Position control method and system of slipform paver in walking slipform construction process

Abstract

This invention discloses a method and system for posture control of a slipform paver during the stepping slipform construction process. The method first constructs the forward and inverse kinematic equations of the slipform paver, then obtains the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system, and uses a total station to compensate for the RTK positioning coordinates, improving the positioning accuracy in both horizontal and vertical directions. Then, during the slipform process, the posture matrix of the mold at different lateral push joint adjustment points in the slipform paver coordinate system can be accurately calculated, and the lateral push joint values ​​at different adjustment points are obtained by combining the inverse kinematic equations. This achieves refined and precise control of the mold's lateral push actuator during the slipform process, significantly improving the posture control accuracy of the mold during this stage. In the stepping process, precise control of the chassis actuator is achieved, further improving the posture control accuracy of the slipform paver during this stage.

Description

Technical Field

[0001] This invention relates to the field of posture control technology for slipform pavers, and in particular, to a posture control method and system, electronic equipment, and computer-readable storage medium for slipform pavers during step slipform construction. Background Technology

[0002] For a long time, in the field of curbstone or crash barrier construction of urban roads or highways in my country, one construction method is to prefabricate sand, stone and cement, and then pave them by manual installation or pouring on site. This method has the following problems: (1) It requires the establishment of a certain prefabrication site, and there is a series of complicated site work before construction; (2) It requires a large amount of materials to make templates; (3) It requires necessary equipment and transportation of prefabricated parts; (4) It is labor-intensive, has low construction efficiency, and the quality of the paved curbstone is difficult to guarantee. Another construction method uses mechanical slipform equipment, which generally includes modules such as a tracked walking and steering system, a material conveying system, a navigation and positioning system, a continuous slipform system, and a vibration system. Before construction, the road surface needs to be measured and positioned to form a guide line. During construction, the navigation and positioning system adjusts the steering and elevation direction in real time based on the deviations fed back by sensors. At the same time, the slipform mold moves forward with the vehicle body, and the material conveying system continuously feeds material into the mold hopper, enabling uninterrupted continuous construction. Compared with manual formwork construction, this method greatly improves construction efficiency, avoids the use of consumables such as wood or boards, and reduces labor intensity. However, with this method, the slipform equipment is easily affected by the flatness of the road surface, resulting in a series of quality problems such as inconsistent top surfaces of the formed guardrails and crooked lines. For example, patent CN202211580814 discloses a slipform construction method for roadbed drainage ditches. First, the road surface needs to be measured and positioned to form a guide line. Then, the slipform machine is positioned and aligned according to the guide line. Next, concrete is added to the slipform machine, causing it to perform slipform construction along the guide line to form the roadbed drainage ditch. Finally, expansion joints and construction joints are formed in the roadbed drainage ditch. This patent achieves slipform construction mechanically, but it requires the prior installation of a guide line on the road, which is time-consuming and labor-intensive. Furthermore, the quality of the equipment during construction is largely dependent on the smoothness of the road surface; even minor disturbances can easily cause poor linearity of the guardrail.

[0003] Therefore, to address the issue that the slipform quality of existing slipform pavers is significantly affected by ground flatness, the applicant previously proposed a concrete slipform paver capable of both step-slipform and continuous-walking slipform modes (patent publication number CN116084243A). In the step-slipform mode, it effectively avoids undulations caused by unsatisfactory road conditions during slipform construction and solves problems such as poor linearity, uneven structure, and easy breakage of tall crash barriers during slipform construction. However, this patent does not disclose the specific posture control method involved in the step-slipform construction process, and it only uses RTK technology to adjust the posture of the concrete slipform paver. Since the positioning accuracy of RTK positioning technology is affected by many factors, such as the ionosphere, satellite conditions, and signal transmission distance, the positioning accuracy and reliability of RTK are relatively poor. This results in poor posture control accuracy of the slipform paver during actual step-slipform construction, thus affecting the slipform quality. Summary of the Invention

[0004] This invention provides a method and system for position and posture control of a slipform paver during the step slipform construction process, in order to solve the technical problems of poor position and posture control accuracy and poor slipform quality of existing concrete slipform pavers when performing step slipform construction.

[0005] According to one aspect of the present invention, a method for position control of a slipform paver during the step slipform construction process is provided, comprising the following:

[0006] The forward and inverse kinematic equations of the slipform machine are constructed, and the equation parameters are calibrated. The forward kinematic equations represent the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value, sliding joint value, and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system. The inverse kinematic equations represent the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value, and sliding joint value, and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system.

[0007] Collect design data for the construction route and set the slipform distance and the number of times the lateral push joint is adjusted;

[0008] Obtain the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system;

[0009] The elevation data of the total station measurement control points and the longitude and latitude data of the RTK positioning antenna measurement control points are collected. The coordinates of the RTK positioning antenna in the engineering coordinate system are calculated by combining the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system. The total station is then used to compensate for the coordinates of the RTK positioning antenna in the engineering coordinate system.

[0010] In the slipform process, based on the design data of the construction line, the slipform distance, the number of times the lateral push joint is adjusted, and the coordinates of the RTK positioning antenna after compensation in the engineering coordinate system, the pose matrix of the mold at different lateral push joint adjustment points in the slipform machine coordinate system is calculated. Then, the lateral push joint values ​​of the mold at different lateral push joint adjustment points are obtained by combining the inverse kinematic equation and the lateral push joint is automatically adjusted. After the slipform is completed, the theoretical elevation values ​​of the three legs are calculated and the leg height is automatically adjusted.

[0011] In the stepping process, the position and pose matrix of the mold in the sliding mold machine coordinate system is calculated in real time. Then, the steering angle of the three tracks and the extension and retraction height of the three outriggers are obtained by combining the inverse kinematic equations and automatically adjusted.

[0012] Furthermore, the coordinates of the RTK positioning antenna in the engineering coordinate system are calculated based on the following formula:

[0013]

[0014] Z = H 棱镜

[0015] Where (X,Y,Z) represents the three-dimensional coordinates of the RTK positioning antenna in the engineering coordinate system. K and θ represent the X-axis translation coefficient, Y-axis translation coefficient, scale parameter, and rotation parameter between the geographic coordinate system and the engineering coordinate system, respectively. 高斯 and Y 高斯 These represent the projected coordinates of the longitude and latitude data of the control point measured by the RTK positioning antenna in the Gaussian plane coordinate system, respectively. Gauss() represents the Gaussian projection function, L and B represent the longitude and latitude data of the control point measured by the RTK positioning antenna, respectively, and H represents the elevation data of the prism at the control point measured by the total station.

[0016] Furthermore, the process of using a total station to compensate for the coordinates of the RTK positioning antenna in the engineering coordinate system includes the following:

[0017] The coordinates of the RTK positioning antenna and the RTK directional antenna in the sliding model coordinate system are obtained by measuring with a total station. The tilt angles of the sliding model in the front-rear and left-right directions of the vehicle body and the heading angle measured by the RTK directional antenna are collected. The pose matrix of the sliding model in the engineering coordinate system is calculated by combining the coordinates of the RTK positioning antenna in the engineering coordinate system.

