A method and system for calculating and executing bilateral target values for a road milling device

Abstract

This invention discloses a method and system for calculating target values ​​on both sides of a road milling machine and controlling its actuators, relating to the fields of intelligent control of road construction equipment and three-dimensional construction data processing. The method includes: reading construction files and constructing a three-dimensional construction mesh; receiving positioning data and heading angle from a positioning antenna to obtain the antenna's position in the construction plane coordinate system, and calculating the real-time positions of the left and right endpoints of the milling drum based on the machine's geometric parameters and heading angle; performing a coarse-to-fine spatial search on the endpoints to determine adjacent station line intervals based on the real-time positions; constructing triangular units within the intervals and calculating the target values ​​of the left and right endpoints using centroid coordinate interpolation; generating control messages based on the target values ​​of the left and right endpoints and sending them to the left and right actuators via a communication bus. This invention provides continuous target value calculation, can enable tilt correction to improve endpoint positioning consistency, and has anomaly detection and safety handling capabilities.

Description

Technical Field

[0001] This invention relates to a method and system for calculating target values ​​on both sides of a road milling equipment and controlling the execution mechanism, belonging to the field of intelligent control of road construction equipment and three-dimensional construction data processing technology. Background Technology

[0002] Milling operations require milling depth or elevation to meet design requirements. Design data is typically provided as discrete three-dimensional points. During equipment movement, the real-time position needs to be mapped to this discrete data to obtain continuous target values. Simultaneously, the left and right actuators must be controlled separately to meet cross slope and flatness requirements. Existing solutions are prone to problems such as discontinuous target values, high real-time computational overhead, insufficient bilateral control accuracy, and a lack of reliable safety handling for abnormal conditions when the three-dimensional discrete points are irregular, the number of points on adjacent cross sections is inconsistent, or the attitude changes significantly under slope conditions. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for calculating target values ​​on both sides of a road milling machine and controlling its actuators. By constructing a three-dimensional construction grid, the positions of the left and right endpoints of the milling drum in the three-dimensional construction grid are determined based on the antenna position, combined with the geometric parameters of the milling machine and the heading angle. The target values ​​of the left and right endpoints are calculated using centroid coordinate interpolation to generate control messages, which are then sent to the left and right actuators via a communication bus. This ensures that the target value calculation is continuous, can be run in real time, and is adaptable to different machine models. In slope conditions, tilt correction can be optionally enabled to improve the consistency of endpoint positioning. The system also has the capability for anomaly detection and safety handling.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution.

[0005] On one hand, the present invention provides a method for calculating target values ​​on both sides of a road milling machine and controlling the actuator, comprising:

[0006] Read the construction file and construct a three-dimensional construction mesh, which includes multiple station line sequences and contains multiple three-dimensional points;

[0007] Based on the received positioning data and heading angle from the positioning antenna, the antenna position in the construction plane coordinate system is obtained.

[0008] Based on the antenna position, combined with the geometric parameters of the milling equipment and the heading angle, the real-time positions of the left and right ends of the milling drum are calculated;

[0009] Based on the real-time location, a coarse-to-fine spatial search is performed on the left and right endpoints respectively to determine the adjacent station line intervals of the left and right endpoints in the three-dimensional construction grid.

[0010] Triangular units are constructed within the adjacent station line interval; an inclusion determination is performed on the endpoints to obtain triangular units that include the left and right endpoints, and the target values ​​of the left and right endpoints are calculated using centroid coordinate interpolation;

[0011] Control messages are generated based on the target values ​​of the left and right endpoints and sent to the left and right actuators via the communication bus.

[0012] Optionally, after generating the control message, a comprehensive judgment is made on the positioning status, heading validity, differential timeliness, endpoint cross-boundary and tilt timeliness. If the control output conditions are not met, the system enters a safety handling state.

[0013] The comprehensive judgment process includes: checking the positioning mode and number of satellites of the positioning receiver; monitoring the stability and rate of change of the heading angle; verifying the timeliness of the differential data; detecting whether the endpoint exceeds the construction grid boundary; and confirming the timeliness of the tilt sensor data update.

