Auxiliary driving system of rubber-tyred transporter, beam field central control system and driving method

Abstract

The invention relates to the technical field of engineering machinery, and discloses a tire type transporter auxiliary driving system, a beam field center control system and a driving method.The auxiliary driving system comprises a map positioning unit used for pre-storing a beam field electronic map and presetting a plurality of theoretical planning routes in the beam field electronic map; the acquisition module is also used for acquiring front and back real-time positions of the tire type transporter; the driving deviation correcting unit is used for selecting the nearest theoretical planning route according to the demolding pedestal and the beam storage pedestal, controlling the tire type transporter to run along the theoretical planning route, obtaining the left and right real-time positions of the tire type transporter in the beam field electronic map, and correcting the deviation of the tire type transporter according to the offset between the left and right real-time positions and the road center line of the selected theoretical planning route. And real-time deviation correction is carried out. According to the auxiliary driving system, the beam yard center control system and the driving method, the tire type transporter is assisted to achieve semi-automatic transportation of the beam pieces, the workload of operators is greatly reduced, and the transfer efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to an auxiliary driving system for a tire-type transporter, a beam yard central control system and a driving method. Background Art

[0002] At present, when constructing viaduct railways, tire transporters are generally used to transport beams, and tire transporters require manual operation.

[0003] In the related technology, during the construction of the elevated railway, operators operate tire-type transporters to transport beam pieces. The tire-type transporters mainly work inside the beam yard, transferring the beam pieces from the demoulding pedestals to the beam storage pedestals. After that, the beam transport vehicles transfer the beam pieces to the construction site for bridge assembly.

[0004] However, in the early stage of construction, the construction tasks were relatively light, the workload of the operators was not large, and the transfer work could be completed in time; when the project entered the intensive period, the demoulding pedestal operated at full capacity, which greatly increased the workload of beam transfer, and the transfer was time-consuming and labor-intensive; in addition, the entire beam transfer process relied on the operating experience of the operators. When the workload was too heavy, operating errors were prone to occur, and the guarantee of construction safety would be reduced. Summary of the invention

[0005] The present application provides a tire-type transporter auxiliary driving system, a beam yard central control system and a driving method, which assist the tire-type transporter to realize semi-automatic transportation of beam pieces, greatly reduce the workload of operators, and improve transportation efficiency and safety.

[0006] In a first aspect, an embodiment of the present application provides a tire-type transporter auxiliary driving system, comprising:

[0007] A map positioning unit is used to pre-store an electronic map of the beam yard, preset a number of theoretically planned routes from the demoulding pedestal to the beam storage pedestal in the electronic map of the beam yard, and mark the operation switching point in each planned route; and is also used to obtain the front and rear real-time positions of the tire-type transporter in the electronic map of the beam yard;

[0008] The driving correction unit is used to select the nearest theoretical planned route according to the demoulding platform and the beam storage platform, control the tire transporter to travel along the theoretical planned route, obtain the left and right real-time positions of the tire transporter in the electronic map of the beam yard, and perform real-time correction according to the offset between the left and right real-time positions and the center line of the road of the selected theoretical planned route.

[0009] In combination with the first aspect, in one embodiment, the map positioning unit is further used to mark an operation switching point in each theoretically planned route, the beam yard electronic map includes a plurality of roads crisscrossing vertically and horizontally, and the operation switching point is located at an intersection;

[0010] The tire transporter is provided with a plurality of telescopic legs, and the driving correction unit is further used for controlling the telescopic legs of the tire transporter to extend to the lowest position against the ground at the operation switching point, and all tires of the tire transporter rotate to switch between the forward and backward straight-moving state and the left and right horizontal moving state.

[0011] In combination with the first aspect, in one embodiment, the map positioning unit includes a GPS fixed base station pre-deployed in the beam yard area, and a vehicle-mounted GPS antenna and a data processing board arranged in the center of the tire transporter; the GPS fixed base station, satellite and vehicle-mounted GPS antenna locate the front and rear real-time positions of the tire transporter through differential positioning technology, and the data processing board converts the absolute coordinates of the located front and rear real-time positions into relative coordinates in the electronic map of the beam yard.

[0012] In conjunction with the first aspect, in one embodiment, the tire transporter includes a first drive mechanism and a second drive mechanism;

[0013] The driving deviation correction unit includes a data processor and two vehicle-mounted GPS antennas respectively arranged at the left and right center points of the first driving mechanism and the second driving mechanism;

[0014] The two vehicle-mounted GPS antennas obtain the left and right real-time positions of the two drive structures in real time, and the data processor calculates the left and right real-time deviations between the left and right center points of the two drive structures and the center line of the theoretical planned route, and controls the two drive mechanisms to perform real-time deviation correction.

