Milling and planing machine control method, milling and planing machine control system and milling and planing machine

Abstract

The application belongs to the technical field of engineering machinery, and particularly relates to a milling and ploughing machine control method, a milling and ploughing machine control system and a milling and ploughing machine. The milling and ploughing machine control method comprises the following steps: obtaining a target radius size of a target circular region and a first structure parameter of the milling and ploughing machine; determining a target turning angle of a turning mechanism of the milling and ploughing machine according to the target radius size and the first structure parameter; determining a target length size of a turning cylinder according to the target turning angle and the first structure parameter; controlling the turning cylinder to work according to the target length size, and controlling the milling and ploughing machine to perform milling and ploughing operation in a ring-shaped operation region. Through the technical scheme of the application, automatic control of the milling and ploughing operation of the milling and ploughing machine in the ring-shaped operation region can be realized, the dependence on manual operation is reduced, the operation accuracy is higher, the construction quality and efficiency of the milling and ploughing operation are improved, the applicability is better, and the equipment cost is controlled.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of engineering machinery, and particularly relates to a milling and plowing machine control method, a milling and plowing machine control system, and a milling and plowing machine. BACKGROUND

[0002] The milling and plowing machine is one of common road construction engineering machinery, and is commonly used for milling and plowing cutting operation on old road surface. Generally, when a small range annular area (for example, the periphery of a circular area of a well lid) needs to be milled and plowed, a small milling and plowing machine (for example, a wheel type milling and plowing machine) is usually used, and an operator manually controls the milling and plowing machine to mill and plow along the periphery of the target circular area. After the milling and plowing machine travels one round, the annular milling and plowing operation area is covered. In this process, the operator needs to dynamically adjust the posture of the milling and plowing machine according to the size of the radius of the target circular area, which is difficult to operate and requires high operating experience. In actual construction process, the accuracy of the milling and plowing operation is difficult to guarantee, which affects the construction quality and efficiency.

[0003] For the above construction conditions, some manufacturers provide a scheme of adding an auxiliary device to the milling and plowing machine. The auxiliary device adopts a claw structure, clamps the well lid or the inner wall of the well, and then controls the milling and plowing machine to travel and mill and plow along the arc with the center point of the claw structure. However, the device structure of the above scheme is relatively complex, the cost is high, the clamping operation of the claw is difficult in the construction process, the cooperation accuracy is difficult to guarantee, and the operation efficiency is low, which is difficult to meet the actual construction requirements. SUMMARY

[0004] Therefore, in order to solve at least one of the above problems in the prior art, the present application provides a milling and plowing machine control method, a milling and plowing machine control system, and a milling and plowing machine.

[0005] A first aspect of the present application provides a milling and plowing machine control method, comprising: step S100, acquiring a target radius size of a target circular area and a first structure parameter of a milling and plowing machine when the milling and plowing machine is located in an annular operation area on the periphery of the target circular area; step S200, determining a target turning angle of a turning mechanism of the milling and plowing machine according to the target radius size and the first structure parameter; step S300, determining a target length size of a turning oil cylinder according to the target turning angle and the first structure parameter; and step S400, controlling the turning oil cylinder to work according to the target length size, and controlling the milling and plowing machine to perform milling and plowing operation in the annular operation area.

[0006] The beneficial effects of the above technical solutions of the present application are as follows:

[0007] The control mode of the milling and planing machine is improved, when the milling and planing machine performs the milling and planing operation on the annular operation area outside the target circular area, the corresponding target turning angle and the target length of the turning oil cylinder can be accurately matched according to the radius size of the target circular area, the turning oil cylinder drives the turning mechanism to perform the corresponding turning operation, and then the milling and planing machine performs the milling and planing operation on the annular operation area in the adjusted posture, so that the automatic control milling and planing operation in the annular operation area is realized. The milling and planing machine control method can reduce the labor intensity of the operator and the requirement for operation experience, the accuracy of the milling and planing operation is higher, and the construction quality and efficiency of the milling and planing operation are improved; different radius sizes of the target circular area can be adapted according to the construction requirements, the applicability is better, and no additional auxiliary device is needed, which is beneficial to control the equipment cost.

[0008] In a feasible implementation manner, the turning mechanism comprises a turning connecting frame, a turning wheel, a turning oil cylinder and a turning connecting rod; the turning wheel comprises a first turning wheel and a second turning wheel, and the turning connecting frame comprises a first connecting frame and a second connecting frame; the first connecting frame is located on one side close to the target circular area, and the first turning wheel is connected to the first connecting frame; the second connecting frame is located on one side away from the target circular area, and the second turning wheel is connected to the second connecting frame; the two ends of the turning oil cylinder are hingedly connected to the front end of the first connecting frame and the front end of the second connecting frame respectively, and the two ends of the turning connecting rod are hingedly connected to the rear end of the first connecting frame and the rear end of the second connecting frame respectively, and the turning oil cylinder, the turning connecting rod and the first connecting frame and the second connecting frame are connected into a frame structure; in step S200, the target turning angle of the turning mechanism of the milling and planing machine is determined according to the target radius size and the first structure parameter, comprising: in step S210, the target radius size is taken as the turning radius of the milling and planing machine; and in step S220, the first target turning angle of the first turning wheel and the second target turning angle of the second turning wheel are determined according to the turning radius and the first structure parameter.

[0009] In a feasible implementation manner, in the initial state, the rotation center point of the second connecting frame is point A, and the front hinged point and the rear hinged point of the second connecting frame are point E and point D respectively; the rotation center point of the first connecting frame is point B, and the front hinged point and the rear hinged point of the first connecting frame are point F and point C respectively; the first turning wheel and the second turning wheel are both front wheels of the milling and planing machine, the projection point of point B on the rear axle of the milling and planing machine is point M, the milling and planing working device of the milling and planing machine is located on one side of the rear axle close to the target circular area, and the side edge of the milling and planing working device and the tangent point of the target circular area are point N, and the center of the target circular area is point O; after turning, the positions of points A and B are unchanged, points C, D, E and F are moved to points C1, D1, E1 and F1 respectively, the first target turning angle is alpha, the second target turning angle is beta, and alpha is greater than beta.

