GB2601836A - Navigation control method for track laying machine,track laying machine,and track laying machine system - Google Patents
Navigation control method for track laying machine,track laying machine,and track laying machine system Download PDFInfo
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- GB2601836A GB2601836A GB2020316.2A GB202020316A GB2601836A GB 2601836 A GB2601836 A GB 2601836A GB 202020316 A GB202020316 A GB 202020316A GB 2601836 A GB2601836 A GB 2601836A
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- paving machine
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000004364 calculation method Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
- E01B29/06—Transporting, laying, removing or renewing sleepers
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B35/00—Applications of measuring apparatus or devices for track-building purposes
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- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A navigation control method for a track laying machine, a track laying machine, and a track laying machine system. The navigation control method for a track laying machine (1) comprises: obtaining real-time planar coordinates of the track laying machine (1), and obtaining, from a preset planned path, coordinates of two adjacent virtual coordinate points close to the real-time planar coordinates; obtaining, according to the coordinates of the two virtual coordinate points and the real-time planar coordinates, the deviation of the track laying machine (1) with respect to the preset planned path; and controlling, according to the deviation, the track laying machine (1) to operate. The method can improve the navigated operation precision of a track laying machine, and reduces errors of the track laying machine during track laying operation.
Description
A NAVIGATION CONTROL METHOD OF TRACK PAVING MACHINE, TRACK PAVING MACHINE, AND TRACK PAVING MACHINE SYSTEM
FIELD OF THE INVENTION
The present invention related to the technology field of track paving machines, in particular, to a navigation control method of track paving machine, a track paving machine, and a track paving machine system.
BACKGROUND OF THE INVENTION
When the track paving machine is working on the sleepers, the sleepers need to be placed on the ballast of the designed railway line at intervals. The center of the sleeper is required to fall on the center line of the railway line, which requires the track paving machine to run along the center line of the line.
The traditional track paving machine navigation adopts the "line patrol navigation" method. It has solutions of first placing a white twine as a guide line on the railway line, which is approximately coincident with the center line of the line, and placing a camera at the midpoint of the track paving machine head to aim at this guide line, so that the computer can calculate the distance between the midpoint of the camera image and this guide line through image recognition technology in the course of running the track paving machine, thereby measuring indirectly the distance of the track paving machine head from the guide line to realize the automatic driving of the track paving machine. However, this method has certain errors in the links of measurement and manual setting of the guide line, which is difficult to completely coincide with the center line of the railway, and this process is time-consuming and labor-intensive.
SUMMARY OF THE INVENTION
The problem solved by the present invention is how to improve the navigation operation accuracy of the track paving machine, and reduce errors in the track paving operation In order to solve the above problems, a navigation control method of a track paving machine is provided in the present invention. The navigation control method includes: obtaining real-time plane coordinates of a track paving machine, and obtaining coordinates of two adjacent virtual coordinate points in a preset planning path that are close to the real-time plane coordinates; determining a deviation of the track paving machine relative to the preset planning path according to the coordinates of the two virtual coordinate points and the real-time plane coordinates; and controlling an operation of the track paving machine according to the deviation.
Further, the preset planning path is constructed in a measurement coordinate system, the preset planning path comprises a plurality of point coordinates that are adjacent in turn, and the plurality of point coordinates are the coordinates of the virtual coordinate points.
Further, the deviation includes a deflection angle and a deviation distance of the track paving machine. The step of determining a deviation of the track paving machine relative to the preset planning path according to the coordinates of the two virtual coordinate points and the real-time plane coordinates includes: determining the coordinates of the two adjacent virtual coordinate points according to an operation sequence of the track paving machine in the preset planning path; and determining the deflection angle and the deviation distance of the track paving machine according to the coordinates of the two adjacent virtual coordinate points and the real-time plane coordinates.
Further, the deflection angle is an angle between a connection line between the real-time coordinate points of the track paving machine and the coordinate points in the preset planning path and a connection line between the coordinates of two adjacent virtual coordinate points in the preset planning path.
Further, the step of determining the deflection angle and the deviation distance of the track paving machine according to the coordinates of the two adjacent virtual coordinate points and the real-time plane coordinates includes: assigning the coordinates of the two virtual coordinate points to be respectively (Ni, Et) and (N2, E2) and the real-time plane coordinates to be (Ni,Ei) according to the operation sequence of the track paving machine in the preset planning path, determining the deflection angle according to coordinates of the two virtual coordinate points and the real-time plane coordinates, with a calculation formula for the deflection angle as C = tan-1 -1\v1 tan-1 N1-N1 and determining the deviation distance according to the E2 -E1 coordinates of the two virtual coordinate points and the real-time plane coordinates, with a calculation formula for the deviation angle as d = dl * sin(C); wherein dl represents a distance between the real-time plane coordinates and the coordinates of the virtual coordinate point 2 2 (N1, E1), and a calculation formula for di is di = N1) +(Ei-E1) Further, the step of controlling an operation of the track paving machine according to the deviation includes: determining a deflection control direction of the track paving machine according to the deflection angle; calculating a deflection control angle of the track paving machine according to the deviation distance; and controlling the track paving machine to turn toward the deflection control direction according to the deflection control angle until an operation route of the track paving machine conforms to the preset planning path.