[0015] In combination with the first aspect, in one embodiment, the data processing board includes a GNSS module and a drawing module; the GNSS module is used to convert the design layout drawing of the beam yard into a preliminary electronic map in advance; the drawing module is used to correct the preliminary electronic map according to the on-site survey data of the beam yard to obtain the electronic map of the beam yard.

[0016] In combination with the first aspect, in one embodiment, the assisted driving system further includes a laser measuring unit and a lifting unit, wherein the laser measuring system is used to identify the type of beam pieces on the beam storage pedestal or the demoulding pedestal, and the lifting unit is used to control the tire-type transporter to control the initial lifting height and the final lifting height at the beam storage pedestal or the demoulding pedestal according to the type of beam pieces.

[0017] In combination with the first aspect, in one embodiment, the assisted driving system further includes a video detection unit, which is used to obtain a video of the tire transporter's surroundings in real time and feed it back to a remote display screen.

[0018] In combination with the first aspect, in one embodiment, the auxiliary driving system further includes an edge contact alarm unit, and when the tire transporter contacts an external obstacle, the edge contact alarm unit controls the tire transporter to stop and issues an alarm.

[0019] In a second aspect, an embodiment of the present application provides a beam yard central control system, comprising a control center and a plurality of wheeled transporters with the above-mentioned assisted driving system, wherein the control center remotely and simultaneously dispatches all the wheeled transporters to operate in an electronic map of the beam yard.

[0020] In a third aspect, an embodiment of the present application provides an assisted driving method based on the above assisted driving system, comprising the following steps:

[0021] Based on the position of the demoulding pedestal where the wheeled transporter is located on the electronic map of the beam yard, the beam storage pedestal to be reached is selected, and the driving correction unit selects the nearest theoretically planned route based on the demoulding pedestal and the beam storage pedestal;

[0022] The driving correction unit controls the wheeled transporter to travel along the theoretically planned route; during the driving process, the left and right real-time positions of the wheeled transporter in the electronic map of the beam yard are obtained, and real-time correction is performed based on the offset between the left and right real-time positions and the center line of the road of the selected theoretically planned route.

[0023] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0024] 1. The assisted driving system of the present application includes a map positioning unit and a driving correction unit. The electronic map of the beam yard, the theoretical planned route and the operation switching point are pre-stored in the map positioning unit. Then, during actual driving, the map positioning unit obtains the real-time front and rear positions of the tire-type transporter on the electronic map of the beam yard; the driving correction unit obtains the real-time left and right positions of the tire-type transporter on the electronic map of the beam yard. When there is an offset in the left and right directions, real-time correction is performed to always guide the tire-type transporter to travel along the middle of the theoretical planned route; the driving correction unit is also used to control the tire-type transporter to switch between straight and horizontal travel at the operation switching point; the assisted driving system of the present application can automatically move between the demoulding platform (departure point) and the beam storage platform (destination), and perform automatic left and right correction to realize semi-automatic, safe and reliable transportation of beam pieces, thereby reducing the workload of operating workers and improving the efficiency of beam piece transportation.

[0025] 2. The assisted driving system of the present application is based on a special electronic map of the beam yard that is vertically and horizontally staggered. It switches between the front and rear straight-moving state and the left and right horizontal state at the operation switching point, i.e. the intersection. On the basis of automatic driving with front and rear positioning and left and right positioning, it performs automatic steering control to achieve flexible driving throughout the map and improve the transportation efficiency of the beam pieces.

[0026] 3. The beam yard central control system of the present application, the control center remotely and simultaneously dispatches all tire transporters to operate in the beam yard electronic map, and can use multiple tire transporters to carry out beam piece transportation work at the same time, which greatly improves the efficiency of beam piece transfer and saves the time and energy of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A schematic diagram of each unit of the assisted driving system provided in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of a partial beam yard electronic map provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] The embodiment of the present application provides an auxiliary driving system for a tire-type transporter, which realizes semi-automatic transportation of the tire-type transporter 12. The operator is no longer required to participate in the operation throughout the entire process (hooking, lifting, transporting, lowering, and unhooking) but only needs to hook and unhook, thereby reducing the workload of the operator, greatly releasing the operator's energy, and improving the transfer efficiency and safety performance.