[0018] The pose matrices of the front and rear control points relative to the mold are obtained by measuring with a total station. The pose matrix of the mold in the sliding model machine coordinate system is obtained by solving the forward kinematics equations. Combined with the pose matrix of the sliding model machine in the engineering coordinate system, the pose matrices of the front and rear control points in the engineering coordinate system are calculated respectively. Based on the pose matrices of the front and rear control points in the engineering coordinate system, the calculated coordinates of the front and rear control points in the engineering coordinate system are obtained respectively.

[0019] With the center of the mold facing the slipform section to be constructed, use a total station to measure the actual coordinates of the front and rear control points in the engineering coordinate system.

[0020] The compensation values ​​in the X, Y, and Z directions are calculated based on the calculated and actual coordinates of the two control points in the engineering coordinate system.

[0021] The coordinates of the RTK positioning antenna in the engineering coordinate system are compensated based on the compensation values ​​in the X, Y, and Z directions.

[0022] Furthermore, the compensation values ​​in the X, Y, and Z directions are calculated based on the following formula:

[0023]

[0024]

[0025]

[0026] Where △X, △Y, and △Z represent the compensation values ​​in the X, Y, and Z directions, respectively. This represents the element located at the first row and third column of the pose matrix in the engineering coordinate system, indicating the position of the former control point. This represents the element located at the 2nd row and 3rd column of the pose matrix in the engineering coordinate system, indicating the position of the former control point. This represents the element located at the 3rd row and 3rd column of the pose matrix in the engineering coordinate system, indicating the position of the front control point. This represents the element located at the 1st row and 3rd column of the pose matrix of the rear control point in the engineering coordinate system. This represents the element located at the 2nd row and 3rd column of the pose matrix in the engineering coordinate system for the rear control point. This represents the element located at the 3rd row and 3rd column of the pose matrix of the back control point in the engineering coordinate system, (X 前 ,Y 前 Z 前 (X) represents the actual coordinates of the former control point in the engineering coordinate system. 后 ,Y 后 Z 后 () indicates the actual coordinates of the control point in the engineering coordinate system.

[0027] Furthermore, in the slipform process, the process of calculating the pose matrix of the mold at different lateral push joint adjustment points in the slipform machine coordinate system based on the design data of the construction line, the slipform distance, the number of lateral push joint adjustments, and the compensated coordinates of the RTK positioning antenna in the engineering coordinate system includes the following:

[0028] The calculated coordinates of the front and rear control points in the engineering coordinate system are updated based on the compensated coordinates of the RTK positioning antenna in the engineering coordinate system, and these coordinates are used as the initial coordinates of the front and rear control points before the sliding mode.

[0029] Based on the initial coordinates of the front and rear control points before slipforming, the design data of the construction line, and the slipforming distance, the target coordinates of the front and rear control points at the end of slipforming are obtained.

[0030] Based on the initial and target coordinates of the front and rear control points before and after the sliding mold, as well as the number of times the lateral push joint is adjusted, interpolation calculations are performed to obtain the coordinates of multiple lateral push joint adjustment points. Combined with the updated pose matrix of the front control point in the engineering coordinate system or the updated pose matrix of the rear control point in the engineering coordinate system, the pose matrix of the mold at each lateral push joint adjustment point in the engineering coordinate system is calculated.

[0031] Based on the pose matrix of the mold at each lateral push joint adjustment point in the engineering coordinate system and the updated pose matrix of the sliding mold machine in the engineering coordinate system, the pose matrix of the mold at each lateral push joint adjustment point in the sliding mold machine coordinate system is calculated.

[0032] Furthermore, the process of calculating the theoretical elevation values ​​of the three legs after the slipforming process is completed includes the following:

[0033] Based on the target coordinates of the front control point at the end of the sliding form and the updated pose matrix of the front control point in the engineering coordinate system, or based on the target coordinates of the rear control point at the end of the sliding form and the updated pose matrix of the rear control point in the engineering coordinate system, the pose matrix of the mold at the end of the sliding form in the engineering coordinate system is calculated, and the theoretical elevation values ​​of the three legs are calculated by combining the inverse kinematic equations.

[0034] Furthermore, in the stepping process, the process of calculating the pose matrix of the mold in the sliding mold machine coordinate system in real time includes the following:

[0035] The initial coordinates of the mold center in front of the sliding mold are calculated based on the initial coordinates of the front control point and the rear control point in front of the sliding mold, and are used as the starting coordinates of the stepping process.

[0036] The target coordinates of the mold center at the end of the sliding form are calculated based on the target coordinates of the front and rear control points at the end of the sliding form, and are used as the end coordinates of the stepping process.

[0037] The walking route is determined based on the starting and ending coordinates of the stepping process. During the walking process, the pose matrix of the mold in the engineering coordinate system and the pose matrix of the sliding model machine in the engineering coordinate system are calculated in real time. Based on these two pose matrices, the pose matrix of the mold in the sliding model machine coordinate system is calculated in real time.

[0038] In addition, the present invention also provides a position and posture control system for a slipform paver during the step slipform construction process, comprising:

[0039] The kinematic equation construction module is used to construct the forward and inverse kinematic equations of the slipform machine and calibrate the equation parameters. The forward kinematic equation represents the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value, sliding joint value and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system. The inverse kinematic equation represents the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value and sliding joint value and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system.

[0040] The data acquisition and setting module is used to collect design data of the construction line and set the slipform distance and the number of times the lateral push joint is adjusted.

[0041] The positioning transformation parameter acquisition module is used to acquire the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system;

[0042] The RTK coordinate compensation module is used to collect elevation data of total station measurement control points, longitude data and latitude data of RTK positioning antenna measurement control points, and calculate the coordinates of RTK positioning antenna in the engineering coordinate system by combining the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system, and use the total station to compensate the coordinates of RTK positioning antenna in the engineering coordinate system.

[0043] The slipform process control module is used to calculate the pose matrix of the mold at different lateral push joint adjustment points in the slipform machine coordinate system based on the design data of the construction line, the slipform distance, the number of lateral push joint adjustments, and the coordinates of the RTK positioning antenna after compensation in the engineering coordinate system. Then, it combines the inverse kinematics equation to solve for the lateral push joint values ​​of the mold at different lateral push joint adjustment points and performs automatic lateral push joint adjustment. After the slipform is completed, it calculates the theoretical elevation values ​​of the three legs and performs automatic adjustment of the leg height.

[0044] The stepping process control module is used to calculate the position matrix of the mold in the sliding mold machine coordinate system in real time during the stepping process, and then combine it with the inverse kinematics equation to obtain the steering angle of the three tracks and the extension height of the three legs, and then automatically adjust them.