Further, a calculation formula for the deflection control angle is: a = k* d, wherein k represents a preset adjustment coefficient, and d represents the deviation distance.
Further, the step of controlling an operation of the track paving machine according to the deviation further includes: judging whether the deflection control angle is greater than a preset control angle. When the deflection control angle is less than or equal to the preset control angle, controlling the track paving machine to turn toward the deflection control direction according to the deflection control angle until the operation route of the track paving machine conforms to the preset planning path; and when the deflection control angle is greater than the preset control angle, controlling the track paving machine to turn toward the deflection control direction according to the preset control angle until the operation route of the track paving machine conforms to the preset planning path.
Further, the step of obtaining real-time plane coordinates of the track paving machine includes: obtaining plane coordinates of a total station at a preset distance of the track paving machine; obtaining a real-time distance between the total station and a prism on the track paving machine detected by the total station, and obtaining a direction angle of a direction of the prism toward the total station detected by the total station in a plane coordinate system; and determining the real-time plane coordinates of the track paving machine according to the direction angle, the real-time distance, and the plane coordinates of the total station.
Further, the step of obtaining plane coordinates of a total station at a preset distance of the track paving machine includes: obtaining plane coordinates of two preset control points next to the total station; and determining the plane coordinates of the total station according to the plane coordinates of the two preset control points.
Further, assuming the plane coordinates of two preset control points to be (x1,371) and (X2, y2), the step of determining the plane coordinates of the total station according to the plane coordinates of the two preset control points includes: respectively obtaining distances between the total station and the two preset control points through the total station, and obtaining a direction angle between the directions of the total station toward the two preset control points through the total station; calculating a distance between the two preset control points according to the direction angle and the distances between the total station and the two preset control points, with a formula for the distance between the two preset control points as AB=VPA2 + PB2 -2PA * PB * COSy, wherein PA and PB respectively represent the distance between the total station and the two preset control points, and y represents the direction angle. A calculation formula for the abscissa of the
PR
plane coordinates of the total station is: x1=x2 +; and a cos (sin-1-cos-1-(AB2+PB2 _PA2 AB 2AB t PB " calculation formula for the ordinate of the plane coordinates of the total station is: yi=y2 +
PB
(B2+pg2_pA2 * sin(sin-132-COS-1 AB 2AB t PB)) Further, the step of obtaining real-time plane coordinates of the track paving machine further includes: obtaining the real-time plane coordinates of the track paving machine according to a satellite positioning mode.
The present invention has the following beneficial effects: through the obtained real-time plane coordinates of the track paving machine and the obtained two virtual coordinate point coordinates, the deviation of the track paving machine relative to the preset planning path may be obtained according to the coordinates of the two virtual coordinate points and the real-time plane coordinates, so that the track paving machine may be controlled through feedback results so as to realize the automatic navigation of the track paving machine when the deviation of the track paving machine is determined and the specific deviation of the track paving machine is obtained. Based on the above, by obtaining the real-time plane coordinates of the track paving machine, and comparing it with the coordinates of each virtual coordinate point in the planned preset planning path, the accuracy of navigation operation of the track paving machine and the efficiency of track paving of the present invention can be improved as compared with traditional navigation methods such as image recognition.
In one embodiment, a track paving machine is provided in the present invention. The track paving machine includes a processor and a computer readable storage medium storing computer programs, which, when executed by the processor, realized the above-mentioned navigation control method of track paving machine.
The track paving machine of the present invention and the above-mentioned navigation control method of the track paving machine have similar beneficial effects as compared with the prior art, and detail description is omitted herein.
In one embodiment, a track paving machine system having the abovementioned track paving machine and a total station disposed at a preset distance of the track paving machine is provided in the present invention, wherein a prism is arranged at a center of a head of the track paving machine Further, the track paving machine system includes a wireless communication component, and the wireless communication component is used to communicatively connect the track paving machine and the total station The track paving machine system of the present invention and the above-mentioned navigation control method of the track paving machine have similar beneficial effects as compared with the prior art, and detail description is omitted herein.