[0014] The security handling state includes at least one of the following: stopping the transmission of control messages, limiting the output code value range, or sending a control message with a security identifier.

[0015] Optionally, the construction file includes projection initialization parameters for converting the latitude and longitude of the positioning antenna into its position in the construction plane coordinate system.

[0016] Optionally, the geometric parameters of the milling equipment include at least the planar offset of the positioning antenna to the milling drum reference point and the width of the milling drum.

[0017] Optionally, the calculation of the real-time positions of the left and right ends of the milling drum also includes a tilt angle correction process:

[0018] When working on a slope, the position of the positioning antenna is corrected based on the pitch and roll angles output by the tilt sensor before the real-time positions of the left and right ends of the milling drum are calculated.

[0019] When constructing on flat ground, the tilt correction process is not performed;

[0020] The specific process of tilt correction includes:

[0021] The position of the positioning antenna in the construction plane coordinate system is: , For the construction plane coordinate system along The coordinate position along the axis. For the construction plane coordinate system along The coordinate position along the axis; the heading angle is θ; the offset of the positioning antenna from the right end point of the milling drum on the fuselage plane is... , For along Planar offset in the axial direction For along Planar offset in the axial direction; milling drum width is ;

[0022] Define the planar increment of the right endpoint relative to the positioning point:

[0023] ;

[0024] In the formula, The relative positioning point of the right endpoint is at Planar increment in the axial direction; The relative positioning point of the right endpoint is at Planar increment in the axial direction;

[0025] right endpoint Defined as:

[0026] ;

[0027] In the formula, The right endpoint is along the coordinate system of the construction plane. The coordinate position along the axis. The right endpoint is along the coordinate system of the construction plane. Coordinate position along the axis;

[0028] Define a unit normal vector pointing to the left endpoint. :

[0029] ;

[0030] In the formula, For the normal vector along Components in the axial direction, For the normal vector along Components along the axial direction;

[0031] left endpoint Defined as:

[0032] ;

[0033] In the formula, The left endpoint is along the coordinate system of the construction plane. The coordinate position along the axis. The left endpoint is along the coordinate system of the construction plane. Coordinate position along the axis;

[0034] When tilt correction is enabled, set the tilt sensor output to pitch angle. With roll angle And introduce the distance from the installation location of the positioning antenna to the ground. The milling machine body plane correction amount is expressed as:

[0035] ;

[0036] In the formula, This represents the planar correction component in the lateral direction of the milling machine body. This represents the planar correction component in the longitudinal direction of the milling machine body;

[0037] Will By heading angle Rotate to the construction plane coordinate system to obtain the correction components in the construction plane coordinate system. :

[0038] ;

[0039] Corrected positioning points To the original positioning point Translation:

[0040] ;

[0041] by replace The endpoint positions are calculated using the endpoint calculation formula when tilt correction is not enabled.

[0042] Optionally, the coarse-to-fine spatial search includes: grouping the station sequence according to a preset step size and constructing a grouped enclosing region for coarse screening; constructing adjacent station intervals within the local window corresponding to the coarse screening result to form a strip-shaped quadrilateral region for fine search.

[0043] Optionally, the process of constructing the triangular unit includes:

[0044] When the number of points in the adjacent station number sequences is not equal, the strip quadrilateral region between the adjacent station numbers is triangularly divided according to the point number relationship to obtain multiple triangular units.

[0045] Optionally, the process of calculating the target values ​​of the left and right endpoints using centroid coordinate interpolation is as follows:

[0046] Determine the endpoints within multiple triangular units. A triangular unit, wherein each vertex of the triangular unit is... The coordinates are as follows:

[0047] ;

[0048] The area of ​​the triangle is calculated based on the coordinates of each vertex of the triangle unit. :

[0049] ;

[0050] The triangle area threshold is determined based on the numerical accuracy of the construction plane coordinate system and the side length scale of the triangle element. To avoid numerical instability caused by dividing by a very small number when the triangular unit degenerates or is nearly degenerate, Set to a positive number with the same dimensions as S, used to determine whether the triangular unit is degenerate or nearly degenerate;

[0051] when Greater than When defining the center of gravity weight , and :