[0045] In addition, the present invention also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the method described above by calling the computer program stored in the memory.

[0046] In addition, the present invention provides a computer-readable storage medium for storing a computer program for position control of a slipform paver during step slipform construction, wherein the computer program executes the steps of the method described above when running on a computer.

[0047] The present invention has the following effects:

[0048] The present invention discloses a method for position control of a slipform paver during the step slipform construction process. First, it constructs the forward and inverse kinematic equations of the slipform paver to establish the relationship between the position matrices of each actuator and the mold in the slipform paver coordinate system. Then, it obtains the positioning transformation parameters from the geographic coordinate system to the engineering coordinate system to achieve real-time positioning of the slipform paver in the engineering coordinate system. A combined RTK and total station positioning method is adopted, using the total station to compensate for the RTK positioning coordinates, significantly improving the positioning accuracy in both horizontal and vertical directions. Then, during the slipform process, based on the design data of the construction route, the slipform distance, the number of lateral push joint adjustments, and the RTK-compensated positioning coordinates, the position matrix of the mold at different lateral push joint adjustment points in the slipform paver coordinate system can be accurately calculated. Combined with the inverse kinematic equations, the lateral push joint values ​​at different adjustment points are obtained, achieving refined and precise control of the mold's lateral push actuators during the slipform process, greatly improving the position control accuracy of the mold during the slipform process, thereby improving the slipform quality. During the stepping process, the position matrix of the mold in the sliding mold machine coordinate system can be calculated in real time, and the adjustment amount of the chassis actuator can be obtained by combining the inverse kinematic equation. This enables precise control of the chassis actuator during the stepping process and greatly improves the position control accuracy of the sliding mold machine during the stepping process.

[0049] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0050] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0051] Figure 1 This is a schematic diagram of the structure of a slipform paver according to a preferred embodiment of the present invention.

[0052] Figure 2 This is a flowchart illustrating the position control method of a slipform paver during the step slipform construction process, according to a preferred embodiment of the present invention.

[0053] Figure 3 yes Figure 2 A schematic diagram of the sub-process of step S4.

[0054] Figure 4 yes Figure 2 A schematic diagram of the sub-process of step S5.

[0055] Figure 5 yes Figure 2 A schematic diagram of the sub-process of step S6.

[0056] Figure 6 This is a schematic diagram of the module structure of the posture control system of a slipform paver in the step slipform construction process according to another embodiment of the present invention.

[0057] Explanation of reference numerals in the attached figures

[0058] 1. Slipform car body; 2. Computer; 3. Outriggers; 4. Conveyor belt; 5. Slide rail; 6. Sprockets and chains; 7. Track; 8. Mold; 9. Screw conveyor auger. Detailed Implementation

[0059] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0060] Understandable, such as Figure 1As shown, the slipform paver involved in this invention includes a slipform paver body 1, a walking system, a concrete conveying system, and a mold pushing and sliding system. The slipform paver body 1 includes a frame, on which a dual-axis inclinometer is mounted to measure the tilt angles of the vehicle body in the front-to-back and left-to-right directions. The walking system includes three outriggers 3, fixedly connected to the slipform paver body 1, used to adjust the height of the slipform paver body 1 above the ground. The outriggers 3 are distributed on the left, right, and rear sides of the slipform paver body 1 and are driven by hydraulic cylinders. Each cylinder contains a stroke sensor to measure the height of the outrigger 3. A track 7 is installed below each outrigger 3 to control the walking and steering of the slipform paver body 1. The steering of the track 7 is driven by a hydraulic cylinder, and an angle sensor is arranged at the cylinder hinge to measure the steering angle of the track 7. The concrete conveying system mainly includes a screw conveyor auger 9 and a conveyor belt. Concrete is transported to conveyor belt 4 by screw conveyor 9 during operation. The screw conveyor 9 then transports the concrete to conveyor belt 4, which rotates to deliver the concrete to the inlet of mold 8. The mold lateral pushing and sliding system includes a lateral pushing mechanism, a mold mounting device, and a sliding mechanism. The lateral pushing mechanism consists of two telescopic hydraulic cylinders, which are perpendicular to the vehicle's forward direction and arranged one in front of the other. Each cylinder contains a stroke sensor to measure the cylinder's stroke. The cylinder ends are fixedly connected to the sliding mechanism. When the cylinders extend or retract, they drive the sliding mechanism to move along the left and right sides of the vehicle. The sliding mechanism includes a slide rail 5 and a sprocket and chain 6. Mold 8 is mounted on the sliding mechanism via the mounting device. The sprocket and chain 6 can drive mold 8 to slide back and forth on the slide rail 5. The slide rail 5 is 4m long. An angle sensor is installed on the motor that drives the sprocket to measure the stroke of mold 8 on the slide rail 5. In addition, the slipform machine vehicle body 1 is also equipped with a positioning system module, which specifically includes an RTK vehicle-mounted terminal, an RTK base station, an RTK rover station, a total station, a communication radio, and a 360° prism. The RTK vehicle-mounted terminal includes a main unit and an RTK positioning antenna and an RTK directional antenna. The antenna and the main unit are installed on the slipform machine vehicle body 1. The main unit communicates with the computer 2 via a serial port. During construction, it measures the position and heading angle of the slipform machine in real time and transmits the information to the control system software of the computer 2. When working, the RTK base station is set up at the control point of the construction site. The RTK rover station is used in conjunction with the RTK base station to measure the geographical coordinates of the control point of the construction site. The 360° prism is installed on the vehicle body, and the total station is set up on the ground. It communicates with the computer 2 via a radio. During operation, it continuously tracks the prism and transmits the prism coordinates to the computer 2. It is understood that the mechanical structure of the slipform paver is prior art, and specific reference can be made to the applicant's previously filed patent CN116084243A. The improvement of the slipform paver (hereinafter referred to as slipform paver) of this invention compared to patent CN116084243A lies in the addition of a total station, a communication radio, and a 360° prism. It is understood that, as Figure 2As shown, a preferred embodiment of the present invention provides a method for position control of a slipform paver during the step slipform construction process, comprising the following:

[0061] Step S1: Construct the forward / inverse kinematic equations of the slipform machine and calibrate the equation parameters. The forward kinematic equations represent the calculation relationship between the track steering angle, outrigger height, lateral push joint value, sliding joint value and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system. The inverse kinematic equations represent the calculation relationship between the track steering angle, outrigger height, lateral push joint value and sliding joint value and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system.

[0062] Step S2: Collect the design data of the construction line and set the slipform distance and the number of times the lateral push joint is adjusted;

[0063] Step S3: Obtain the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system;

[0064] Step S4: Collect the elevation data of the total station measurement control points, the longitude data and latitude data of the RTK positioning antenna measurement control points, and calculate the coordinates of the RTK positioning antenna in the engineering coordinate system by combining the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system. Then, use the total station to compensate for the coordinates of the RTK positioning antenna in the engineering coordinate system.