BRIEF DESCRIPTION OF THE DRAWINGS
Aspects of the present invention are best understood from the following detailed description when read with the accompanying figures. The exemplary embodiments of the present invention and the description thereof are used to explain the present invention, and do not constitute improper limitations on the preset invention. In the drawings: Fig. 1 is a flowchart of a navigation control method of track paving machine according to an embodiment of the present invention; Fig. 2 is a schematic diagram showing a condition that the track paving machine is deviated from the preset planning path in the navigation control method of track paving machine according to an embodiment of the present invention; Fig. 3 is a schematic diagram showing the position distribution of the total station, preset control points, and real-time plane coordinates in the navigation control method of track paving machine according to an embodiment of the present invention; and Fig. 4 is a schematic diagram showing the track paving machine when the track paving is being performed in the navigation control method of track paving machine according to an embodiment of the present invention.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
In order to enable the above objects, features and advantages of the disclosure to be more apparent and easily understood, the specific embodiments of the disclosure will be further elaborated hereafter in connection with the drawings It should be noted that the terms "first" and "second" in the specification, claims of the present invention, and the above-mentioned drawings are used to distinguish similar objects, and not necessarily used to describe a specific sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described herein can be implemented in a sequence other than those illustrated or described herein.
With reference to Fig. 1, a navigation control method of track paving machine is provided in the present invention. The method includes: Step S 1: real-time plane coordinates of the track paving machine are obtained, and coordinates of two adjacent virtual coordinate points in a preset planning path that are close to the real-time plane coordinates are obtained; Step S2: a deviation of the track paving machine relative to the preset planning path is obtained according to the coordinates of the two virtual coordinate points and the real-time plane coordinates; and Step 53: an operation of the track paving machine is controlled according to the deviation.
In the related art, the traditional track paving machine navigation adopts the "line patrol navigation" method. It has solutions of first placing a white twine as a guide line on the railway line, which is approximately coincident with the center line of the line, and placing a camera at the midpoint of the track paving machine head to aim at this guide line, so that the computer can calculate the distance between the midpoint of the camera image and this guide line through image recognition technology in the course of running the track paving machine, thereby measuring indirectly the distance of the track paving machine head from the guide line to realize the automatic driving of the track paving machine. However, this method has certain errors in the links of measurement and manual setting of the guide line, which is difficult to completely coincide with the center line of the railway, and this process is time-consuming and labor-intensive.
In an embodiment of the present invention, when the navigation control operation for the track paving machine is performed, positioning is performed by obtaining the real-time plane coordinates of the track paving machine to determine whether the track paving machine is deviated from the preset planning path during operation, wherein the preset planning path is constructed artificially. The track paving machine runs in the preset planning path, and the track paving is performed at the same time, wherein the preset planning path may be constructed in the CGCS2000 measure coordinate system (2000 National Geodetic Coordinate System). In this coordinate system, the horizontal axis of the measurement coordinate system is west-to-east, and the vertical axis is south-to-north. Based on the above, in the present embodiment, N refers to the north coordinate, and E refers to the east coordinate. Specifically, the coordinate system is constructed in the plane where the track paving machine runs, and the preset planning path includes the coordinates of several adjacent points in sequence. The point coordinates are the virtual coordinate point coordinates, and the running process of the track paving machine is the process of reaching the next point coordinate in order from the starting point coordinate to the end point coordinate in the preset planning path. Then, after the real-time plane coordinates of the track paving machine are obtained, and the coordinates of two adjacent virtual coordinate points in the preset planning path close to the real-time plane coordinates may be obtained according to the real-time plane coordinates. With reference to Fig. 2, the point M is the real-time plane coordinates of the track paving machine, and Ml and M2 are the coordinates of two adjacent virtual coordinate points close to the real-time plane coordinates in the preset planning path, wherein the sequence of the two coordinate points is MI, and then M2 according to the running sequence of the track paving machine in the preset planning path, and the track paving machine should run from the point MI to the point M2 in the expected operation.
Through the obtained real-time plane coordinates of the track paving machine and the obtained two virtual coordinate point coordinates, the deviation of the track paving machine relative to the preset planning path may be obtained according to the coordinates of the two virtual coordinate points and the real-time plane coordinates, so that the track paving machine may be controlled through the feedback results so as to realize the automatic navigation of the track paving machine when the deviation of the track paving machine is determined and the specific deviation of the track paving machine is obtained. Based on the above, by obtaining the real-time plane coordinates of the track paving machine, and comparing it with the coordinates of each virtual coordinate point in the planned preset planning path, the present invention may make the navigation operation of the track paving machine more accurate and may improve the efficiency of track paving as compared with traditional navigation methods such as image recognition.