[0052] ;

[0053] Endpoint target value Defined as:

[0054] ;

[0055] when Not greater than When the triangular unit degenerates or nearly degenerates, an alternative interpolation strategy is used to obtain the endpoint target value. The alternative interpolation strategy includes at least one of the nearest neighbor strategy and the edge projection linear interpolation strategy;

[0056] The nearest neighbor strategy calculation process is as follows: calculate the endpoints respectively. The planar distance to each vertex of the triangular unit is taken as the target value corresponding to the vertex with the smallest distance. ;

[0057] The calculation process of the edge projection linear interpolation strategy is as follows: select the endpoints from the three sides of the triangular element. The edge with the shortest distance connects the endpoints. Project the image onto the line segment corresponding to the edge; when the projected point falls within the line segment, perform linear interpolation based on the target values ​​of the two endpoints of the line segment to obtain the final value. When the projected point does not fall within the line segment, it is determined according to the nearest neighbor strategy. .

[0058] Optionally, the control message is a CAN message, generated by quantizing and encoding the endpoint target value into an integer code value. The specific process includes:

[0059] Let the fine adjustment amount of the left and right endpoints be and The resolution parameter is controlled as follows: Define the quantization ratio The control targets for the left and right endpoints are defined as follows:

[0060] ;

[0061] In the formula, and These are the target values ​​for the left and right endpoints, respectively.

[0062] Left and right endpoint output control quantities and They are defined as follows:

[0063] ;

[0064] Finally and The write control message is sent to the left and right actuators via the communication bus.

[0065] Secondly, the present invention provides a dual-sided target value calculation and execution mechanism control system for a road milling equipment, comprising a construction document management module, a projection and coordinate module, a machine modeling module, an index positioning module, an interpolation calculation module, a control message generation module, and a communication sending module connected in sequence; the communication sending module is connected to the left and right execution mechanisms and is used to send control messages or safety control commands to the left and right execution mechanisms.

[0066] The positioning and heading module is connected to the projection and coordinate module, the aircraft modeling module, and the safety handling module, respectively.

[0067] The security handling module is connected to the index positioning module and the interpolation calculation module. It is used to make security logic judgments based on the positioning data of the positioning antenna, the index status and the communication status, and to generate security control commands when there is an anomaly.

[0068] The construction document management module is used to read construction documents and construct a three-dimensional construction mesh.

[0069] The positioning and heading module is used to receive positioning data and heading angle data from the positioning antenna.

[0070] The projection and coordinate module is used to receive the antenna position and heading angle and convert them into the construction plane coordinate system.

[0071] The machine modeling module is used to store the machine geometry parameters of the milling equipment;

[0072] The index positioning module is used to calculate the real-time positions of the left and right endpoints of the milling drum based on the antenna position, heading angle and aircraft geometric parameters, and to perform a coarse-to-fine spatial search on the left and right endpoints in the three-dimensional construction grid to determine the adjacent station line intervals.

[0073] The interpolation calculation module is used to construct triangular units within the adjacent station line interval and calculate the target values ​​of the left and right endpoints;

[0074] The control message generation module is used to generate control messages based on the target values ​​of the left and right endpoints.

[0075] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0076] 1. The present invention provides continuous target value calculation, real-time operation, and compatibility with various machine models. In slope conditions, tilt correction can be optionally enabled to improve endpoint positioning consistency. It also has the capability for anomaly detection and safe handling.

[0077] 2. This invention achieves continuous real-time acquisition of target values ​​on both sides by interpolating a three-dimensional construction grid organized in sequence according to station number and triangular units within the interval, adapting to changes in longitudinal slope, transverse slope and cross section;

[0078] 3. This invention reduces real-time computation through coarse-to-fine spatial search and improves interval positioning accuracy within a local window;

[0079] 4. This invention enhances the adaptability to different construction document cross-sectional sampling methods by using triangular partitioning to cover strip areas under conditions of unequal point counts;

[0080] 5. This invention improves numerical stability under degenerate unit conditions by using area threshold determination and alternative interpolation strategies;

[0081] 6. This invention converts the target value into an integer code value by using a quantization step size and a rounding rule, which facilitates the control of message transmission and decoding by the execution mechanism;