[0065] Step S5: In the slipform process, based on the design data of the construction line, the slipform distance, the number of times the lateral push joint is adjusted, and the coordinates of the RTK positioning antenna after compensation in the engineering coordinate system, the pose matrix of the mold at different lateral push joint adjustment points in the slipform machine coordinate system is calculated. Then, the lateral push joint values ​​of the mold at different lateral push joint adjustment points are obtained by combining the inverse kinematic equations and the lateral push joint is automatically adjusted. After the slipform is completed, the theoretical elevation values ​​of the three legs are calculated and the leg height is automatically adjusted.

[0066] Step S6: In the stepping process, the position matrix of the mold in the coordinate system of the sliding mold machine is calculated in real time. Then, the steering angle of the three tracks and the extension height of the three legs are obtained by combining the inverse kinematic equations and automatically adjusted.

[0067] It is understood that the posture control method of the slipform paver in the step slipform construction process of this embodiment first constructs the forward / inverse kinematic equations of the slipform paver to establish the relationship between the posture matrices of each actuator of the slipform paver and the mold in the slipform paver coordinate system. Then, it obtains the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system to achieve real-time positioning of the slipform paver in the engineering coordinate system. A combined RTK and total station positioning method is adopted, using the total station to compensate for the RTK positioning coordinates, which greatly improves the positioning accuracy in the horizontal and vertical directions. Then, in the slipform process stage, based on the design data of the construction line, the slipform distance, the number of lateral push joint adjustments, and the RTK-compensated positioning coordinates, the posture matrix of the mold at different lateral push joint adjustment points in the slipform process in the slipform paver coordinate system can be accurately calculated. Combined with the inverse kinematic equations, the lateral push joint values ​​at different adjustment points are obtained, realizing refined and precise control of the mold lateral push actuator in the slipform process stage, greatly improving the posture control accuracy of the mold in the slipform process stage, thereby improving the slipform quality. During the stepping process, the position matrix of the mold in the sliding mold machine coordinate system can be calculated in real time, and the adjustment amount of the chassis actuator can be obtained by combining the inverse kinematic equation. This enables precise control of the chassis actuator during the stepping process and greatly improves the position control accuracy of the sliding mold machine during the stepping process.

[0068] It is understood that in step S1, before the slipform machine leaves the factory, the robot kinematic equations are constructed based on the mechanical dimensions of each actuator of the slipform machine. Specifically, these include the forward kinematic equation HMJForward and the inverse kinematic equation HMJInverse. Then, the kinematic equation parameter Q is corrected using a calibration algorithm. Specifically, the actuators of the slipform machine include a chassis actuator and an upper pile actuator. The chassis actuator includes three legs and tracks. During calibration, a coordinate origin is established at a fixed position on the slipform machine, and a slipform machine coordinate system is established. Reflective stickers are attached to the tracks, and the coordinates of the reflective stickers at different rotation angles and leg heights are measured multiple times using a total station based on the slipform machine coordinate system. The corresponding joint values ​​are recorded simultaneously. The upper pile actuator includes a mold lateral pushing mechanism and a mold sliding mechanism. The mold lateral pushing mechanism includes two telescopic joints arranged side by side. The mold sliding mechanism, consisting of a telescopic hydraulic cylinder and a sliding joint (sprocket and chain), is calibrated by installing two 360° prisms at the front and rear control points of the mold. These prisms actuate the telescopic and sliding joints, respectively. Based on the origin and coordinate system of the slipform machine, multiple sets of prism coordinates are measured using a total station, and the corresponding joint values ​​are recorded. Finally, the reflector coordinates, prism coordinates, and all joint values ​​are substituted into the kinematic equations for solving, yielding the equation parameters and ultimately the forward and inverse kinematic equations of the slipform machine. The forward kinematic equations represent the calculation relationship between the track steering angle, outrigger height, lateral joint value, sliding joint value, and equation parameters to solve for the mold's pose matrix in the slipform machine coordinate system. This can be expressed as: The inverse kinematics equations represent the calculation relationship between the mold's pose matrix in the sliding mold machine coordinate system and the equation parameters for solving the track steering angle, outrigger height, lateral thrust joint value, and sliding joint value, which can be expressed as: Let HMJForward() represent the pose matrix of the mold in the sliding model machine coordinate system, Q represent the equation parameters, θ1, θ2, and θ3 represent the steering angles of the left, right, and rear tracks, respectively, k1, k2, and k3 represent the heights of the left, right, and rear outriggers, respectively, and l1, l2, and l3 represent the joint values ​​of the front lateral thrust joint, rear lateral thrust joint, and sliding joint, respectively. The front and rear control points are two fixed points arranged front and rear on the mold.

[0069] It is understood that in step S2, before the slipform machine is used for construction, design data for the construction route is collected, including centerline design data, road cross-sectional parameters, guardrail offsets, and other information. This collected design data is then input into data generation software, which automatically generates a design data file. This design data file is then imported into a designated directory on the slipform machine's computer via a USB flash drive or other medium. This design data file can be read by the automatic slipform control system software. Furthermore, the design data file typically includes the entire section to be constructed; therefore, this step only needs to be performed once before construction.

[0070] It is understandable that in step S3, since RTK directly measures the longitude, latitude, and elevation data of the WGS84 geographic coordinate system, it is necessary to establish a transformation relationship between the geographic coordinate system and the engineering coordinate system of the construction site in order to achieve the positioning of the slipform machine in the engineering coordinate system. Specifically, before construction, an RTK base station is set up in an open area of ​​the construction site. Once the RTK rover reaches a fixed solution state, the RTK rover is used to measure the longitude L, latitude B, and elevation H of the construction site control points at three known construction site control points. The engineering coordinate system coordinates of the construction site control points are known. The B, L, and H data of the construction site control points and the engineering coordinate system coordinates are input into the automatic slipform control system software, and the software can automatically calculate the positioning transformation parameters, including the X-axis translation coefficient. Y-axis translation factor The scaling parameter K and the rotation parameter θ are used. The specific calculation process for the positioning transformation parameter is existing technology and will not be elaborated here. Furthermore, the positioning transformation parameter can accurately locate within a certain range, therefore this step only needs to be performed once before each construction phase.

[0071] It is understood that in step S4, before slipform construction, a total station is set up, pointed at the positioning prism at the front or rear control point, and set to tracking mode to ensure that the control system software can normally receive the prism elevation data H measured by the total station. 棱镜 At this point, the RTK positioning antenna measures the longitude L and latitude B of the front or rear control point, and obtains its Gaussian plane coordinates (X) after Gaussian projection. 高斯 Y 高斯 ) = Gauss(B,L). Then, the coordinates of the RTK positioning antenna in the engineering coordinate system can be calculated based on the following formula:

[0072]

[0073] Z = H 棱镜

[0074] Where (X,Y,Z) represents the three-dimensional coordinates of the RTK positioning antenna in the engineering coordinate system. K and θ represent the X-axis translation coefficient, Y-axis translation coefficient, scale parameter, and rotation parameter between the geographic coordinate system and the engineering coordinate system, respectively. 高斯 and Y 高斯 These represent the projected coordinates of the longitude and latitude data of the control point measured by the RTK positioning antenna in the Gaussian plane coordinate system, respectively. Gauss() represents the Gaussian projection function, L and B represent the longitude and latitude data of the control point measured by the RTK positioning antenna, respectively, and H represents the elevation data of the prism at the control point measured by the total station.