In the present invention, the real-time plane coordinates of the track paving machine may be obtained by calculation in the form of satellite positioning, such as differential satellite positioning and/or total station. Appropriate positioning methods may be adopted according to different geographical environments, e.g., differential satellite positioning is used to accurately obtain real-time plane coordinates in open areas and the total station may be used for positioning in areas with poor satellite positioning environments, so that the automatic control operation of the track paving machine is more reasonable by adopting different positioning methods in different geographic environments, or the combination of multiple positioning methods.
In an optional embodiment of the present invention, the deviation includes a deflection angle and a deviation distance of the track paving machine. Assigning the coordinates of the two virtual coordinate points to be respectively ( N1, E1) and (N2, E2) and the real-time plane coordinates to be (Ni, Ei) according to the operation sequence of the track paving machine in the preset planning path, and the step of determining a deviation of the track paving machine relative to the preset planning path according to coordinates of the two virtual coordinate points and the real-time plane coordinates includes: the deflection angle is calculated according to coordinates of the two virtual coordinate points and the real-time plane coordinates, with a calculation formula for the deflection angle as C = tan" =1\1 -N.1 tan_1_N1 and E2 Ei-Er the deviation distance is calculated according to coordinates of the two virtual coordinate points and the real-time plane coordinates, with a calculation formula for the deviation angle as d= dl* sin(C); wherein dl represents a distance between the real-time plane coordinates and the coordinates (Ni,E, ) of the virtual coordinate points, and a calculation formula for dl is dl = 4(N1-N1) 2 ± (E1 -E1) 2 With reference to Fig. 2, in the present embodiment, the deviation of the track paving machine relative to the preset planning path includes the deflection angle and the deviation distance of the track paving machine, wherein the deflection angle is an angle between a connection line between the real-time coordinate points of the track paving machine and the coordinate point I\41 ( N1, El) in the preset planning path and a connection line between the two virtual coordinate points in the preset planning path. In the present embodiment, when calculating the deflection angle, the coordinates of the two virtual coordinate points and the real-time plane coordinates are measured, wherein the direction angle of the path between the two virtual coordinate points of the preset planning path in the entire plane coordinate system may be obtained according to the coordinates of the two virtual coordinate points, i.e., an angle between the line between two virtual coordinate points and the horizontal axis in the plane coordinate system, specifically as shown by the angle B in Fig. 2, with a specific formula of B = tan" N2-N1 The E2 direction angle of the track paving machine may be obtained based on the real-time plane coordinates of the track paving machine and the coordinates of the coordinate point M1 ( N1, , i.e., an angle between the line between the real-time plane coordinates and the virtual coordinate point M1 relative to the horizontal axis in the plane coordinate system, specifically as shown by Ni-N, the angle A in Fig. 2, with a specific formula of A = tan- , so that the deflection angle is calculated according to the coordinates of the two virtual coordinate points and the real-time plane coordinates, and the formula for calculating the deflection angle is C=B-A, i.e.,
N
C = tan-1 N2-N1 tan-1 N1-N1 1 Then, the deflection distance (i.e., the distance d in Fig. 2) of the E2 Ei-Er track paving machine relative to the preset planning path may be obtained according to the distance between the real-time plane coordinates of the track paving machine and the coordinates of the virtual coordinate point (N1, E1) and the deflection angle C, with a specific formula of d = dl * sin (C), wherein dl represents the distance between the real-time plane coordinates and the coordinates of the virtual coordinate point (N1, E1), which may be measured according to the obtained real-time plane coordinates and virtual coordinate point (N1, El), so that the specific deviation of the track paving machine may be obtained through the obtained real-time plane coordinates of the track paving machine and the virtual coordinate points in the preset planning path. In this way, automatic navigation control may be performed for the track paving machine according to the deviation, and the accuracy of the automatic navigation control may be improved through the deflection angle and the deviation distance in the deviation The real-time plane coordinates of the track paving machine are usually the real-time plane coordinates of the head of the track paving machine, or may be selected based on the actual situation, so that the control of the track paving machine is more accurate and efficient.
In an optional embodiment of the present invention, the step of controlling an operation of the track paving machine according to the deviation includes a deflection control direction of the track paving machine is determined according to the deflection angle; a deflection control angle of the track paving machine is calculated according to the deviation distance, wherein a calculation formula for the deflection control angle is: a = k* d, wherein k represents a preset adjustment coefficient, and d represents the deviation distance; and the track paving machine is controlled to turn toward the deflection control direction according to the deflection control angle until an operation route of the track paving machine conforms to the preset planning path.