[0010] Step S220: determining the first target steering angle of the first steering wheel and the second target steering angle of the second steering wheel according to the turning radius and the first structure parameters, comprising: step S221: determining the first target steering angle a according to the trigonometric function relationship and the geometric relationship between the line segment BM and the line segment MO; step S222: determining the second target steering angle β according to the trigonometric function relationship and the geometric relationship of the second target steering angle β; wherein the first structure parameters include the initial length size of the steering cylinder, the initial position information and the size information of the first connecting frame, the second connecting frame and the steering connecting rod; wherein the first structure parameters include the initial length size of the steering cylinder, the initial position information and the size information of the first connecting frame, the second connecting frame and the steering connecting rod.

[0011] Further, in step S221, the trigonometric function relationship and the geometric relationship between the line segment BM and the line segment MO can specifically include formula 1: That is, step S221 can specifically determine the first target steering angle a according to formula 1; in step S222, the trigonometric function relationship and the geometric relationship of the second target steering angle β can specifically include formula 2: AC1 2 = AB 2 + BC1 2 - 2 x AB x BC1 x cos(∠ABC - a), formula 3: That is, step S222 can specifically determine the second target steering angle β according to formula 2 and formula 3. Wherein R in formula 1 is the turning radius, R + MN is MO.

[0012] In a feasible implementation manner, step S300: determining the target length size of the steering cylinder according to the target steering angle and the first structure parameters, comprising: step S310: determining the coordinate position of the two ends of the steering cylinder after steering according to the first structure parameters, the first target steering angle and the second target steering angle; step S320: determining the target length size of the steering cylinder after steering according to the coordinate position.

[0013] In a feasible implementation manner, step S310: determining the coordinate position of the two ends of the steering cylinder in the steering state according to the first structure parameters, the first target steering angle and the second target steering angle, comprising: step S311: establishing a rectangular coordinate system with point A as the origin, setting the coordinates of point E1 as (x E1 , y E1 ), and setting the coordinates of point F1 as (x F1 , y F1); step S312: determining the coordinates of the E1 point according to the trigonometric function relationship between the line segment AE1 and the angle E1AB and the geometric relationship between the angle E1AB and the second target steering angle β; step S313: determining the coordinates of the F1 point according to the trigonometric function relationship between the line segment BF1 and the angle F1BG, the geometric relationship between the angle F1BG and the first target steering angle α and the line segment AB; and step S320: determining the target length size of the steering oil cylinder after steering according to the coordinate positions, including: step S321: determining the target length size of the steering oil cylinder after steering according to the coordinates of the E1 point and the F1 point and the distance formula between the two points.

[0014] Further, in step S312, the trigonometric function relationship between the line segment AE1 and the angle E1AB and the geometric relationship between the angle E1AB and the second target steering angle β can specifically include formula 4: y E1 = AE1 x sin ( ∠EAB- β), formula 5: x E1 = AE1 x cos ( ∠EAB- β), that is, the coordinates of the E1 point in step S312 can be specifically determined according to formula 4 and formula 5; in step S313, the trigonometric function relationship between the line segment BF1 and the angle F1BG, the geometric relationship between the angle F1BG and the first target steering angle α and the line segment AB can specifically include formula 6: x F1 = AB + BF1 x cos ( π- ∠FBA- α), formula 7: y F1 = BF1 x sin ( π- ∠FBA- α), that is, the coordinates of the F1 point in step S313 can be specifically determined according to formula 6 and formula 7; and in step S321, the distance formula between the E1 point and the F1 point is specifically formula 8: That is, in step S321, the target length size of the steering oil cylinder after steering can be specifically determined according to formula 8 and the coordinates of the E1 point and the F1 point.

[0015] In a possible implementation, step S400: controlling the steering oil cylinder to work according to the target length size and controlling the milling and paving machine to perform milling and paving operations in the annular operation area, including: step S410: adjusting the steering oil cylinder to the target length size and driving the steering wheel to rotate to the target steering angle; and step S420: controlling the milling and paving machine to travel in the annular operation area at the target steering angle and controlling the milling and paving working device of the milling and paving machine to perform corresponding milling and paving operations.

[0016] In an implementation, the step S100 of obtaining the target radius size of the target circular area and the first structure parameter of the milling machine when the milling machine is located in the annular working area outside the periphery of the target circular area comprises the following steps: S110, obtaining manual input information or measurement information when the milling machine is located in the annular working area outside the periphery of the target circular area; S120, determining the target radius size of the target circular area according to the manual input information or the measurement information; and S130, calling the first structure parameter from a built-in database of a controller.

[0017] The second aspect of the present application further provides a milling machine control system, comprising: a traveling mechanism and a milling working device; a steering mechanism comprising a steering connecting frame, a steering wheel, a steering connecting rod and a steering cylinder; an information acquisition device for obtaining a target radius size of a target circular area; a controller in communication connection with the traveling mechanism, the milling working device, the steering cylinder and the signal acquisition device, and the first structure parameter of the milling machine is stored in the controller, and the controller controls the traveling mechanism, the milling working device and the steering cylinder to work according to the target radius size and the first structure parameter, and executes the milling machine control method in any one of the first aspect.

[0018] Further, the information acquisition device comprises: a manual input device for inputting manual input information corresponding to the target radius size of the target circular area; and / or a measuring device for obtaining measurement information corresponding to the target radius size of the target circular area.

[0019] The third aspect of the present application further provides a milling machine, comprising: a milling vehicle body; and the milling machine control system in any one of the second aspect, which is arranged on the milling vehicle body.

[0020] The fourth aspect of the present application further provides an electronic device comprising a processor and a memory, wherein the memory stores a computer program suitable for running in the processor. When the processor runs the computer program in the memory, the milling machine control method in any one of the first aspect can be realized.

[0021] The fifth aspect of the present application further provides a readable storage medium, and the readable storage medium stores a computer program, which realizes the milling machine control method in any one of the first aspect when the computer program is executed by a processor. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 Fig. 1 shows a flowchart of a milling machine control method according to an embodiment of the present application.

[0023] Figure 2 Fig. 2 shows a schematic diagram of a milling machine according to an embodiment of the present application.

[0024] Figure 3 Fig. 1 shows a top view of a milling machine according to an embodiment of the present application.