[0075] Understandable, such as Figure 3 As shown, the process of compensating for the coordinates of the RTK positioning antenna in the engineering coordinate system using a total station includes the following:

[0076] Step S41: Measure the coordinates of the RTK positioning antenna and the RTK directional antenna in the sliding model coordinate system using a total station. Collect the tilt angles of the sliding model in the front-rear and left-right directions of the vehicle body and the heading angle measured by the RTK directional antenna. Combine the coordinates of the RTK positioning antenna in the engineering coordinate system to calculate the pose matrix of the sliding model in the engineering coordinate system.

[0077] Step S42: Measure the pose matrices of the front and rear control points relative to the mold using a total station. Solve the forward kinematics equations to obtain the pose matrix of the mold in the slipform machine coordinate system. Combine this with the pose matrix of the slipform machine in the engineering coordinate system to calculate the pose matrices of the front and rear control points in the engineering coordinate system. Based on the pose matrices of the front and rear control points in the engineering coordinate system, obtain the calculated coordinates of the front and rear control points in the engineering coordinate system.

[0078] Step S43: Position the mold center directly over the slipform section to be constructed, and use a total station to measure the actual coordinates of the front and rear control points in the engineering coordinate system;

[0079] Step S44: Calculate the compensation values ​​in the X, Y, and Z directions based on the calculated and actual coordinates of the two control points in the engineering coordinate system;

[0080] Step S45: Compensate the coordinates of the RTK positioning antenna in the engineering coordinate system based on the compensation values ​​in the X, Y, and Z directions.

[0081] Specifically, based on the mechanical dimensions of the slipform machine, the coordinates P of the RTK positioning antenna in the slipform machine coordinate system are obtained by measuring with a total station using the slipform machine coordinate system. 定位天线-滑模机 The coordinates P of the RTK directional antenna in the sliding model coordinate system 定向天线-滑模机 The pose matrix of the front control point relative to the mold Pose matrix of the rear control point relative to the mold This operation only needs to be performed once when the equipment leaves the factory. Then, the tilt angle θ of the slipform machine in the longitudinal direction of the vehicle body is measured using a dual-axis inclinometer. x and the tilt angle θ in the left and right directions y By measuring the heading angle β of the sliding model using an RTK directional antenna, the pose matrix of the sliding model in the engineering coordinate system can be calculated in real time. It can be represented as: The specific calculation formulas are existing technology and will not be elaborated here.

[0082] Then, by collecting the steering angle values ​​θ1, θ2, θ3 of the left, right, and rear tracks, the height values ​​k1, k2, k3 of the left, right, and rear outriggers, the joint values ​​l1, l2, l3 of the front lateral thrust joint, rear lateral thrust joint, and sliding joint, and the equation parameter Q through the corresponding sensors, the pose matrix of the mold in the sliding model machine coordinate system can be obtained by solving the forward kinematics equation. And combined with the pose matrix of the front control points under the mold Pose matrix of the rear control points under the mold Pose matrix of the slipform machine in engineering coordinate system The pose matrices of the front and rear control points in the engineering coordinate system were calculated respectively. and in, because and Since both are 4×4 matrices, the calculated coordinates of the front and rear control points in the engineering coordinate system can be obtained from their pose matrices in the engineering coordinate system:

[0083] ,

[0084] in, This represents the element located at the first row and third column of the pose matrix in the engineering coordinate system, indicating the position of the former control point. This represents the element located at the 2nd row and 3rd column of the pose matrix in the engineering coordinate system, indicating the position of the former control point. This represents the element located at the 3rd row and 3rd column of the pose matrix in the engineering coordinate system, indicating the position of the front control point. This represents the element located at the 1st row and 3rd column of the pose matrix of the rear control point in the engineering coordinate system. This represents the element located at the 2nd row and 3rd column of the pose matrix in the engineering coordinate system for the rear control point. This represents the element located at the 3rd row and 3rd column of the pose matrix of the back control point in the engineering coordinate system.

[0085] Next, the slipform machine is manually operated to align the center of the mold with the slipform section to be constructed. Then, a total station is used to measure the coordinates of the two prisms at the front and rear control points based on the engineering coordinate system, and recorded as: P 前控制点-实际 (X 前 ,Y 前 Z 前 ), P 后控制点-实际 (X 后 ,Y 后 Z 后 Based on the calculated and actual coordinates of the front and rear control points, the compensation values ​​in the X, Y, and Z directions can be calculated using the following formula:

[0086]

[0087]

[0088]

[0089] Where △X, △Y, and △Z represent the compensation values ​​in the X, Y, and Z directions, respectively.

[0090] Finally, the coordinates of the RTK positioning antenna in the engineering coordinate system are compensated based on the compensation values ​​△X, △Y, and △Z. The compensated coordinates are:

[0091] Understandable, such as Figure 4 As shown, in step S5, the process of calculating the pose matrix of the mold at different lateral push joint adjustment points in the sliding formwork coordinate system based on the design data of the construction line, the sliding formwork distance, the number of lateral push joint adjustments, and the compensated coordinates of the RTK positioning antenna in the engineering coordinate system includes the following:

[0092] Step S51: Update the calculated coordinates of the front control point and the rear control point in the engineering coordinate system based on the compensated coordinates of the RTK positioning antenna in the engineering coordinate system, and use them as the initial coordinates of the front control point and the rear control point before sliding mode.

[0093] Step S52: Based on the initial coordinates of the front and rear control points before slipforming, the design data of the construction line, and the slipforming distance, calculate the target coordinates of the front and rear control points at the end of slipforming;

[0094] Step S53: Based on the initial and target coordinates of the front and rear control points before and after the sliding mold, as well as the number of times the lateral push joint is adjusted, interpolation calculation is performed to obtain the coordinates of multiple lateral push joint adjustment points. Combined with the updated pose matrix of the front control point in the engineering coordinate system or the updated pose matrix of the rear control point in the engineering coordinate system, the pose matrix of the mold at each lateral push joint adjustment point in the engineering coordinate system is calculated.

[0095] Step S54: Based on the pose matrix of the mold at each lateral push joint adjustment point in the engineering coordinate system and the updated pose matrix of the sliding model machine in the engineering coordinate system, calculate the pose matrix of the mold at each lateral push joint adjustment point in the sliding model machine coordinate system.