In the present embodiment, the step of controlling an operation of the track paving machine according to the deviation specifically includes: a deflection control direction of the track paving machine is determined according to the deflection angle. With reference to Fig. 2, in the present embodiment, when the deflection angle C is greater than 0, it indicates that the track paving machine is deviated downward, and it means that the track paving machine is deviated to the right based on the plane coordinate system and the running space of the track laying machine. When the deflection angle C is less than 0, it means that the track paving machine is deviated upward, and it means that the track paving machine is deviated to the left based on the plane coordinate system and the running space of the track laying machine. When the deflection angle is equal to 0, it means that the track paving machine is operating normally in the preset planning path without deviation. In this way, when different deflection angles appear correspondingly, it is possible to determine the direction to be controlled and adjusted, i.e., the deflection control direction of the track paving machine, so that the track paving machine may be controlled to turn to the preset planning path in real time according to the deflection control direction during adjustment.
At the same time, in the present embodiment, a deflection control angle of the track paving machine is further calculated according to the deviation distance. When the track paving machine is running, in the direction of the same deflection angle, the deviation distance of the track paving machine from the preset planning path may have many situations, wherein the deviation distance of the track paving machine is usually small if the distance between the track paving machine is close to the virtual coordinate point Ml, and the deviation distance of the track paving machine is usually larger if the distance between the track-laying machine and the virtual coordinate point M2 is relatively short. Based on the above, the specific deflection control angle is determined through the deviation distance to ensure accurate control of the track paving machine. A calculation formula for the deflection control angle is: a = k* d, wherein k represents the set coefficient, and d represents the deviation distance, which may be set according to actual situations. The greater the deviation distance of the track paving machine, the greater the deflection control angle of the control adjustment, so that the steering of the track paving machine is controlled more accurately and effectively according to the actual situation. Then, the track paving machine is controlled to turn toward the deflection control direction according to the deflection control angle until an operation route of the track paving machine conforms to the preset planning path, so that the track paving machine may smoothly reach the preset planning path and realize the normal track paving.
In an optional embodiment of the present invention, the step of controlling an operation of the track paving machine according to the deviation further includes: whether the deflection control angle is greater than a preset control angle is judged; when the deflection control angle is less than or equal to the preset control angle, the track paving machine is controlled to turn toward the deflection control direction according to the deflection control angle until an operation route of the track paving machine conforms to the preset planning path; and when the deflection control angle is greater than the preset control angle, the track paving machine is controlled to turn toward the deflection control direction according to the preset control angle until an operation route of the track paving machine conforms to the preset planning path.
In the present embodiment, the step of controlling an operation of the track paving machine according to the deviation further includes: whether the deflection control angle is greater than a preset control angle is judged, wherein the preset control angle is selected according to the actual situation. In an embodiment of the present invention, according to actual operation, the angle is preferably 5°. When the calculated deflection control angle is less than or equal to the preset control angle, the track paving machine is controlled according to the actually-measured deflection control angle, so that the control of the track paving machine is more flexible. When the calculated deflection control angle is greater than the preset control angle, it indicates that the track paving machine has a large deviation in operation. However, in order to ensure that the adjustment of the track paving machine is more reasonable and the steering is more stable and safe, the steering of the track paving machine is adjusted according to the preset control angle to prevent excessive steering operation of the track paving machine and cause accidents. In this way, according to the angle, multiple times of adjustments may be performed, with coordination of multiple deviation detections, until the track paving machine turns to conform to the preset planning path.
In an optional embodiment of the present invention, real-time plane coordinates of the track paving machine are obtained through the total station, specifically, the step of obtaining real-time plane coordinates of the track paving machine includes: plane coordinates of a total station at a preset distance of the track paving machine are obtained; a real-time distance between the total station and a prism on the track paving machine detected by the total station is obtained, and a direction angle of a direction of the prism toward the total station detected by the total station in a plane coordinate system is obtained; and the real-time plane coordinates of the track paving machine is obtained by calculation according to the direction angle, the real-time distance, and the plane coordinates of the total 30 station.