[0025] Figure 4 Fig. 2 shows a rear view of a steering mechanism of a milling machine according to an embodiment of the present application.

[0026] Figure 5 Fig. 3 shows a top view of a steering mechanism of a milling machine according to an embodiment of the present application.

[0027] Figure 6 Fig. 4 shows a flow chart of a milling machine control method according to an embodiment of the present application.

[0028] Figure 7 Fig. 5 shows a schematic diagram of the geometric positions of a steering mechanism of a milling machine before and after steering according to an embodiment of the present application.

[0029] Figure 8 Fig. 6 shows a flow chart of a milling machine control method according to an embodiment of the present application.

[0030] Figure 9 Fig. 7 shows a detailed flow chart of a milling machine control method according to an embodiment of the present application.

[0031] Figure 10 Fig. 8 shows a flow chart of a milling machine control method according to an embodiment of the present application.

[0032] Figure 11 Fig. 9 shows a flow chart of a milling machine control method according to an embodiment of the present application.

[0033] Figure 12 Fig. 10 shows a detailed flow chart of a milling machine control method according to an embodiment of the present application.

[0034] Figure 13 Fig. 11 shows a flow chart of a milling machine control method according to an embodiment of the present application.

[0035] Figure 14 Fig. 12 shows a flow chart of a milling machine control method according to an embodiment of the present application.

[0036] Figure 15 Fig. 13 shows a schematic diagram of a milling machine in a working state according to an embodiment of the present application.

[0037] Figure 16 Fig. 14 shows a top view of a steering mechanism of a milling machine in Fig. 13. Figure 15

[0038] Figure 17 ​Fig. 2 shows a schematic view of a milling machine in another operating state according to an embodiment of the application.

[0039] Figure 18 Fig. 3 shows a schematic view of a milling machine according to an embodiment of the application. Figure 17 Fig. 4 shows a top view of a steering mechanism of the milling machine of Fig. 3.

[0040] Figure 19 Fig. 5 shows a table of relevant data of a milling machine control method according to an embodiment of the application.

[0041] Figure 20 Fig. 6 shows a schematic block diagram of a milling machine control system according to an embodiment of the application.

[0042] Figure 21 Fig. 7 shows a schematic block diagram of a milling machine according to an embodiment of the application.

[0043] In some of the figures, arrows pointing left and right indicate the transverse direction of the milling machine, and arrows pointing front and back indicate the longitudinal direction of the milling machine.

[0044] Legend of reference signs:

[0045] 1 milling machine control system, 11 traveling mechanism, 111 right rear wheel, 112 rear axle, 12 milling work device, 13 steering mechanism, 131 steering connecting frame, 1311 first connecting frame, 1312 second connecting frame, 132 steering wheel, 1321 first steering wheel, 1322 second steering wheel, 133 steering link, 134 steering cylinder, 135 mounting frame, 14 information acquisition device, 15 controller, 2 milling machine, 21 milling vehicle body, 31 target circular area, 32 annular operating area. DETAILED DESCRIPTION

[0046] In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, and the like, unless otherwise explicitly and specifically limited. All directional indications, such as upper, lower, left, right, front, back, top, bottom, and the like, are used with respect to the orientation of the figure under discussion, such as the orientation of the figure shown in the drawing, and are made only for the purpose of illustrating the relative location and movement of the components under discussion. If the specific orientation of the figure under discussion changes, then the directional indications are also changed accordingly. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a list of steps or units is not limited to the listed steps or units, but can optionally include additional steps or units not listed, or can optionally include other steps or units inherent to such a process, method, product, or device.

[0047] In addition, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. As will be apparent to those of ordinary skill in the art, embodiments described herein can be combined with other embodiments.

[0048] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative effort belong to the scope of protection of the present application.

[0049] SUMMARY

[0050] Milling machines are one of the common road construction machinery, often used for cutting operations on the old pavement. In the milling construction process, when the work area is a small range of annular area (such as the outer annular area of the circular area of the well cover), a small milling machine (such as a wheeled milling machine) is usually used for milling operation. Since the above-mentioned milling operation of the annular area needs to be manually operated by the operator to make the milling machine travel along the annular area of the outer periphery of the target circular area and at the same time perform milling operation, the operator needs to dynamically adjust the posture of the milling machine according to the size of the radius of the target circular area, and after the milling machine travels one round, the annular milling operation area can be covered. Since the above-mentioned operation process is difficult and requires high operating experience, the steering angle of the annular operation area of different radius sizes is different, and the accuracy of the milling operation is difficult to guarantee in the actual construction process, thereby affecting the construction quality and efficiency, so there is an urgent need for a milling machine that can perform efficient and accurate construction in the annular operation area.

[0051] Therefore, some manufacturers provide milling machines with auxiliary devices, which are equipped with a clamping jaw structure auxiliary device on the milling machine. When the annular operation area around the well cover or the like needs to be milled, the auxiliary device is clamped with the circular well cover or the inner wall, and then the milling machine travels along the arc with the center point of the clamping jaw structure and performs milling operation. The clamping jaw structure positions the milling machine so that the travel path of the milling machine is a circular path. However, in the above-mentioned scheme, since the auxiliary device needs to be installed, the overall structure is complex and the cost is correspondingly increased; in the construction process, the clamping operation of the clamping jaw structure is difficult, the cooperation accuracy is difficult to guarantee, and the time-consuming and low efficiency of the operation makes it difficult to meet the actual construction requirements.

[0052] Some embodiments of the milling machine control method, the milling machine control system, the milling machine, the electronic device and the readable storage medium in the technical solutions of the present application are provided as follows.

[0053] In an embodiment of the first aspect of the present application, a milling machine control method is provided for a milling machine as in Figure 2 and Figure 3 as shown in Figure 1 The milling machine control method comprises:

[0054] Step S100: obtaining a target radius size of a target circular area and a first structural parameter of the milling machine when the milling machine is located in a ring-shaped working area outside a periphery of the target circular area;

[0055] Step S200: determining a target steering angle of a steering mechanism of the milling machine according to the target radius size and the first structural parameter of the milling machine;

[0056] Step S300: determining a target length size of the steering cylinder according to the target steering angle and the first structural parameter;

[0057] Step S400: controlling the steering cylinder to work according to the target length size, and controlling the milling machine to perform milling work in the ring-shaped working area.