[0032] like Figure 1 As shown, in a first aspect, the present application discloses an assisted driving system for a tire-type transporter, and the assisted driving system includes a map positioning unit and a driving deviation correction unit.

[0033] Map positioning unit is used to store the electronic map of the beam yard Figure 1 , beam field electronic ground Figure 1 It is converted in advance based on the design layout of the beam yard and the data from on-site survey.

[0034] Map positioning unit in beam yard electronic map Figure 1In the method, a plurality of theoretical planning routes from the demoulding pedestal to the beam storage pedestal 11 are preset, that is, the theoretical planning routes from the starting point to the destination. Specifically, the demoulding pedestal refers to the position where the beam pieces are cast and formed, and the beam storage pedestal 11 refers to the position where the beam pieces are stored.

[0035] The map positioning unit also marks the operation switching point 13 in each planned route to facilitate subsequent driving to the operation switching point 13 to switch between straight driving and lateral driving.

[0036] Specifically, the beam field electronically Figure 1 , the theoretical planned route and the operation switching point 13 are all pre-stored in the map positioning unit.

[0037] The map positioning unit is also used to obtain the electronic location of the tire transporter 12 in the beam yard. Figure 1 The real-time position in the front-to-back direction.

[0038] The driving deviation correction unit selects the nearest theoretically planned route according to the demoulding pedestal and the beam storage pedestal 11, that is, selects the optimal driving route according to the departure and destination. After selecting the optimal driving route, the wheeled transporter 12 is controlled to drive along the theoretically planned route. Figure 1 The real-time position in the left and right directions of the vehicle is corrected in real time based on the offset between the real-time position in the left and right directions of the vehicle and the center line of the selected theoretical planned route. Specifically, the wheeled transporter 12 is always guided to travel along the middle of the theoretical planned route to ensure driving safety.

[0039] The assisted driving system of the present application includes a map positioning unit and a driving deviation correction unit. Figure 1 The theoretical planning route is pre-stored in the map positioning unit, and then during the actual driving, the map positioning unit obtains the electronic map of the tire transporter 12 in the beam yard. Figure 1 The real-time front and rear positions of the tire transporter 12 are obtained by the driving correction unit. Figure 1 The left and right real-time positions are known. When deviation occurs in the left and right directions, real-time deviation correction is performed to always guide the tire-type transporter 12 to travel along the middle of the theoretically planned route. The assisted driving system of the present application can automatically move between the demoulding base (departure point) and the beam storage base 11 (destination), and perform automatic left and right deviation correction to achieve semi-automatic safe and reliable transportation of beam pieces, thereby reducing the workload of operating workers and improving the efficiency of beam piece transportation.

[0040] like Figure 2 As shown, in one embodiment, the map positioning unit is also used to mark the operation switching point 13 in each theoretically planned route, and the driving correction unit is also used to control the tire-type transporter 12 to switch between straight and horizontal operation at the operation switching point 13. Figure 1It includes several roads that intersect vertically and horizontally, and the operation switching point 13 is located at the intersection. Figure 1 It is not an open map, but a pre-set criss-cross map.

[0041] The tire transporter 12 is provided with a plurality of telescopic legs, and the driving correction unit is also used for controlling the telescopic legs of the tire transporter 12 to extend to the lowest position against the ground at the operation switching point 13, so as to facilitate the tires to slightly leave the ground and rotate; all tires of the tire transporter 12 rotate to switch between the front and rear straight-moving state and the left and right horizontal state.

[0042] Specifically, when the map positioning unit detects that the wheeled transporter 12 is on the beam field electronic map, the map positioning unit detects that the wheeled transporter 12 is on the beam field electronic map. Figure 1 When the real-time position in the front-to-back direction reaches the operation switching point 13, the driving correction unit controls the telescopic legs to extend to the lowest position against the ground, so that the tires can slightly leave the ground and rotate. After the steering is completed, the signal is fed back to the driving correction unit. After receiving the command, the driving correction unit controls the telescopic legs to retract, and the tire transporter 12 continues to move until it reaches the end point and stops.

[0043] The assisted driving system of this application is based on a special vertical and horizontal staggered beam field electronic map. Figure 1 At the operation switching point 13, i.e. the intersection, the front and rear straight-line mode and the left and right horizontal mode are switched. On the basis of automatic driving of front and rear positioning and left and right positioning, automatic steering control is performed to achieve flexible driving in the entire map and improve the transportation efficiency of the beam pieces.