With reference to Fig. 3, in the present embodiment, the real-time plane coordinates of the track paving machine are obtained based on the total station 4. The total station 4 is a measuring instrument that may measure angle (horizontal angle, vertical angle) and distance (slope distance, horizontal distance, height difference) at the same time, and may usually perform measurement with a prism structure. Usually, the total station is set up near the line where the track paving machine runs, and is disposed at a preset distance from the track paving machine. In this embodiment, with reference to Fig. 3, a prism 2 may be mounted on the head of the track paving machine 1 to cooperate with the total station 4, so that real-time plane coordinates (i.e., the coordinates of the track paving machine 1) of the prism 2 are measured. With reference to Fig. 4, the real-time plane coordinates required to be obtained by the track paving machine is M(x,,,y,,,), and the obtained real-time plane coordinates of the total station is Pfxi, yi). Then, when the real-time plane coordinates of the track paving machine are obtained, based on the plane coordinate P of the total station acquired first, a received real-time distance of the total station from the prism on the track paving machine detected by the total station and a direction angle of a direction of the prism toward the total station detected by the total station in a plane coordinate system, the real-time plane coordinates of the track paving machine may be calculated. A formula for calculating the abscissa of the real-time plane coordinates is xi, = xi -PM * cosa, and a formula for calculating the ordinate of the real-time plane coordinates is yrn = yi -PM * sina; wherein PM is the distance from the prism on the track paving machine measured by the total station, and a is the direction angle. Specifically, with reference to Fig. 4, a is the angle between a connection line between the prism and the total station and the horizontal axis of the plane coordinate system, and may be measured directly by the total station, so that the corresponding wireless communication components may be set on the track paving machine to obtain the parameters based on the various parameters detected by the total station, thereby calculating and obtaining the real-time coordinates of the track paving machine in real time and accurately. The total station is usually placed near the preset planning path to facilitate coordination with the prism on the track paving machine. In this way, the acquisition of real-time plane coordinates based on the track paving machine may avoid the influence of terrain on the acquisition of real-time plane coordinates of the track paving machine to a certain extent, and may also obtain more accurate parameters for deep mountains and tunnels, so as to obtain the corresponding real-time plane coordinates, which makes the automatic navigation control of the track paving machine more accurate.
The plane coordinates of the total station may manually perform measuring and recording when the total station is set up, or the total station may be flexibly set and perform measurement according to other known coordinate points as the reference object, based on the acquisition of the distance, angle and other parameters of the reference object measured by the total station, so as to reduce manual operation and improve efficiency.
In an optional embodiment of the present invention, the step of obtaining plane coordinates of a total station at a preset distance of the track paving machine includes: plane coordinates of two preset control points next to the total station are obtained; and plane coordinates of the total station are calculated according to the plane coordinates of the two preset control points.
Usually there are different preset control points on the running line of the track paving machine, and these preset control points have known plane coordinates. In the present embodiment, as shown in Fig. 4, when the real-time plane coordinates of the track paving machine I are obtained, the coordinates of the two preset control points 3 close to the track paving machine on both sides of the preset planning path may be directly obtained, i.e., A (x11 y1) and B (x2, y2) in Fig. 4, so that there is no need to perform too many manual measurements when setting up the total station 4 based on the known coordinates of the total station 4 and the preset control point 3. Then, during the navigation control of the track paving machine, the real-time plane coordinates of the track paving machine may be controlled with combination of the known coordinates to obtain the coordinates of the total station 4 according to the corresponding parameters measured by the total station 4. During the operation of the track paving machine, the position of the total station may be flexibly adjusted according to the actual situation to improve the operating efficiency and accuracy of the track paving machine.
In an optional embodiment of the present invention, assuming the plane coordinates of two preset control points to be (x1, yi) and (x2, )'2), the step of calculating plane coordinates of the total station according to the plane coordinates of the two preset control points includes: a distance between the total station and the two preset control points is obtained through the total station, and a direction angle between the directions of the total station toward the two preset control points is obtained through the total station; and a distance between the two preset control points is calculated according to the direction angle and distances between the total station and the two preset control points, with a formula for the distance between the two preset control points as AB=VPA2 PB2 -2PA * PB * COSy, wherein PA and PB respectively represent the distance between the total station and the two preset control points, and y represents the direction angle; a calculation formula for the abscissa of the plane coordinates of the total station is:
PB
xi=x2 + cos (sin-1Y1-Y2 -co5-1 AB 2A13,P13 a calculation formula for the ordinate of the plane coordinates of the total station is:
PB
Yi=Y2 + c.s_,(A82-FPB2-PA2,' sin(si n Y1-322 AB 2AB,P13 In the present embodiment, as shown in Fig. 4, the step of calculating plane coordinates of the total station according to the plane coordinates of the two preset control points includes: obtaining a distance between the total station and the two preset control points through the total station and obtaining the direction angle between the two preset control points of the total station according to the total station, wherein the angle between the two directions towards the two preset control points may be obtained according to the function of the total station, i.e., the angle between the total station and the connection line among each preset control point, as shown by y in Fig. 4, so that the distance between the two preset control points may be measured based on the angle of the direction and the obtained distance between the preset control point and the total station, i.e., AB= VPA2 + PB2 -2PA * PB* COSy, thereby obtaining the abscissa of the total station as
PB
Xi=X2 based on the calculated distance and the distance AB2+PB2-PA2, cos (sin AB cos k_ AB 2A134PB " parameters obtained by the total station and the coordinates of the known preset control points Correspondingly, the ordinate of the total station is obtained as yi=y2 + -I Y1 Y2 PR as2ip82-pA2" Based on the above, by calculating the abscissa and ordinate sin(sin C -OS-1 t AR 2AB,PB coordinates of the total station, the real-time plane coordinates of the track paving machine may be calculated, so that the automatic navigation control of the track paving machine may be performed more accurately based on the real-time plane coordinates of the track paving machine. The present invention further provides a track paving machine, which includes a processor and a computer readable storage medium storing computer programs, which, when executed by the processor, realized the above navigation control method of track paving machine.