[0058] In the milling machine control method in the present embodiment, when the milling machine is located in the ring-shaped working area outside the periphery of the target circular area, the target radius size of the target circular area and the first structural parameter of the milling machine are obtained through step S100, and then the target steering angle corresponding to the target radius size and the target length size of the steering cylinder are determined through steps S200 to S300, and then the milling machine is controlled through step S400 to adjust the steering cylinder to the target length size, drive the steering mechanism to rotate to the target steering angle, and then perform milling work in the ring-shaped working area outside the target circular area in the current posture.

[0059] It can be understood that in the construction process of the milling machine, a small range circular area where a manhole cover and other road facilities are located needs to be reserved, and a ring-shaped working area needs to be formed outside the target circular area during work, and the milling machine is required to complete the milling work in the ring-shaped working area.

[0060] The milling machine control method in the embodiment can accurately calculate the target turning angle and the target length of the turning oil cylinder according to the target radius of the target circular region, and accurately and efficiently automatically control the milling machine, so that the corresponding milling operation is performed in the annular operation region, the accuracy of the milling operation can be greatly improved, manual operation control is not needed, the labor intensity of the operator and the requirement for operation experience are greatly reduced, the construction quality and the construction efficiency of the milling operation are improved, no additional auxiliary device is needed, the cost of the control equipment is reduced, and the applicability is better.

[0061] In a further embodiment of the application, a milling machine control method is provided for a milling machine as in Figure 2 and Figure 3 .

[0062] As shown in Figure 4 and Figure 5 , the turning mechanism 13 of the milling machine 2 comprises a turning connecting frame 131, a turning wheel 132, a turning oil cylinder 134 and a turning connecting rod 133; wherein the turning wheel 132 comprises a first turning wheel 1321 and a second turning wheel 1322, the turning connecting frame 131 comprises a first connecting frame 1311 and a second connecting frame 1312, the first connecting frame 1311 is located on the side close to the target circular region 31, and the second connecting frame 1312 is located on the side away from the target circular region 31, when assembled on the milling machine 2, the first connecting frame 1311 and the second connecting frame 1312 can rotate relative to the milling vehicle body 21; the first turning wheel 1321 is connected to the first connecting frame 1311 to turn with the first connecting frame 1311; the second turning wheel 1322 is connected to the second connecting frame 1312 to turn with the second connecting frame 1312; the two ends of the turning oil cylinder 134 are hingedly connected to the front end of the first connecting frame 1311 and the front end of the second connecting frame 1312 respectively, and the two ends of the turning connecting rod 133 are hingedly connected to the rear end of the first connecting frame 1311 and the rear end of the second connecting frame 1312 respectively; the turning oil cylinder 134 is connected with the turning connecting rod 133, the first connecting frame 1311 and the second connecting frame 1312 into a frame structure, the first connecting frame 1311 and the second connecting frame 1312 are driven to rotate correspondingly by the extension and contraction movement of the turning oil cylinder 134, and the turning connecting rod 133 transmits power between the first connecting frame 1311 and the second connecting frame 1312. Wherein, in the longitudinal direction of the milling machine 2, the rear end of the first connecting frame 1311 is flush with the rear end of the second connecting frame 1312, and the front end of the first connecting frame 1311 is located on the front side of the front end of the second connecting frame 1312, so that the turning oil cylinder 134 is in an inclined state.

[0063] As shown in Figure 6The milling machine control method comprises:

[0064] Step S100: obtaining a target radius size of a target circular region and a first structure parameter of the milling machine when the milling machine is located in an annular working region at a periphery of the target circular region;

[0065] Step S210: taking the target radius size as a turning radius of the milling machine;

[0066] Step S220: determining a first target steering angle of a first steering wheel and a second target steering angle of a second steering wheel according to the turning radius and the first structure parameter;

[0067] Step S300: determining a target length size of a steering cylinder according to the target steering angle and the first structure parameter;

[0068] Step S400: controlling the steering cylinder to work according to the target length size, and controlling the milling machine to perform milling work in the annular working region.

[0069] In the embodiment, the step S200 is further described on the basis of the foregoing embodiment. Through the step S210 to the step S220, the first target steering angle of the first steering wheel and the second target steering angle of the second steering wheel are calculated according to the size data related to the milling vehicle body in the first structure parameter and the turning radius (the target radius size). It can be understood that, for example Figures 3 to 5 In the example in FIG. 1, the target circular region 31 is located at the right side of the milling machine 2, the first steering wheel 1321 is the right front wheel of the milling machine 2, and the second steering wheel 1322 is the left front wheel of the milling machine 2. Since there is a certain distance (i.e., the wheelbase) between the first steering wheel 1321 and the second steering wheel 1322 in the transverse direction of the milling machine 2, the first target steering angle and the second target steering angle are different in size so that the working region covered by the overall travel track of the milling machine 2 forms the annular region.

[0070] It should be noted that the milling machine in the embodiment can be a wheeled milling machine as shown in Figure 2 , wherein the steering wheels are the left front wheel and the right front wheel of the milling machine.

[0071] In a further embodiment of the present application, a milling machine control method is provided for a milling machine as in Figure 2 and Figure 3 .

[0072] As shown in Figure 7In the example, in the initial state (unturned state), the rotation center point of the second connecting frame 1312 is point A, and the front hinge point and rear hinge point of the second connecting frame 1312 are points E and D, respectively; the rotation center point of the first connecting frame 1311 is point B, and the front hinge point and rear hinge point of the first connecting frame 1311 are points F and C, respectively; the first steering wheel 1321 and the second steering wheel 1322 are both front wheels of the milling machine, the projection point of point B on the rear axle 112 of the milling machine 2 is point M, the milling working device 12 of the milling machine 2 is located on the side of the rear axle 112 close to the target circular area, and the tangent point between the side edge of the milling working device 12 and the target circular area 31 is point N, the center of the target circular area 31 is point O; point G is a point on the extension line of AB. After the turn, the positions of points A and B remain unchanged, while points C, D, E, and F move to points C1, D1, E1, and F1 respectively. The first target steering angle of the first steering wheel 1321 formed is α, and the second target steering angle of the second steering wheel 1322 is β, with α being greater than β.