[0082] 7. This invention improves safety and reliability under abnormal operating conditions by comprehensively judging the positioning status, heading validity, differential timeliness, endpoint cross-boundary and tilt timeliness and entering a safe handling state. Attached Figure Description

[0083] Figure 1 This is a flowchart of the method for calculating target values ​​on both sides and controlling the actuator of the road milling equipment according to the present invention;

[0084] Figure 2 This is a schematic diagram of the coarse-to-fine spatial search and positioning method of the present invention;

[0085] Figure 3 This is a schematic diagram of the triangular unit segmentation of the present invention;

[0086] Figure 4 This is a schematic diagram of the control system for the dual-sided target value calculation and execution mechanism of the road milling equipment of the present invention. Detailed Implementation

[0087] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0088] Example 1:

[0089] This embodiment introduces a method for calculating target values ​​on both sides and controlling the actuator of a road milling machine, such as... Figure 1 As shown, it includes:

[0090] Read the construction file and construct a three-dimensional construction mesh, which includes multiple station line sequences and contains multiple three-dimensional points;

[0091] Based on the received positioning data and heading angle from the positioning antenna, the antenna position in the construction plane coordinate system is obtained.

[0092] Based on the antenna position, combined with the geometric parameters of the milling equipment and the heading angle, the real-time positions of the left and right ends of the milling drum are calculated;

[0093] Based on the real-time location, a coarse-to-fine spatial search is performed on the left and right endpoints respectively to determine the adjacent station line intervals of the left and right endpoints in the three-dimensional construction grid.

[0094] Triangular units are constructed within the adjacent station line interval; an inclusion determination is performed on the endpoints to obtain triangular units that include the left and right endpoints, and the target values ​​of the left and right endpoints are calculated using centroid coordinate interpolation;

[0095] Control messages are generated based on the target values ​​of the left and right endpoints and sent to the left and right actuators via the communication bus.

[0096] 1. Construction of 3D construction mesh

[0097] Let the total number of chainage lines be , No. The mileage marker is ; by point sequence Composition, in which The point sequence is arranged from left to right. The positioning data from the positioning antenna is projected and then compared with... They are in the same construction plane coordinate system.

[0098] 2. Endpoint position calculation (tilt correction optional)

[0099] The position of the positioning antenna in the construction plane coordinate system is: , For the construction plane coordinate system along The coordinate position along the axis. For the construction plane coordinate system along The coordinate position along the axis; the heading angle is θ; the offset of the positioning antenna from the right end point of the milling drum on the fuselage plane is... , For along Planar offset in the axial direction For along Planar offset in the axial direction; milling drum width is ;

[0100] Define the planar increment of the right endpoint relative to the positioning point:

[0101] ;

[0102] In the formula, The relative positioning point of the right endpoint is at Planar increment in the axial direction; The relative positioning point of the right endpoint is at Planar increment in the axial direction;

[0103] right endpoint Defined as:

[0104] ;

[0105] In the formula, The right endpoint is along the coordinate system of the construction plane. The coordinate position along the axis. The right endpoint is along the coordinate system of the construction plane. Coordinate position along the axis;

[0106] Define a unit normal vector pointing to the left endpoint. :

[0107] ;

[0108] In the formula, For the normal vector along Components in the axial direction, For the normal vector along Components along the axial direction;

[0109] left endpoint Defined as:

[0110] ;

[0111] In the formula, The left endpoint is along the coordinate system of the construction plane. The coordinate position along the axis. The left endpoint is along the coordinate system of the construction plane. Coordinate position along the axis;

[0112] When tilt correction is enabled, set the tilt sensor output to pitch angle. With roll angle And introduce the distance from the installation location of the positioning antenna to the ground. The milling machine body plane correction amount is expressed as:

[0113] ;

[0114] In the formula, This represents the planar correction component in the lateral direction of the milling machine body (along the construction plane coordinate system). (axis direction) The planar correction component representing the longitudinal direction of the milling equipment body (along the construction plane coordinate system) (Axial direction)

[0115] Will By heading angle Rotate to the construction plane coordinate system to obtain the correction components in the construction plane coordinate system. :

[0116] ;

[0117] Corrected positioning points To the original positioning point Translation:

[0118] ;

[0119] by replace The endpoint positions are calculated using the endpoint calculation formula when tilt correction is not enabled.