For the track paving machine of the present invention, through the real-time plane coordinates of the track paving machine obtained by the total station and the obtained two virtual coordinate point coordinates, the deviation of the track paving machine relative to the preset planning path may be obtained according to the coordinates of the two virtual coordinate points and the real-time plane coordinates, so that the track paving machine may be controlled through the feedback results so as to realize the automatic navigation of the track paving machine when the deviation of the track paving machine is determined and the specific deviation of the track paving machine is obtained. Based on the above, by obtaining the real-time plane coordinates of the track paving machine, and comparing it with the coordinates of each virtual coordinate point in the planned preset planning path, the present invention may make the navigation operation of the track paving machine more accurate and may improve the efficiency of track paving as compared with traditional navigation methods such as image recognition.
The present invention further provides a track paving machine system, which includes the above track paving machine and a total station disposed at a preset distance of the track paving machine, wherein a prism is arranged at a center of a head of the track paving machine.
For the track paving machine system of the present invention, through the real-time plane coordinates of the track paving machine obtained with the combination of the total station and the prism and the obtained two virtual coordinate point coordinates, the deviation of the track paving machine relative to the preset planning path may be obtained according to the coordinates of the two virtual coordinate points and the real-time plane coordinates, so that the track paving machine may be controlled through the feedback results so as to realize the automatic navigation of the track paving machine when the deviation of the track paving machine is determined and the specific deviation of the track paving machine is obtained. Based on the above, by obtaining the real-time plane coordinates of the track paving machine, and comparing it with the coordinates of each virtual coordinate point in the planned preset planning path, the present invention may make the navigation operation of the track paving machine more accurate and may improve the efficiency of track paving as compared with traditional navigation methods such as image recognition.
In an optional embodiment of the present invention, the present invention further includes a wireless communication component, and the wireless communication component is used to communicatively connect the track paving machine and the total station.
With reference to Fig. 3, in an optional embodiment of the present invention, the track paving machine system includes a track paving machine 1 and a wireless communication component 5, and the wireless communication component 5 is used to communicatively connect to the total station 4, so that the track machine 1 may receive a wireless signal sent by the total station 4 in real time when in operation for obtaining related parameters, which further facilitates the automatic navigation control of the track paving machine 1.
Although the present invention is disclosed as described above, the protection scope of the disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.
Claims (15)
- Claim: What is claimed is: LA navigation control method of track paving machine, comprising: obtaining real-time plane coordinates of a track paving machine, and obtaining coordinates of two adjacent virtual coordinate points in a preset planning path that are close to the real-time plane coordinates; determining a deviation of the track paving machine relative to the preset planning path according to the coordinates of the two virtual coordinate points and the real-time plane coordinates; and controlling an operation of the track paving machine according to the deviation.
- 2. The navigation control method of track paving machine according to claim 1, wherein the preset planning path is constructed in a measurement coordinate system, the preset planning path comprises a plurality of point coordinates that are adjacent in turn, and the plurality of point coordinates are the coordinates of the virtual coordinate points.
- 3. The navigation control method of track paving machine according to claim 1, wherein the deviation comprises a deflection angle and a deviation distance of the track paving machine, and the step of determining a deviation of the track paving machine relative to the preset planning path according to the coordinates of the two virtual coordinate points and the real-time plane coordinates comprises: determining the coordinates of the two adjacent virtual coordinate points according to an operation sequence of the track paving machine in the preset planning path; and determining the deflection angle and the deviation distance of the track paving machine according to the coordinates of the two adjacent virtual coordinate points and the real-time plane coordinates.