[0073] like Figure 8 As shown, the milling machine control method includes:

[0074] Step S100: When the milling machine is located in the annular working area outside the target circular area, obtain the target radius dimension of the target circular area and the first structural parameters of the milling machine;

[0075] Step S210: Use the target radius as the turning radius of the milling machine;

[0076] Step S221: Determine the first target steering angle α based on the trigonometric and geometric relationships between line segments BM and MO;

[0077] Step S222: Determine the second target steering angle β based on the trigonometric and geometric relationships of the second target steering angle β;

[0078] Step S300: Determine the target length of the steering cylinder based on the target steering angle and the first structural parameters;

[0079] Step S400: Control the steering cylinder to work according to the target length dimension, and control the milling machine to perform milling operations in the circular working area.

[0080] The first structural parameters include the initial length of the steering cylinder, the initial position information and dimensional information of the first connecting frame, the second connecting frame and the steering linkage.

[0081] Specifically, such as Figure 9 As shown, step S221 specifically includes step S2211: According to formula 1: determining a first target steering angle a; step S222 specifically includes step S2221: determining the first target steering angle a according to formula 2: aC1 2 = AB 2 + BC1 2 - 2 x AB x BC1 x cos(∠ABC - a), formula 3: determining a second target steering angle b. Wherein R in formula 1 is the turning radius, R + MN is MO.

[0082] In the embodiment, step S220 is further specifically described on the basis of the foregoing embodiment. Through steps S221 to S222 (including steps S2211 to S2221), the first target steering angle and the second target steering angle are respectively calculated as the basis for further calculating the target length dimension of the steering cylinder, in combination with formula 1 to formula 3 of geometric relationship.

[0083] In a further embodiment of the application, a milling machine control method is provided for a milling machine in Figure 2 and Figure 3 As shown in Figure 7 and Figure 10 , the milling machine control method comprises:

[0084] Step S100: obtaining a target radius dimension of a target circular area and a first structural parameter of the milling machine when the milling machine is located in an annular working area on the periphery of the target circular area;

[0085] Step S210: taking the target radius dimension as the turning radius of the milling machine;

[0086] Step S221: determining a first target steering angle a according to the trigonometric function relationship between line segment BM and line segment MO and geometric relationship;

[0087] Step S222: determining a second target steering angle b according to the trigonometric function relationship of the second target steering angle b and geometric relationship;

[0088] Step S310: determining the coordinate positions of the two ends of the steering cylinder after steering according to the first structural parameter, the first target steering angle and the second target steering angle;

[0089] Step S320: determining the target length dimension of the steering cylinder after steering according to the coordinate positions;

[0090] Step S400: controlling the steering cylinder to work according to the target length dimension, and controlling the milling machine to perform milling operation in the annular working area.

[0091] The first structure parameter includes initial length dimensions of the steering oil cylinder, initial position information and dimension information of the first connecting frame, the second connecting frame and the steering connecting rod.

[0092] In the embodiment, the step S300 is further specifically described on the basis of the foregoing embodiment. Through the steps S310 to S320, the coordinate positions of the end points E1 and F1 of the steering oil cylinder are calculated according to the first target steering angle, the second target steering angle, the geometric relationship in the and the first structure parameter of the milling machine, and then the target length dimension of the steering oil cylinder is calculated according to the coordinate positions of the end points E1 and F1, so as to serve as the basis for controlling the work of the steering oil cylinder. Figure 7

[0093] In a further embodiment of the application, a milling machine control method is provided for a milling machine in Figure 2 and Figure 3 . As shown in Figure 7 and Figure 11 , the milling machine control method comprises:

[0094] Step S100: When the milling machine is located in the annular working area outside the target circular area, the target radius dimension of the target circular area and the first structure parameter of the milling machine are obtained;

[0095] Step S210: The target radius dimension is taken as the turning radius of the milling machine;

[0096] Step S221: The first target steering angle a is determined according to the trigonometric function relationship and the geometric relationship between the line segment BM and the line segment MO;

[0097] Step S222: The second target steering angle β is determined according to the trigonometric function relationship and the geometric relationship of the second target steering angle β;

[0098] Step S311: A rectangular coordinate system is established with the point A as the origin, the coordinates of the point E1 are set as (x E1 , y E1 ), and the coordinates of the point F1 are set as (x F1 , y F1 );

[0099] Step S312: The coordinates of the point E1 are determined according to the trigonometric function relationship of the line segment AE1 and the angle E1AB and the geometric relationship of the angle E1AB and the second target steering angle β;

[0100] Step S313: The coordinates of the point F1 are determined according to the trigonometric function relationship of the line segment BF1 and the angle F1BG, the geometric relationship of the angle F1BG and the first target steering angle a and the line segment AB;

[0101] ​Step S321: determining the target length size of the steering oil cylinder after steering according to the coordinates of the E1 point, the coordinates of the F1 point and the distance formula between the two points; Step S400: controlling the steering oil cylinder to work according to the target length size, and controlling the milling machine to perform milling operation in the annular operation area.

[0102] The first structure parameters include the initial length size of the steering oil cylinder, the initial position information and size information of the first connecting frame, the second connecting frame and the steering connecting rod.

[0103] Specifically, as shown in Figure 12 Step S312 specifically includes step S3121: determining the coordinates of the E1 point according to formula 4: y E1 = AE1 * sin ( ∠EAB- β ), formula 5: x E1 = AE1 * cos ( ∠EAB- β ), Step S313 specifically includes step S3131: determining the coordinates of the F1 point according to formula 6: x F1 = AB + BF1 * cos ( π- ∠FBA- α ), formula 7: y F1 = BF1 * sin ( π- ∠FBA- α ), Step S321 specifically includes step S3211: determining the target length size of the steering oil cylinder after steering according to formula 8: and the coordinates of the E1 point and the F1 point.