[0096] Specifically, after the slipform machine is in place and all other preparatory work, such as concrete preparation, is completed, click the "Start Slipform" button in the slipform control system software. At this point, the slipform machine body is stationary, and the mold begins to slide along the guide rail from the rear end to the front end for construction. After clicking the "Start Slipform" button, the control system software will calculate the pose matrix of the slipform machine in the engineering coordinate system based on the coordinates compensated by the RTK positioning antenna in the engineering coordinate system. Pose matrices of the front and rear control points in the engineering coordinate system and The coordinates of the front and rear control points in the engineering coordinate system are updated and used as the initial coordinates of the front and rear control points before the slipform. Alternatively, in other embodiments of the invention, the coordinates of the prisms at the front and rear control points can be directly measured using a total station and used as the initial coordinates of the front and rear control points before the slipform.

[0097] Then, based on the initial coordinates of the front and rear control points before the slipform, the design data of the construction line, and the slipform distance, the target coordinates of the front and rear control points at the end of the slipform can be calculated. The length of the slip rail is 4m, so the slipform distance is set to 4m. Of course, in other embodiments of the present invention, the slipform distance can be set according to the actual length of the slip rail.

[0098] Next, considering the sliding distance is 4m, the number of lateral push joint adjustments is set to 4, meaning the lateral push joint value is calculated and adjusted 4 times. Therefore, based on the initial and target coordinates of the front and rear control points before and after the sliding, and the number of lateral push joint adjustments, interpolation calculations can be performed to obtain the coordinates of multiple lateral push joint adjustment points (i.e., intermediate point positions). Then, based on the coordinates of each lateral push joint adjustment point and the updated pose matrix of the front control point in the engineering coordinate system... Or the pose matrix updated by the back control points in the engineering coordinate system. The pose matrix of the mold in the engineering coordinate system at each lateral push joint adjustment point can then be calculated. Since the vehicle is stationary at this point, ignoring the measurement errors caused by RTK, the pose matrix of the sliding model machine in the engineering system during the entire sliding model process is... With the position fixed, the control system software can automatically calculate the pose matrix of the mold in the engineering coordinate system at each adjustment point of the transverse push joint. yes The inverse matrix.

[0099] Finally, the pose matrix of the mold at each lateral push joint adjustment point in the engineering coordinate system is calculated. By substituting into the inverse kinematics equation, the values ​​l1 and l2 of the two lateral push joints at each lateral push joint adjustment point can be obtained, and the two lateral push joints can be controlled to adjust at each lateral push joint adjustment point. At this time, the track steering and outrigger lifting do not move.

[0100] It is understood that in step S5, the process of calculating the theoretical elevation values ​​of the three legs after the slipforming process is completed includes the following:

[0101] Based on the target coordinates of the front control point at the end of the sliding form and the updated pose matrix of the front control point in the engineering coordinate system, or based on the target coordinates of the rear control point at the end of the sliding form and the updated pose matrix of the rear control point in the engineering coordinate system, the pose matrix of the mold at the end of the sliding form in the engineering coordinate system is calculated, and the theoretical elevation values ​​of the three legs are calculated by combining the inverse kinematic equations.

[0102] It is understandable that this is based on the target coordinates of the front control point at the end of the sliding mode and the updated pose matrix of the front control point in the engineering coordinate system. Alternatively, based on the target coordinates of the control points at the end of the sliding mode and the updated pose matrix of the control points in the engineering coordinate system. The pose matrix of the mold in the engineering coordinate system at the end position of the sliding form can be calculated. (End position), and substitute it into the inverse kinematics equations to solve. The theoretical elevation values ​​of the three outriggers can be obtained, and the corresponding actions of the telescopic cylinders can be controlled. At this time, the track steering, lateral thrust adjustment and sliding adjustment will not be activated.

[0103] It is understood that in step S6, during the stepping process, concrete delivery is paused. At this time, the mold is located at the front end of the slide rail. After clicking the "Start Walking" button in the slipform control system software, the slipform machine moves forward along the planned route at a fixed speed, while simultaneously controlling the mold to retreat along the slide rail at the same speed as the slipform machine, i.e., keeping the mold stationary relative to the ground, until the mold retreats to the rear end of the slide rail and the slipform machine stops moving forward. Figure 5 As shown, during the stepping process, the process of calculating the pose matrix of the mold in the sliding model coordinate system in real time includes the following:

[0104] Step S61: Calculate the initial coordinates of the mold center in front of the sliding mold based on the initial coordinates of the front control point and the rear control point in front of the sliding mold, and use them as the starting coordinates of the stepping process;

[0105] Step S62: Calculate the target coordinates of the mold center at the end of the sliding form based on the target coordinates of the front control point and the rear control point at the end of the sliding form, and use them as the end coordinates of the stepping process;

[0106] Step S63: Determine the walking route based on the starting and ending coordinates of the stepping process. During the walking process, calculate the pose matrix of the mold in the engineering coordinate system and the pose matrix of the sliding model machine in the engineering coordinate system in real time. Based on these two pose matrices, calculate the pose matrix of the mold in the sliding model machine coordinate system in real time.

[0107] Specifically, since the positions of the front and rear control points on the mold are fixed, the initial coordinates of the mold center before the sliding mold can be calculated based on the initial coordinates of the front and rear control points before the sliding mold, and this initial coordinate can be used as the starting coordinate P of the stepping process. 行走-开始 Similarly, based on the target coordinates of the front and rear control points at the end of the sliding form, the target coordinates of the mold center at the end of the sliding form can be calculated, and this can be used as the endpoint coordinate P of the stepping process. 行走-结束 Then, based on the starting coordinates P... 行走-开始 and P 行走-结束 Once the walking route is determined, the system software will calculate the pose matrix of the mold in the engineering coordinate system in real time during the walking process. The pose matrix of the slipform machine in the engineering coordinate system in, It can be adopted or and The calculation process is the same as step S4, so it will not be repeated here. Then, based on and The position matrix of the mold in the sliding model machine coordinate system can be calculated in real time. yes The inverse matrix.

[0108] Finally, the pose matrix of the mold in the sliding model machine coordinate system, which is calculated in real time during the stepping process, is used. Substituting into the inverse kinematics equation: The steering angles θ1, θ2, θ3 of the three tracks and the extension heights k1, k2, k3 of the three outriggers can then be calculated. At this point, the lateral push joint does not move. It can be understood that by repeating steps S5 and S6, precise positional control of the slipform paver during the stepping slipform construction process can be achieved.

[0109] In addition, such as Figure 6 As shown, another embodiment of the present invention also provides a position control system for a slipform paver during the step slipform construction process, preferably employing the method described above, including:

[0110] The kinematic equation construction module is used to construct the forward and inverse kinematic equations of the slipform machine and calibrate the equation parameters. The forward kinematic equation represents the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value, sliding joint value and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system. The inverse kinematic equation represents the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value and sliding joint value and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system.