[0120] 3. Locating the station interval to which the endpoint belongs

[0121] like Figure 2 As shown, let the grouping step size be... Group the station lines by index and construct the enclosing area for each group. For endpoints After performing group-level coarse screening, the process enters the local window. Within the local window, each pair of adjacent station lines is processed. Construct a strip-shaped quadrilateral region Then, perform the determination that the point is inside the quadrilateral and obtain the index of the interval to which the endpoint belongs. .

[0122] 4. Triangle partitioning and barycenter coordinate interpolation

[0123] like Figure 3As shown, in determining the endpoints Belongs to the interval Then, a set of triangular units covering the strip-shaped area is constructed from the two station line point sequences; for the endpoints Perform triangle containment determination to identify the containing endpoints among multiple triangle elements. A triangular unit, wherein each vertex of the triangular unit is... The coordinates are as follows:

[0124] ;

[0125] The area of ​​the triangle is calculated based on the coordinates of each vertex of the triangle unit. :

[0126] ;

[0127] The triangle area threshold is determined based on the numerical accuracy of the construction plane coordinate system and the side length scale of the triangle element. To avoid numerical instability caused by dividing by a very small number when the triangular unit degenerates or is nearly degenerate, Set to a positive number with the same dimensions as S, used to determine whether the triangular unit is degenerate or nearly degenerate;

[0128] when Greater than When defining the center of gravity weight , and :

[0129] ;

[0130] Endpoint target value Defined as:

[0131] ;

[0132] when Not greater than When the triangular unit degenerates or nearly degenerates, an alternative interpolation strategy is used to obtain the endpoint target value. The alternative interpolation strategy includes at least one of the nearest neighbor strategy and the edge projection linear interpolation strategy;

[0133] The nearest neighbor strategy calculation process is as follows: calculate the endpoints respectively. The planar distance to each vertex of the triangular unit is taken as the target value corresponding to the vertex with the smallest distance. ;

[0134] The calculation process of the edge projection linear interpolation strategy is as follows: select the endpoints from the three sides of the triangular element. The edge with the shortest distance connects the endpoints. Project the image onto the line segment corresponding to the edge; when the projected point falls within the line segment, perform linear interpolation based on the target values ​​of the two endpoints of the line segment to obtain the final value. When the projected point does not fall within the line segment, it is determined according to the nearest neighbor strategy. .

[0135] 5. Control quantity generation and output

[0136] Let the fine adjustment amount of the left and right endpoints be and The resolution parameter is controlled as follows: Define the quantization ratio The control targets for the left and right endpoints are defined as follows:

[0137] ;

[0138] In the formula, and These are the target values ​​for the left and right endpoints, respectively.

[0139] Left and right endpoint output control quantities and They are defined as follows:

[0140] ;

[0141] Finally and The write control message is sent to the left and right actuators via the communication bus.

[0142] 6. Safe handling

[0143] The system comprehensively assesses positioning status, heading validity, differential timeliness, endpoint cross-boundary, and tilt timeliness.

[0144] The comprehensive judgment process includes: checking the positioning mode and number of satellites of the positioning receiver; monitoring the stability and rate of change of the heading angle; verifying the timeliness of the differential data; detecting whether the endpoints exceed the construction grid boundary; and confirming the timeliness of the tilt sensor data update.

[0145] When the judgment result indicates that the current control conditions are insufficient to guarantee reliable output, the system enters a safety handling state and takes measures such as stopping output, limiting output, or outputting messages with safety labels; when the anomaly is eliminated and the stability conditions are met to reach the preset confirmation window, normal control output is restored.