[0104] In the embodiment, steps S310 and S320 are further specifically described on the basis of the foregoing embodiment. Through step S311, a rectangular coordinate system is established, so that the E1 point and the F1 point have corresponding coordinates in the rectangular coordinate system; then through steps S312 to S313 (including steps S3121 to S3131), the coordinate values of the E1 point and the F1 point are specifically calculated by using the geometric relationship as Figure 7 and formulas 4 to 7; and further through step S313, the specific value of the target length size E1F1 of the steering oil cylinder after steering is calculated by using the coordinate values of the E1 point and the F1 point and formula 8. The milling machine control method in the embodiment can calculate the target length size of the steering oil cylinder corresponding to the target radius size according to the specific size data in the first structure parameters of the milling machine, the result has higher accuracy, can be accurately matched with the structure size of the milling machine itself, the calculation and operation process is automatically controlled, the response is rapid, manual operation is not needed, the deviation caused by manual operation can be effectively avoided, and the milling construction quality and construction efficiency of the milling machine for the annular operation area can be greatly improved.

[0105] In a further embodiment of the application, a milling machine control method is provided, as Figure 13As shown, the milling machine control method comprises:

[0106] Step S100: When the milling machine is located in the annular working area outside the periphery of the target circular area, obtaining a target radius size of the target circular area and a first structural parameter of the milling machine;

[0107] Step S200: According to the target radius size and the first structural parameter of the milling machine, determining a target steering angle of the steering mechanism of the milling machine;

[0108] Step S300: According to the target steering angle and the first structural parameter, determining a target length size of the steering cylinder;

[0109] Step S410: Adjusting the steering cylinder to the target length size, and driving the steering wheel to rotate to the target steering angle;

[0110] Step S420: Controlling the milling machine to travel in the annular working area at the target steering angle, and controlling the milling working device of the milling machine to perform corresponding milling operation.

[0111] In this embodiment, the control operation process of the milling machine after calculating the target length size of the steering cylinder is specifically described. Through step S410, the steering cylinder is controlled to perform corresponding extension and contraction movement, and is adjusted to the target length size, so as to drive the steering wheel to rotate to the target steering angle, so that the milling machine is in a steering posture. Further, through step S420, the milling machine is controlled to travel in the annular working area at the target steering angle, and the milling working device of the milling machine is controlled to work, so as to perform milling operation, so that the milled road surface covers the annular working target area, and the target circular area inside the annular working area is reserved. In this process, automatic control of the milling machine can be realized, manual operation is not needed, and the quality and efficiency of the milling operation can be further improved.

[0112] In a further embodiment of the present application, a milling machine control method is provided, as shown in Figure 14 The milling machine control method comprises:

[0113] Step S110: When the milling machine is located in the annular working area outside the periphery of the target circular area, obtaining manual input information or detection information;

[0114] Step S120: According to the manual input information or the detection information, determining a target radius size of the target circular area;

[0115] Step S130: Retrieving the first structural parameter from the built-in database of the controller;

[0116] Step S200: According to the target radius size and the first structural parameter of the milling machine, determining a target steering angle of the steering mechanism of the milling machine;

[0117] Step S300: determining the target length size of the steering cylinder according to the target steering angle and the first structure parameter;

[0118] Step S400: controlling the steering cylinder to work according to the target length size, and controlling the milling machine to perform the milling operation in the annular operation area.

[0119] In the embodiment, the step S100 is further specifically described on the basis of the foregoing embodiment. When the milling machine is located in the annular operation area outside the periphery of the target circular area, the target radius size of the target circular area is determined through the steps S110 to S120 by using the artificial input information or the measurement information of the milling machine, that is, the target radius size can be obtained by field measurement or by artificial input data information, so as to provide different obtaining modes, and the specific actual situation can be selected during the construction process. For example, when the target radius size of the target circular area is known, the artificial input can be directly performed; when the target radius size of the target circular area is unknown or the actual target radius size deviates from the known target radius size, the accurate target radius size can be obtained by field measurement. In order to obtain the measurement information, the corresponding measurement device can be arranged on the milling machine to measure the target circular area. Since the specific structure size and other parameters of the milling machine are known after the milling machine is manufactured, the first structure parameter of the milling machine can be pre-stored in the built-in database of the controller, and the first structure parameter can be directly called through the step S130 to be combined with the target radius size to calculate the corresponding target steering angle and the target length size of the steering cylinder.

[0120] Taking the milling machine in Figures 2 to 5 as an example, the milling machine control method of the present application can determine the corresponding target steering angle and the target length size of the steering cylinder 134 according to the target radius size of the different target circular areas 31. In the initial state, the length size of the steering cylinder 134 is L1. As shown in Figure 15 and Figure 16 , when the target radius size of the target circular area 31 is R1, the inner diameter of the annular operation area 32 outside the periphery of the target circular area 31 is R1, the outer diameter is R2, and R1 < R2; the first target steering angle is α1, the second target steering angle is β1, and the corresponding target length size of the steering cylinder 134 is L2. As shown in Figure 17 and Figure 18 , when the target radius size of the target circular area 31 increases to R3, the inner diameter of the annular operation area 32 outside the periphery of the target circular area 31 is R3, the outer diameter is R4, and R3 < R4; the first target steering angle is α2, the second target steering angle is β2, and the corresponding target length size of the steering cylinder 134 is L3, and L3 < L2.

[0121] Figure 19 The table in the above formula shows several groups of data obtained by applying the milling machine control method provided by the present application, which respectively represent the first target steering angle (right front wheel steering angle), the second target steering angle (left front wheel target steering angle) and the target length size of the steering cylinder corresponding to different target radius sizes (milling radius). It can be seen that the milling machine control method in the present application can be adapted to target circular areas of different radius sizes (such as areas where well covers of different sizes are located), and can accurately obtain the corresponding target steering angles of the steering wheels and the corresponding target length sizes of the steering cylinders, which can effectively promote the milling machine to improve the milling construction quality and efficiency in the annular working area.

[0122] It should be noted that the method steps in each of the above embodiments can also be combined as needed, which will not be described here.