[0111] The data acquisition and setting module is used to collect design data of the construction line and set the slipform distance and the number of times the lateral push joint is adjusted.

[0112] The positioning transformation parameter acquisition module is used to acquire the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system;

[0113] The RTK coordinate compensation module is used to collect elevation data of total station measurement control points, longitude data and latitude data of RTK positioning antenna measurement control points, and calculate the coordinates of RTK positioning antenna in the engineering coordinate system by combining the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system, and use the total station to compensate the coordinates of RTK positioning antenna in the engineering coordinate system.

[0114] The slipform process control module is used to calculate the pose matrix of the mold at different lateral push joint adjustment points in the slipform machine coordinate system based on the design data of the construction line, the slipform distance, the number of lateral push joint adjustments, and the coordinates of the RTK positioning antenna after compensation in the engineering coordinate system. Then, it combines the inverse kinematics equation to solve for the lateral push joint values ​​of the mold at different lateral push joint adjustment points and performs automatic lateral push joint adjustment. After the slipform is completed, it calculates the theoretical elevation values ​​of the three legs and performs automatic adjustment of the leg height.

[0115] The stepping process control module is used to calculate the position matrix of the mold in the sliding mold machine coordinate system in real time during the stepping process, and then combine it with the inverse kinematics equation to obtain the steering angle of the three tracks and the extension height of the three legs, and then automatically adjust them.

[0116] It is understood that the posture control system of the slipform paver in this embodiment, during the step slipform construction process, first constructs the forward and inverse kinematic equations of the slipform paver to establish the relationship between the posture matrices of each actuator of the slipform paver and the mold in the slipform paver coordinate system. Then, it obtains the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system to achieve real-time positioning of the slipform paver in the engineering coordinate system. A combined RTK and total station positioning method is adopted, using the total station to compensate for the RTK positioning coordinates, which greatly improves the positioning accuracy in the horizontal and vertical directions. Then, in the slipform process stage, based on the design data of the construction line, the slipform distance, the number of lateral push joint adjustments, and the RTK-compensated positioning coordinates, the posture matrix of the mold at different lateral push joint adjustment points in the slipform paver coordinate system can be accurately calculated. Combined with the inverse kinematic equations, the lateral push joint values ​​at different adjustment points are obtained, realizing refined and precise control of the mold's lateral push actuators in the slipform process stage, greatly improving the posture control accuracy of the mold in the slipform process stage, thereby improving the slipform quality. During the stepping process, the position matrix of the mold in the sliding mold machine coordinate system can be calculated in real time, and the adjustment amount of the chassis actuator can be obtained by combining the inverse kinematic equation. This enables precise control of the chassis actuator during the stepping process and greatly improves the position control accuracy of the sliding mold machine during the stepping process.

[0117] In addition, another embodiment of the present invention provides an electronic device including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the method described above by calling the computer program stored in the memory.

[0118] In addition, another embodiment of the present invention provides a computer-readable storage medium for storing a computer program for position control of a slipform paver during step slipform construction, wherein the computer program executes the steps of the method described above when running on a computer.

[0119] Common computer-readable storage media include: floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs, any other optical media, punch cards, paper tape, any other physical media with perforated patterns, random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), flash erasable programmable read-only memory (FLASH-EPROM), any other memory chips or cartridges, or any other media readable by a computer. Instructions may further be transmitted or received by a transmission medium. The term transmission medium can include any tangible or intangible medium used to store, encode, or carry instructions for machine execution, and includes digital or analog communication signals or intangible media that facilitate communication of such instructions. Transmission media include coaxial cables, copper wires, and optical fibers, which contain conductors for transmitting a bus of computer data signals.

[0120] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0121] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented 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. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0122] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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... Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0123] 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.

[0124] 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.

[0125] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0126] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

[0127] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for position control of a slipform paver during step slipform construction, characterized in that, Includes the following: The forward and inverse kinematic equations of the slipform machine are constructed, and the equation parameters are calibrated. The forward kinematic equations represent the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value, sliding joint value, and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system. The inverse kinematic equations represent the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value, and sliding joint value, and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system. Collect design data for the construction route and set the slipform distance and the number of times the lateral push joint is adjusted; Obtain the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system; The elevation data of the total station measurement control points and the longitude and latitude data of the RTK positioning antenna measurement control points are collected. The coordinates of the RTK positioning antenna in the engineering coordinate system are calculated by combining the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system. The total station is then used to compensate for the coordinates of the RTK positioning antenna in the engineering coordinate system. In the slipform process, based on the design data of the construction line, the slipform distance, the number of times the lateral push joint is adjusted, and the coordinates of the RTK positioning antenna after compensation in the engineering coordinate system, the pose matrix of the mold at different lateral push joint adjustment points in the slipform machine coordinate system is calculated. Then, the lateral push joint values ​​of the mold at different lateral push joint adjustment points are obtained by combining the inverse kinematic equation and the lateral push joint is automatically adjusted. After the slipform is completed, the theoretical elevation values ​​of the three legs are calculated and the leg height is automatically adjusted. In the stepping process, the position and pose matrix of the mold in the sliding mold machine coordinate system is calculated in real time. Then, the steering angle of the three tracks and the extension and retraction height of the three outriggers are obtained by combining the inverse kinematic equations and automatically adjusted.

2. The position control method for a slipform paver during step slipform construction as described in claim 1, characterized in that, The coordinates of the RTK positioning antenna in the engineering coordinate system are calculated based on the following formula: Z=H 棱镜 Where (X,Y,Z) represents the three-dimensional coordinates of the RTK positioning antenna in the engineering coordinate system. K and θ represent the X-axis translation coefficient, Y-axis translation coefficient, scale parameter, and rotation parameter between the geographic coordinate system and the engineering coordinate system, respectively. 高斯 and Y 高斯 These represent the projected coordinates of the longitude and latitude data of the control point measured by the RTK positioning antenna in the Gaussian plane coordinate system, respectively. Gauss() represents the Gaussian projection function, L and B represent the longitude and latitude data of the control point measured by the RTK positioning antenna, respectively, and H represents the elevation data of the prism at the control point measured by the total station.

3. The position control method for a slipform paver during step slipform construction as described in claim 2, characterized in that, The process of using a total station to compensate for the coordinates of the RTK positioning antenna in the engineering coordinate system includes the following: The coordinates of the RTK positioning antenna and the RTK directional antenna in the sliding model coordinate system are obtained by measuring with a total station. The tilt angles of the sliding model in the front-rear and left-right directions of the vehicle body and the heading angle measured by the RTK directional antenna are collected. The pose matrix of the sliding model in the engineering coordinate system is calculated by combining the coordinates of the RTK positioning antenna in the engineering coordinate system. The pose matrices of the front and rear control points relative to the mold are obtained by measuring with a total station. The pose matrix of the mold in the sliding model machine coordinate system is obtained by solving the forward kinematics equations. Combined with the pose matrix of the sliding model machine in the engineering coordinate system, the pose matrices of the front and rear control points in the engineering coordinate system are calculated respectively. Based on the pose matrices of the front and rear control points in the engineering coordinate system, the calculated coordinates of the front and rear control points in the engineering coordinate system are obtained respectively. With the center of the mold facing the slipform section to be constructed, use a total station to measure the actual coordinates of the front and rear control points in the engineering coordinate system. The compensation values ​​in the X, Y, and Z directions are calculated based on the calculated and actual coordinates of the two control points in the engineering coordinate system. The coordinates of the RTK positioning antenna in the engineering coordinate system are compensated based on the compensation values ​​in the X, Y, and Z directions.