[0146] Example 2:

[0147] Based on the same inventive concept as Embodiment 1, this embodiment describes the implementation process of a method for calculating bilateral target values ​​and controlling the actuator of a road milling equipment, including:

[0148] Experimental equipment and parameter configuration:

[0149] Milling equipment: XCMG XM200K milling machine

[0150] Positioning system: RTK-GNSS receiver, positioning accuracy ±2cm

[0151] Tilt sensor: Dual-axis tilt sensor, accuracy ±0.1°

[0152] Construction grid: station spacing 10m, cross-section point spacing 0.5m.

[0153] Control period: 100ms

[0154] Experimental process and results:

[0155] 1. Basic Function Verification: Tests were conducted on a flat road section to verify the accuracy of the calculated endpoint positions. By comparing the calculated endpoint positions with the actual measured positions, the error was controlled within ±3cm, meeting the construction accuracy requirements.

[0156] 2. Slope Condition Verification: Tests were conducted on a composite slope section with a longitudinal slope of 5% and a cross slope of 3%. The inclination correction function was enabled and disabled respectively, and the consistency of endpoint positioning in the two modes was compared. Experimental results show that after enabling inclination correction, the endpoint positioning error decreased from ±8cm to ±4cm, significantly improving the positioning accuracy under slope conditions.

[0157] 3. Real-time performance testing: During continuous construction, the system's real-time calculation performance was monitored. Test results showed that within a 100ms control cycle, the system could complete all calculation tasks, including endpoint position calculation, spatial search, and interpolation calculation, with an average calculation time of less than 50ms, meeting the real-time control requirements.

[0158] 4. Abnormal Operating Condition Test: Simulate abnormal situations such as loss of positioning signal and change in heading angle to verify the effectiveness of the safety response mechanism. The system can enter the safety response state within 200ms after the occurrence of an anomaly, effectively preventing equipment loss of control.

[0159] Experimental results show that the method of the present invention can effectively meet the requirements of real-time calculation and control of bilateral target values ​​in road milling construction, and has significant technical advantages and application value.

[0160] Example 3:

[0161] This embodiment introduces a control system for a road milling equipment with a dual-sided target value calculation and execution mechanism, such as... Figure 4As shown, it includes a construction document management module, a projection and coordinate module, a machine modeling module, an index positioning module, an interpolation calculation module, a control message generation module, and a communication sending module connected in sequence; the communication sending module is connected to the left and right actuators and is used to send control messages or safety control commands to the left and right actuators.

[0162] The positioning and heading module is connected to the projection and coordinate module, the aircraft modeling module, and the safety handling module, respectively.

[0163] The security handling module is connected to the index positioning module and the interpolation calculation module. It is used to make security logic judgments based on the positioning data of the positioning antenna, the index status and the communication status, and to generate security control commands when there is an anomaly.

[0164] The construction document management module is used to read construction documents and construct a three-dimensional construction mesh.

[0165] The positioning and heading module is used to receive positioning data and heading angle data from the positioning antenna.

[0166] The projection and coordinate module is used to receive the antenna position and heading angle and convert them into the construction plane coordinate system.

[0167] The machine modeling module is used to store the machine geometry parameters of the milling equipment;

[0168] The index positioning module is used to calculate the real-time positions of the left and right endpoints of the milling drum based on the antenna position, heading angle and aircraft geometric parameters, and to perform a coarse-to-fine spatial search on the left and right endpoints in the three-dimensional construction grid to determine the adjacent station line intervals.

[0169] The interpolation calculation module is used to construct triangular units within the adjacent station line interval and calculate the target values ​​of the left and right endpoints;

[0170] The control message generation module is used to generate control messages based on the target values ​​of the left and right endpoints.

[0171] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0172] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0173] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0174] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0175] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for calculating target values ​​on both sides and controlling the actuator of a road milling machine, characterized in that, include: Read the construction file and construct a three-dimensional construction mesh, which includes multiple station line sequences and contains multiple three-dimensional points; Based on the received positioning data and heading angle from the positioning antenna, the antenna position in the construction plane coordinate system is obtained. Based on the antenna position, combined with the geometric parameters of the milling equipment and the heading angle, the real-time positions of the left and right ends of the milling drum are calculated; Based on the real-time location, a coarse-to-fine spatial search is performed on the left and right endpoints respectively to determine the adjacent station line intervals of the left and right endpoints in the three-dimensional construction grid. Triangular units are constructed within the adjacent station line interval; an inclusion determination is performed on the endpoints to obtain triangular units that include the left and right endpoints, and the target values ​​of the left and right endpoints are calculated using centroid coordinate interpolation; Control messages are generated based on the target values ​​of the left and right endpoints and sent to the left and right actuators via the communication bus.