[0123] In an embodiment of the second aspect of the present application, a milling machine control system 1 is also provided, as shown in Figure 2 and Figure 20 The milling machine control system 1 comprises a traveling mechanism 11, a milling working device 12, a steering mechanism 13, an information acquisition device 14 and a controller 15. The traveling mechanism 11 is used to drive the milling machine to travel; the milling working device 12 is used to perform milling work on the road surface; the steering mechanism 13 makes the milling machine turn, including a steering connecting frame 131, a steering wheel 132, a steering connecting rod 133 and a steering cylinder 134; the information acquisition device 14 is used to acquire the target radius size of the target circular area 31 as shown in Figure 13 ; the controller 15 is in communication connection with the traveling mechanism 11, the milling working device 12, the steering cylinder 134 and the information acquisition device 14, and the first structural parameters of the milling machine are stored in the controller 15; the controller 15 can control the steering cylinder 134 to perform corresponding extension and retraction movement to drive the steering wheel 132 to turn to the target steering angle according to the target radius size of the target circular area 31 and the first structural parameters, and can control the traveling mechanism 11 and the milling working device 12 to work, so as to execute the milling machine control method in any one of the embodiments of the first aspect, so that the milling machine performs milling work in the annular working area 32 outside the target circular area 31.

[0124] Specifically, as shown in Figures 2 to 5 , Figure 15As shown, the steering wheel 132 of the steering mechanism 13 includes a first steering wheel 1321 and a second steering wheel 1322, and the steering connecting frame 131 includes a first connecting frame 1311 and a second connecting frame 1312; the first connecting frame 1311 is located on the side close to the target circular area 31, and the first steering wheel 1321 is connected to the first connecting frame 1311; the second connecting frame 1312 is located on the side away from the target circular area 31, and the second steering wheel 1322 is connected to the second connecting frame 1312; the two ends of the steering oil cylinder 134 are respectively hinged to the front end of the first connecting frame 1311 and the front end of the second connecting frame 1312, and the two ends of the steering connecting rod 133 are respectively hinged to the rear end of the first connecting frame 1311 and the rear end of the second connecting frame 1312, and the steering oil cylinder 134, the steering connecting rod 133 and the first connecting frame 1311 and the second connecting frame 1312 are connected into a frame structure. Among them, in the longitudinal direction of the milling machine, the rear end of the first connecting frame 1311 is flush with the rear end of the second connecting frame 1312, and the front end of the first connecting frame 1311 is located on the front side of the front end of the second connecting frame 1312, so that the steering oil cylinder 134 is in an inclined state.

[0125] Further, as shown in Figure 4 and Figure 5 The milling machine control system 1 further includes a mounting frame 135 for connecting and fixing with the milling machine body.

[0126] Further, the information acquisition device 14 includes a manual input device and / or a measuring device. The manual input device can be arranged in the cab of the milling machine, for example, can be integrated into the operation table of the milling machine, for inputting manual input information corresponding to the target radius size of the target circular area 31; the controller 15 is in communication connection with the manual input information, and the size of the target radius size can be determined through the manual input information. The measuring device can be arranged on the milling machine body, for measuring the manual input information corresponding to the target radius size of the target circular area 31, for example, using a distance sensor or other sensing equipment; the controller 15 is in communication connection with the measuring device, and the size of the target radius size can be determined through the measuring information.

[0127] The milling machine control system 1 in the embodiment can control the steering mechanism 13, the traveling mechanism 11 and the milling operation working device to perform corresponding work according to the target radius size of the target circular area when the milling machine performs milling operation on the annular work area 32 outside the target circular area, so as to perform milling operation on the annular work area 32, and can realize automatic control without manual operation, greatly reducing the labor intensity and the requirement for operation experience, while greatly improving the accuracy of the milling operation, which is beneficial to improve the construction quality and efficiency of the milling operation.

[0128] Furthermore, the milling machine control system 1 in the embodiment also has all the beneficial effects of the milling machine control method in any embodiment of the first aspect, which will not be repeated here.

[0129] In an embodiment of the third aspect of the application, a milling machine 2 is also provided. As shown in Figure 2 、 Figure 15 、 Figure 21 The milling machine 2 includes a milling vehicle body 21 and the milling machine control system 1 in any embodiment of the second aspect. The milling machine control system 1 is arranged on the milling vehicle body 21, and when the milling machine 2 performs milling operations on the annular work area 32 around the target circular area 31, corresponding steering, driving and milling operations are performed, the milling machine control method in any embodiment of the first aspect is executed, and automatic milling operations on the annular work area 32 are completed.

[0130] Furthermore, the milling machine 2 in the embodiment also has all the beneficial effects of the milling machine control system 1 in any embodiment of the second aspect and the milling machine control method in any embodiment of the first aspect, which will not be repeated here.

[0131] In an embodiment of the application, an electronic device is provided. The electronic device includes a processor and a memory, and the memory stores a computer program adapted to run in the processor. When the processor runs the computer program in the memory, the milling machine control method in any embodiment described above can be implemented. Further, the electronic device can also be provided with a communication interface and a communication bus, and the processor, the communication interface and the memory complete communication with each other through the communication bus. The electronic device in the embodiment has all the beneficial effects of the milling machine control method in any embodiment described above, which will not be repeated here.

[0132] In addition, in an embodiment of the application, a readable storage medium is also provided, and the readable storage medium stores a computer program. When the computer program is executed by a processor, the milling machine control method in any embodiment described above is implemented. Thus, the readable storage medium in the embodiment has all the beneficial effects of the milling machine control method in any embodiment described above, which will not be repeated here.

[0133] It should be noted that the computer program in the memory in the above-mentioned embodiments can be implemented in the form of a software functional unit. When implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application essentially or substantially or part of the technical solutions or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the milling machine control method of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0134] The basic principles of the present application are described above in combination with specific embodiments, but it should be noted that the advantages, advantages, effects, etc. mentioned in the present application are only examples and not limitations, and these advantages, advantages, effects, etc. cannot be considered as the must-have of each embodiment of the present application. In addition, the above-mentioned specific details are only for the purpose of example and for the purpose of understanding, and are not limited to the above-mentioned specific details.

[0135] The block diagrams of the devices, apparatuses, equipment, systems involved in the present application are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration shown in the block diagram. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, which mean "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably. It should also be noted that in the devices and equipment of the present application, each component can be disassembled and / or reassembled. These disassembly and / or reassembly should be considered as equivalent solutions of the present application. The above description of the disclosed aspects is provided to enable any skilled person in the art to make or use the present application. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but is intended to be in the widest scope consistent with the principles and novel features of the present application.