4. The position control method for a slipform paver during step slipform construction as described in claim 3, characterized in that, The compensation values ​​in the X, Y, and Z directions are calculated based on the following formula: Where ΔX, ΔY, and ΔZ represent the compensation values ​​in the X, Y, and Z directions, respectively. This represents the element located at the first row and third column of the pose matrix in the engineering coordinate system, indicating the position of the former control point. This represents the element located at the 2nd row and 3rd column of the pose matrix in the engineering coordinate system, indicating the position of the former control point. This represents the element located at the 3rd row and 3rd column of the pose matrix in the engineering coordinate system, indicating the position of the front control point. This represents the element located at the 1st row and 3rd column of the pose matrix of the rear control point in the engineering coordinate system. This represents the element located at the 2nd row and 3rd column of the pose matrix in the engineering coordinate system for the rear control point. This represents the element located at the 3rd row and 3rd column of the pose matrix of the back control point in the engineering coordinate system, (X 前 ,Y 前 Z 前 (X) represents the actual coordinates of the former control point in the engineering coordinate system. 后 ,Y 后 Z 后 () indicates the actual coordinates of the control point in the engineering coordinate system.

5. The position control method for a slipform paver during step slipform construction as described in claim 3, characterized in that, In the slipform process, the process of calculating the pose matrix of the mold at different lateral push joint adjustment points in the slipform machine coordinate system based on the design data of the construction line, the slipform distance, the number of lateral push joint adjustments, and the compensated coordinates of the RTK positioning antenna in the engineering coordinate system includes the following: The calculated coordinates of the front and rear control points in the engineering coordinate system are updated based on the compensated coordinates of the RTK positioning antenna in the engineering coordinate system, and these coordinates are used as the initial coordinates of the front and rear control points before the sliding mode. Based on the initial coordinates of the front and rear control points before slipforming, the design data of the construction line, and the slipforming distance, the target coordinates of the front and rear control points at the end of slipforming are obtained. Based on the initial and target coordinates of the front and rear control points before and after the sliding mold, as well as the number of times the lateral push joint is adjusted, interpolation calculations are performed to obtain the coordinates of multiple lateral push joint adjustment points. Combined with the updated pose matrix of the front control point in the engineering coordinate system or the updated pose matrix of the rear control point in the engineering coordinate system, the pose matrix of the mold at each lateral push joint adjustment point in the engineering coordinate system is calculated. Based on the pose matrix of the mold at each lateral push joint adjustment point in the engineering coordinate system and the updated pose matrix of the sliding mold machine in the engineering coordinate system, the pose matrix of the mold at each lateral push joint adjustment point in the sliding mold machine coordinate system is calculated.

6. The position control method for a slipform paver during step slipform construction as described in claim 5, characterized in that, The process of calculating the theoretical elevation values ​​of the three outriggers after the slipforming process is completed includes the following: Based on the target coordinates of the front control point at the end of the sliding form and the updated pose matrix of the front control point in the engineering coordinate system, or based on the target coordinates of the rear control point at the end of the sliding form and the updated pose matrix of the rear control point in the engineering coordinate system, the pose matrix of the mold at the end of the sliding form in the engineering coordinate system is calculated, and the theoretical elevation values ​​of the three legs are calculated by combining the inverse kinematic equations.

7. The position control method for a slipform paver during step slipform construction as described in claim 6, characterized in that, In the stepping process, the real-time calculation of the mold's pose matrix in the sliding mold machine coordinate system includes the following: The initial coordinates of the mold center in front of the sliding mold are calculated based on the initial coordinates of the front control point and the rear control point in front of the sliding mold, and are used as the starting coordinates of the stepping process. The target coordinates of the mold center at the end of the sliding form are calculated based on the target coordinates of the front and rear control points at the end of the sliding form, and are used as the end coordinates of the stepping process. The walking route is determined based on the starting and ending coordinates of the stepping process. During the walking process, the pose matrix of the mold in the engineering coordinate system and the pose matrix of the sliding model machine in the engineering coordinate system are calculated in real time. Based on these two pose matrices, the pose matrix of the mold in the sliding model machine coordinate system is calculated in real time.

8. A position and posture control system for a slipform paver during the step slipform construction process, characterized in that, include: The kinematic equation construction module is used to construct the forward and inverse kinematic equations of the slipform machine and calibrate the equation parameters. The forward kinematic equation represents the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value, sliding joint value and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system. The inverse kinematic equation represents the calculation relationship between the track steering angle, outrigger height, lateral thrust joint value and sliding joint value and equation parameters to solve the pose matrix of the mold in the slipform machine coordinate system. The data acquisition and setting module is used to collect design data of the construction line and set the slipform distance and the number of times the lateral push joint is adjusted. The positioning transformation parameter acquisition module is used to acquire the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system; The RTK coordinate compensation module is used to collect elevation data of total station measurement control points, longitude data and latitude data of RTK positioning antenna measurement control points, and calculate the coordinates of RTK positioning antenna in the engineering coordinate system by combining the positioning transformation parameters between the geographic coordinate system and the engineering coordinate system, and use the total station to compensate the coordinates of RTK positioning antenna in the engineering coordinate system. The slipform process control module is used to calculate the pose matrix of the mold at different lateral push joint adjustment points in the slipform machine coordinate system based on the design data of the construction line, the slipform distance, the number of lateral push joint adjustments, and the coordinates of the RTK positioning antenna after compensation in the engineering coordinate system. Then, it combines the inverse kinematics equation to solve for the lateral push joint values ​​of the mold at different lateral push joint adjustment points and performs automatic lateral push joint adjustment. After the slipform is completed, it calculates the theoretical elevation values ​​of the three legs and performs automatic adjustment of the leg height. The stepping process control module is used to calculate the position matrix of the mold in the sliding mold machine coordinate system in real time during the stepping process, and then combine it with the inverse kinematics equation to obtain the steering angle of the three tracks and the extension height of the three legs, and then automatically adjust them.

9. An electronic device, characterized in that, The method includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the method as described in any one of claims 1 to 7 by calling the computer program stored in the memory.

10. A computer-readable storage medium for storing a computer program for posture control of a slipform paver during step slipform construction, characterized in that, The computer program, when run on a computer, performs the steps of the method as described in any one of claims 1 to 7.

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