2. The method for calculating target values ​​on both sides and controlling the execution mechanism of a road milling equipment according to claim 1, characterized in that, After generating the control message, a comprehensive judgment is made on the positioning status, heading validity, differential timeliness, endpoint cross-boundary and tilt timeliness. If the control output conditions are not met, the system enters a safety handling state. The comprehensive judgment process includes: checking the positioning mode and number of satellites of the positioning receiver; monitoring the stability and rate of change of the heading angle; verifying the timeliness of the differential data; detecting whether the endpoint exceeds the construction grid boundary; and confirming the timeliness of the tilt sensor data update. The security handling state includes at least one of the following: stopping the transmission of control messages, limiting the output code value range, or sending a control message with a security identifier.

3. The method for calculating target values ​​on both sides and controlling the actuator of a road milling equipment according to claim 1, characterized in that, The construction documents include projection initialization parameters, which are used to convert the latitude and longitude of the positioning antenna into its position in the construction plane coordinate system.

4. The method for calculating target values ​​on both sides and controlling the actuator of a road milling equipment according to claim 1, characterized in that, The geometric parameters of the milling equipment model include at least the planar offset of the positioning antenna to the milling drum reference point and the width of the milling drum.

5. The method for calculating target values ​​on both sides and controlling the actuator of a road milling equipment according to claim 1, characterized in that, The calculation of the real-time positions of the left and right ends of the milling drum also includes a tilt angle correction process: When working on a slope, the position of the positioning antenna is corrected based on the pitch and roll angles output by the tilt sensor before the real-time positions of the left and right ends of the milling drum are calculated. When constructing on flat ground, the tilt correction process is not performed; The specific process of tilt correction includes: The position of the positioning antenna in the construction plane coordinate system is: , For the construction plane coordinate system along The coordinate position along the axis. For the construction plane coordinate system along The coordinate position along the axis; the heading angle is θ; the offset of the positioning antenna from the right end point of the milling drum on the fuselage plane is... , For along Planar offset in the axial direction For along Planar offset in the axial direction; milling drum width is ; Define the planar increment of the right endpoint relative to the positioning point: ； In the formula, The relative positioning point of the right endpoint is at Planar increment in the axial direction; The relative positioning point of the right endpoint is at Planar increment in the axial direction; right endpoint Defined as: ； In the formula, The right endpoint is along the coordinate system of the construction plane. The coordinate position along the axis. The right endpoint is along the coordinate system of the construction plane. Coordinate position along the axis; Define a unit normal vector pointing to the left endpoint. : ； In the formula, For the normal vector along Components in the axial direction, For the normal vector along Components along the axial direction; left endpoint Defined as: ； In the formula, The left endpoint is along the coordinate system of the construction plane. The coordinate position along the axis. The left endpoint is along the coordinate system of the construction plane. Coordinate position along the axis; When tilt correction is enabled, set the tilt sensor output to pitch angle. With roll angle And introduce the distance from the installation location of the positioning antenna to the ground. The milling machine body plane correction amount is expressed as: ； In the formula, This represents the planar correction component in the lateral direction of the milling machine body. This represents the planar correction component in the longitudinal direction of the milling machine body; Will By heading angle Rotate to the construction plane coordinate system to obtain the correction components in the construction plane coordinate system. : ； Corrected positioning points To the original positioning point Translation: ； by replace The endpoint positions are calculated using the endpoint calculation formula when tilt correction is not enabled.

6. The method for calculating target values ​​on both sides and controlling the execution mechanism of a road milling equipment according to claim 1, characterized in that, The coarse-to-fine spatial search includes: grouping the station sequence according to a preset step size and constructing a group-enclosed region for coarse screening; constructing adjacent station intervals within the local window corresponding to the coarse screening results to form a strip-shaped quadrilateral region for fine search.