- 4. The navigation control method of track paving machine according to claim 3, wherein the deflection angle is an angle between a connection line between the real-time coordinate points of the track paving machine and the coordinate points in the preset planning path and a connection line between the coordinates of two adjacent virtual coordinate points in the preset planning path
- 5. The navigation control method of track paving machine according to claim 3, wherein the step of determining the deflection angle and the deviation distance of the track paving machine according to the coordinates of the two adjacent virtual coordinate points and the real-time plane coordinates comprises: assigning the coordinates of the two virtual coordinate points to be respectively ( N1, E1) and (N2, F2) and the real-time plane coordinates to be (Ni, Et) according to the operation sequence of the track paving machine in the preset planning path; determining the deflection angle according to coordinates of the two virtual coordinate points and the real-time plane coordinates, with a calculation formula for the deflection angle as 1 N2 -N1 Ni-Nl C = tan7--tan --; and E2-E1 determining the deviation distance according to the coordinates of the two virtual coordinate points and the real-time plane coordinates, with a calculation formula for the deviation angle as d = dl * sin(C), wherein dl represents a distance between the real-time plane coordinates and the coordinates of the virtual coordinate point (NJ, E1), and a calculation formula for dl s dl = 2 2 15.1(N, -N1) + (E, -E1)
- 6. The navigation control method of track paving machine according to claim 3, wherein the step of controlling an operation of the track paying machine according to the deviation comprises: determining a deflection control direction of the track paving machine according to the deflection angle; calculating a deflection control angle of the track paving machine according to the deviation distance; and controlling the track paving machine to turn toward the deflection control direction according to the deflection control angle until an operation route of the track paving machine conforms to the preset planning path.
- 7. The navigation control method of track paving machine according to claim 6, wherein a calculation formula for the deflection control angle is: a = k* d, wherein k represents a preset adjustment coefficient, and d represents the deviation distance.
- 8. The navigation control method of track paving machine according to claim 6, wherein the step of controlling an operation of the track paving machine according to the deviation further comprises: judging whether the deflection control angle is greater than a preset control angle; when the deflection control angle is less than or equal to the preset control angle, controlling the track paving machine to turn toward the deflection control direction according to the deflection control angle until the operation route of the track paving machine conforms to the preset planning path; and when the deflection control angle is greater than the preset control angle, controlling the track paving machine to turn toward the deflection control direction according to the preset control angle until the operation route of the track paving machine conforms to the preset planning path
- 9. The navigation control method of track paving machine according to claim 1, wherein the step of obtaining real-time plane coordinates of the track paving machine comprises: obtaining plane coordinates of a total station at a preset distance of the track paving machine; obtaining a real-time distance between the total station and a prism on the track paving machine detected by the total station, and obtaining a direction angle of a direction of the prism toward the total station detected by the total station in a plane coordinate system; and determining the real-time plane coordinates of the track paving machine according to the direction angle, the real-time distance, and the plane coordinates of the total station.
- 10 The navigation control method of track paving machine according to claim 9, wherein the step of obtaining plane coordinates of a total station at a preset distance of the track paving machine comprises: obtaining plane coordinates of two preset control points next to the total station; and determining the plane coordinates of the total station according to the plane coordinates of the two preset control points.
- 11. The navigation control method of track paving machine according to claim 10, wherein assuming the plane coordinates of two preset control points to be ( yi) and (x2, y2), the step of determining the plane coordinates of the total station according to the plane coordinates of the two preset control points comprises: respectively obtaining distances between the total station and the two preset control points through the total station, and obtaining a direction angle between the directions of the total station toward the two preset control points through the total station, calculating a distance between the two preset control points according to the direction angle and the distances between the total station and the two preset control points, with a formula for the distance between the two preset control points as AB=VPA2 PB2 -2PA * PB * COSy, wherein PA and PB respectively represent the distance between the total station and the two preset control points, and y represents the direction angle; a calculation formula for the abscissa of the plane coordinates of the total station is:PB Xi_X2cos (sin-1Y2-cos-1 2AB*PB AB AB2+),B2_pA2), a calculation formula for the ordinate of the plane coordinates of the total station is:PB Yi-Y2A82tEB2_pA2 sin(sin-1Y1 Y2 COS ( AB zAB*PB)
- 12. The navigation control method of track paving machine according to claim 9, wherein the step of obtaining real-time plane coordinates of the track paving machine further comprises: obtaining the real-time plane coordinates of the track paving machine according to a satellite positioning mode.
- 13. A track paving machine, comprising a processor and a computer readable storage medium storing computer programs, which, when executed by the processor, realized the navigation control method of track paving machine according to any one of claims 1 to 12 N.
- A track paving machine system, comprising the track paving machine according to claim 13 and a total station disposed at a preset distance of the track paving machine, wherein a prism is arranged at a center of a head of the track paving machine.
- 15. The track paving machine system according to claim 14, further comprising a wireless communication component, and the wireless communication component is used to communicatively connect the track paving machine and the total station.
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| CN202010360007.XA CN111519482B (en) | 2020-04-30 | 2020-04-30 | Navigation control method of track laying machine, track laying machine and track laying machine system |
| PCT/CN2020/133304 WO2021218152A1 (en) | 2020-04-30 | 2020-12-02 | Navigation control method for track laying machine, track laying machine, and track laying machine system |
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