[0136] The above merely preferred embodiments of the present application are not used to limit the present application, any modification, equivalent replacement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A milling machine control method, characterized in that, Step S100: When the milling machine is located in the annular working area outside the target circular area, the target radius dimension of the target circular area and the first structural parameters of the milling machine are obtained. The milling machine includes a steering mechanism, which includes a steering connecting frame, a steering wheel, a steering cylinder, and a steering link. The connecting frame includes a first connecting frame and a second connecting frame. The first structural parameters include the initial length dimension of the steering cylinder, the initial position information and dimension information of the first connecting frame, the second connecting frame, and the steering link. Step S200: Determine the target steering angle of the milling machine's steering mechanism based on the target radius dimension and the first structural parameters; Step S300: Determine the target length of the steering cylinder based on the target steering angle and the first structural parameters; Step S400: Control the steering cylinder to work according to the target length dimension, and control the milling machine to perform milling operations in the annular working area.

2. The milling machine control method according to claim 1, characterized in that, The steering wheel includes a first steering wheel and a second steering wheel. The first connecting frame is located on the side closer to the target circular area, and the first steering wheel is connected to the first connecting frame. The second connecting frame is located on the side away from the target circular area, and the second steering wheel is connected to the second connecting frame. The two ends of the steering cylinder are respectively hinged to the front end of the first connecting frame and the front end of the second connecting frame, and the two ends of the steering link are respectively hinged to the rear end of the first connecting frame and the rear end of the second connecting frame. The steering cylinder, the steering link, the first connecting frame, and the second connecting frame are connected to form a frame structure. Step S200: Determining the target steering angle of the milling machine's steering mechanism based on the target radius and the first structural parameters, including: Step S210: Use the target radius as the turning radius of the milling machine; Step S220: Determine the first target steering angle of the first steering wheel and the second target steering angle of the second steering wheel based on the turning radius and the first structural parameters.

3. The milling machine control method according to claim 2, characterized in that, In the initial state, the rotation center point of the second connecting frame is point A, and the front hinge point and rear hinge point of the second connecting frame are points E and D, respectively. The rotation center point of the first connecting frame is point B, and the front hinge point and rear hinge point of the first connecting frame are points F and C, respectively. The first steering wheel and the second steering wheel are both front wheels of the milling machine. The projection point of point B on the rear axle of the milling machine is point M. The milling working device of the milling machine is located on the side of the rear axle close to the target circular area. The tangent point between the side edge of the milling working device and the target circular area is point N. The center of the target circular area is point O. After the turn, the positions of points A and B remain unchanged, while points C, D, E, and F move to points C1, D1, E1, and F1 respectively. The first target turning angle is α, the second target turning angle is β, and α is greater than β. Step S220: Determining the first target steering angle of the first steering wheel and the second target steering angle of the second steering wheel based on the turning radius and the first structural parameters, including: Step S221: Determine the first target steering angle α based on the trigonometric and geometric relationships between line segments BM and MO; Step S222: Determine the second target steering angle β based on the trigonometric and geometric relationships of the second target steering angle β; The first structural parameters include the initial length of the steering cylinder, the initial position information and size information of the first connecting frame, the second connecting frame and the steering linkage.

4. The milling machine control method according to claim 3, characterized in that, Step S300: Determining the target length of the steering cylinder based on the target steering angle and the first structural parameters, including: Step S310: Determine the coordinate positions of both ends of the steering cylinder after steering based on the first structural parameters, the first target steering angle, and the second target steering angle; Step S320: Determine the target length of the steering cylinder after steering based on the coordinate position.

5. The milling machine control method according to claim 4, characterized in that, Step S310: Determining the coordinate positions of both ends of the steering cylinder after steering based on the first structural parameters, the first target steering angle, and the second target steering angle, including: Step S311: Establish a rectangular coordinate system with point A as the origin, set the coordinates of point E1 as (x_E1, y_E1), and set the coordinates of point F1 as (x_F1, y_F1). Step S312: Determine the coordinates of point E1 based on the trigonometric relationship between line segment AE1 and ∠E1AB and the geometric relationship between ∠E1AB and the second target turning angle β; Step S313: Determine the coordinates of point F1 based on the trigonometric function relationship between line segment BF1 and ∠F1BG, the geometric relationship between ∠F1BG and the first target turning angle α, and line segment AB; Step S320: Determining the target length of the steering cylinder after steering based on the coordinate position includes: Step S321: Determine the target length of the steering cylinder after steering based on the coordinates of point E1, the coordinates of point F1, and the distance formula between the two points.

6. The milling machine control method according to any one of claims 1 to 5, characterized in that, Step S400: Controlling the steering cylinder to operate according to the target length dimension, and controlling the milling machine to perform milling operations in the annular working area, including: Step S410: Adjust the steering cylinder to the target length dimension and drive the steering wheel to rotate to the target steering angle; Step S420: Control the milling machine to travel within the annular working area at the target steering angle, and control the milling working device of the milling machine to perform the corresponding milling operation.

7. The milling machine control method according to any one of claims 1 to 5, characterized in that, Step S100: When the milling machine is located in the annular working area surrounding the target circular area, the target radius of the target circular area and the first structural parameters of the milling machine are obtained, including: Step S110: When the milling machine is located in the annular working area outside the target circular area, obtain manual input information or measurement information; Step S120: Determine the target radius of the target circular region based on the manually input information or the measurement information; Step S130: Retrieve the first structure parameters from the controller's built-in database.

8. A milling machine control system, characterized in that, include: Traveling mechanism and milling working device; The steering mechanism includes a steering coupling, steering wheels, steering linkages, and steering cylinders; Information acquisition device, used to acquire the target radius dimension of the target circular area; The controller is communicatively connected to the traveling mechanism, the milling working device, the steering cylinder, and the information acquisition device, and stores the first structural parameters of the milling machine. The controller controls the traveling mechanism, the milling working device, and the steering cylinder to work according to the target radius size and the first structural parameters, and executes the milling machine control method as described in any one of claims 1 to 7.

9. The milling machine control system according to claim 8, characterized in that, The information acquisition device includes: A manual input device is used to input manual input information corresponding to the target radius size of the target circular region; and / or A measuring device is used to acquire measurement information corresponding to the target radius size of the target circular region.

10. A milling machine, characterized in that, include: Milling the car body; The milling machine control system as described in claim 8 or 9 is mounted on the milling machine body.

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