7. The method for calculating target values ​​on both sides and controlling the actuator of a road milling equipment according to claim 1, characterized in that, The process of constructing the triangular unit includes: When the number of points in the adjacent station number sequences is not equal, the strip quadrilateral region between the adjacent station numbers is triangularly divided according to the point number relationship to obtain multiple triangular units.

8. The method for calculating target values ​​on both sides and controlling the execution mechanism of a road milling equipment according to claim 1, characterized in that, The process of calculating the target values ​​of the left and right endpoints using centroid coordinate interpolation is as follows: Determine the endpoints within multiple triangular units. A triangular unit, wherein each vertex of the triangular unit is... The coordinates are as follows: ； The area of ​​the triangle is calculated based on the coordinates of each vertex of the triangle unit. : ； The triangle area threshold is determined based on the numerical accuracy of the construction plane coordinate system and the side length scale of the triangle element. , It is a positive number with the same dimension as S, and is used to determine whether a triangular unit is degenerate or nearly degenerate; when Greater than When defining the center of gravity weight , and : ； Endpoint target value Defined as: ； when Not greater than When the triangular unit degenerates or nearly degenerates, an alternative interpolation strategy is used to obtain the endpoint target value. The alternative interpolation strategy includes at least one of the nearest neighbor strategy and the edge projection linear interpolation strategy; The nearest neighbor strategy calculation process is as follows: calculate the endpoints respectively. The planar distance to each vertex of the triangular unit is taken as the target value corresponding to the vertex with the smallest distance. ; The calculation process of the edge projection linear interpolation strategy is as follows: select the endpoints from the three sides of the triangular element. The edge with the shortest distance connects the endpoints. Project the image onto the line segment corresponding to the edge; when the projected point falls within the line segment, perform linear interpolation based on the target values ​​of the two endpoints of the line segment to obtain the final value. When the projected point does not fall within the line segment, it is determined according to the nearest neighbor strategy. .

9. The method for calculating target values ​​on both sides and controlling the execution mechanism of a road milling equipment according to claim 1, characterized in that, The control message is a CAN message, generated by quantizing and encoding the endpoint target value into an integer code value. The specific process includes: Let the fine adjustment amount of the left and right endpoints be and The resolution parameter is controlled as follows: Define the quantization ratio The control targets for the left and right endpoints are defined as follows: ； In the formula, and These are the target values ​​for the left and right endpoints, respectively. Left and right endpoint output control quantities and They are defined as follows: ； Finally and The write control message is sent to the left and right actuators via the communication bus.

10. A control system for a road milling equipment with dual-sided target value calculation and execution mechanism, used to implement the road milling equipment dual-sided target value calculation and execution mechanism control method according to any one of claims 1 to 9, characterized in that, It includes a construction document management module, a projection and coordinate module, a machine modeling module, an index positioning module, an interpolation calculation module, a control message generation module, and a communication sending module, which are connected in sequence; the communication sending module is connected to the left and right actuators and is used to send control messages or safety control commands to the left and right actuators. The positioning and heading module is connected to the projection and coordinate module, the aircraft modeling module, and the safety handling module, respectively. The security handling module is connected to the index positioning module and the interpolation calculation module. It is used to make security logic judgments based on the positioning data of the positioning antenna, the index status and the communication status, and to generate security control commands when there is an anomaly. The construction document management module is used to read construction documents and construct a three-dimensional construction mesh. The positioning and heading module is used to receive positioning data and heading angle data from the positioning antenna. The projection and coordinate module is used to receive the antenna position and heading angle and convert them into the construction plane coordinate system. The machine modeling module is used to store the machine geometry parameters of the milling equipment; The index positioning module is used to calculate the real-time positions of the left and right endpoints of the milling drum based on the antenna position, heading angle and aircraft geometric parameters, and to perform a coarse-to-fine spatial search on the left and right endpoints in the three-dimensional construction grid to determine the adjacent station line intervals. The interpolation calculation module is used to construct triangular units within the adjacent station line interval and calculate the target values ​​of the left and right endpoints; The control message generation module is used to generate control messages based on the target values ​​of the left and right endpoints.

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