is characterized in that, when the quantity of described reference point is odd number, described reference position is the position at that reference point place of middle in the described multiple reference point on described same level line, when the quantity of described reference point is even number, described reference position is the position at reference point place described in any one in two reference points of middle in the described multiple reference point on described same level line.
10. a steering control device for milling machine, is characterized in that, comprising:
Current demarcation position acquisition module, for obtaining the current demarcation position on non-milling road surface and milling road surface;
Course changing control module, for according to the position relationship between the reference position on described milling machine and this current boundary position, controls turning to of described milling machine;
Wherein, described current demarcation position acquisition module comprises:
Distance acquisition module, for obtain setting in the same horizontal line and multiple discrete reference point that described milling machine is synchronized with the movement and below corresponding described reference point described in the distance of vertical direction between non-milling road surface or the described road surface of milling, wherein, described multiple reference point is by being 1 by described non-milling road surface to the direction number consecutively on the described road surface of milling, 2, n, the distance corresponding to described multiple reference point is respectively D
1, D
2..., D
n;
Position determination module, for the distance corresponding to each described reference point, determines described current demarcation position.
11. steering control devices according to claim 10, is characterized in that, described position determination module comprises:
Reference range arranges module, for the distance corresponding to the reference point being numbered n is set to reference range;
Current distance arranges module, for the distance corresponding to the reference point being numbered j is set to current distance, wherein, and j ∈ [n-1,1];
Current demarcation position judging module, for judging that the first difference of described reference range and described current distance is whether in the first allowed band, if, then and the distance of numbering less that reference point corresponding to adjacent with the reference point corresponding to described current distance is circulated perform above-mentioned judgement as current distance, until described first difference exceeds described first allowed band and using the reference point corresponding to described current distance now as described current demarcation position.
12. steering control devices according to claim 10, is characterized in that, also comprise:
Error correction module, for the first numbering and previous moment that judge reference point corresponding to described current demarcation position history boundary position corresponding to reference point second number between difference whether exceed the second allowed band, if so, then using the history boundary position of described previous moment as described current demarcation position.
13. steering control devices according to claim 10, is characterized in that, also comprise:
Trace predict module, to advance the boundary path in front for obtaining milling machine construction;
Error correction module, for comparing the deviation between current demarcation position and described boundary path obtained by described current demarcation position acquisition module, if described deviation exceeds the 3rd allowed band, then using the history boundary position of previous moment as described current demarcation position.
14. steering control devices according to claim 10, is characterized in that, described current demarcation position acquisition module comprises:
Pavement image acquisition module, for obtaining pavement image;
Image processing module, for obtaining described current demarcation position according to described pavement image.
The steering control system of 15. 1 kinds of milling machines, is characterized in that, comprising:
Current demarcation position detection unit, for obtaining the current demarcation positional information on non-milling road surface and milling road surface;
Control device, for obtaining the current demarcation position on non-milling road surface and milling road surface according to described current demarcation positional information, and according to the reference position on described milling machine and the position relationship between this current boundary position, control turning to of described milling machine;
Wherein, described current demarcation position detection unit comprises multiple spaced detecting unit successively, for obtain setting in the same horizontal line and multiple discrete reference point that described milling machine is synchronized with the movement and below corresponding described reference point described in the distance of vertical direction between non-milling road surface or the described road surface of milling; Described control device, according to the relation of multiple described distance with reference range, determines described current demarcation position.
16. steering control systems according to claim 15, is characterized in that, described steering control system also comprises:
Boundary path detection unit, comprise detection arrays, described detection arrays is formed by with the mutually isostructural detecting unit of multiple described current demarcation position detection unit, is positioned at milling machine construction advances the current demarcation position in front for obtaining;
Described control device is electrically connected with described boundary path detection unit, and according to described boundary path detection unit inspection to multiple current demarcation positions determine that milling machine construction is advanced the boundary path in front, then the deviation between current demarcation position and described boundary path obtained by described current demarcation position detection unit is compared, if described deviation exceeds the 3rd allowed band, then using the history boundary position of previous moment as described current demarcation position.
17. steering control systems according to claim 15, is characterized in that, described steering control system also comprises:
Image acquisition unit, is connected with described control device, and for obtaining pavement image, described control device obtains described current demarcation position according to described pavement image.
18. 1 kinds of milling machines, is characterized in that, comprise the steering control device according to any one of claim 10 to 14 or the steering control system according to any one of claim 15 to 17.
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|---|---|---|---|---|
| US5529434A (en) * | 1993-04-08 | 1996-06-25 | Swisher, Jr.; George W. | Paving material machine having hopper capacity and compensating tunnel capacity |
| CN101338545A (en) * | 2007-07-05 | 2009-01-07 | 维特根有限公司 | Self-propelled road milling machine, in particular large-scale milling machine |
| CN102776827A (en) * | 2012-08-09 | 2012-11-14 | 三一重工股份有限公司 | Milling machine and milling depth monitoring device thereof |
| CN103147380A (en) * | 2013-03-22 | 2013-06-12 | 中联重科股份有限公司 | Control method and control system for traveling mechanism of milling planer |
| CN203144876U (en) * | 2013-03-22 | 2013-08-21 | 中联重科股份有限公司 | Control system of traveling mechanism of milling machine and milling machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5529434A (en) * | 1993-04-08 | 1996-06-25 | Swisher, Jr.; George W. | Paving material machine having hopper capacity and compensating tunnel capacity |
| CN101338545A (en) * | 2007-07-05 | 2009-01-07 | 维特根有限公司 | Self-propelled road milling machine, in particular large-scale milling machine |
| CN102776827A (en) * | 2012-08-09 | 2012-11-14 | 三一重工股份有限公司 | Milling machine and milling depth monitoring device thereof |
| CN103147380A (en) * | 2013-03-22 | 2013-06-12 | 中联重科股份有限公司 | Control method and control system for traveling mechanism of milling planer |
| CN203144876U (en) * | 2013-03-22 | 2013-08-21 | 中联重科股份有限公司 | Control system of traveling mechanism of milling machine and milling machine |
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| CN103669188A (en) | 2014-03-26 |
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