[0044] In one embodiment, the map positioning unit includes a GPS (Global Positioning System) fixed base station pre-deployed in the beam yard area, and a vehicle-mounted GPS antenna and a data processing board card arranged in the center of the tire transporter 12.

[0045] Specifically, the vehicle-mounted GPS antenna is arranged in the center of the tire transporter 12, and the vehicle-mounted GPS antenna is arranged in the upper and lower positions of the center of the horizontal frame of the tire transporter 12 through an auxiliary connection structure. The data processing board arranged in the tire transporter 12 is used to obtain real-time location data, store and process the real-time location data.

[0046] The GPS fixed base station, satellite and vehicle-mounted GPS antenna locate the front and rear real-time positions of the tire transporter 12 through differential positioning technology.

[0047] Specifically, the differential positioning system uses carrier phase difference to perform positioning, which has high positioning accuracy.

[0048] The assisted driving system of the present application performs real-time forward and backward positioning with high positioning accuracy through a GPS fixed base station, a vehicle-mounted GPS antenna and a data processing board.

[0049] Preferably, the positioning accuracy can reach 50 mm.

[0050] In one embodiment, the tire transporter 12 includes a first drive mechanism and a second drive mechanism. The first drive mechanism and the second drive mechanism are two completely independent drive mechanisms. Therefore, during continuous movement, there may be a situation where the left and right directions along the forward direction are offset, resulting in a problem of poor effect.

[0051] In order to solve the above problem, the driving deviation correction unit includes a data processor and two vehicle-mounted GPS antennas respectively arranged at the left and right center points of the first driving mechanism and the second driving mechanism.

[0052] Two vehicle-mounted GPS antennas obtain the left and right real-time positions of the two drive structures in real time. The data processor calculates the left and right real-time deviations between the left and right center points of the two drive structures and the center line of the theoretical planned route, and controls the two drive mechanisms to perform real-time deviation correction.

[0053] Specifically, when the left-right center point of the first drive mechanism is located at the center line of the theoretically planned route, the two wheels of the first drive mechanism are just symmetrical about the center line of the theoretically planned route, indicating that the left-right real-time deviation of the first drive mechanism is zero. Similarly, when the left-right center point of the second drive mechanism is located at the center line of the theoretically planned route, the two wheels of the second drive mechanism are just symmetrical about the center line of the theoretically planned route, indicating that the left-right real-time deviation of the second drive mechanism is zero. If the left-right real-time deviation of any drive mechanism is not zero, real-time adjustments are made to ensure that the tire transporter 12 always travels along the center line and ensures the driving safety performance of the tire transporter 12.

[0054] Specifically, when the left and right real-time deviation of any driving mechanism is not zero, the data processor of the driving correction unit adjusts the speed of the driving mechanism or slightly swings the wheels of the driving mechanism to make the tire transporter 12 travel along the center of the road.

[0055] In one embodiment, the data processing board includes a GNSS (Global Navigation Satellite System) module and a drawing module; the GNSS module is used to convert the design layout of the beam yard into a preliminary electronic map in advance; the drawing module is used to correct the preliminary electronic map according to the on-site survey data of the beam yard to obtain the electronic map of the beam yard. Figure 1 First obtain a preliminary electronic map, and then modify it according to the on-site survey data of the beam yard, so that the electronic map of the beam yard can be obtained more efficiently. Figure 1 .

[0056] In one embodiment, the assisted driving system further includes a laser measurement unit and a hanging unit.

[0057] The laser measurement system is used to identify the type of beam pieces on the beam storage pedestal 11 or the demoulding pedestal. Specifically, by identifying the type of beam piece, the various dimensions of the beam piece are known, among which the height dimension is mainly the dimension.

[0058] The hoisting unit is used to control the tire-type transporter 12 at the beam storage pedestal 11 or the demoulding pedestal according to the type of beam piece, and control the initial lifting height and the final lifting height of the hook, so as to facilitate hanging and transportation.

[0059] Specifically, the hanging or unhooking on the beam storage pedestal 11 or the demoulding pedestal is completed with the assistance of operating staff.

[0060] The assisted driving system of the present application is provided with a laser measurement unit and a hoisting unit, which facilitates efficient hanging and unhooking, greatly saves the hoisting time, and improves the transportation efficiency of the beam pieces.

[0061] In one embodiment, the auxiliary driving system further includes a video detection unit, which is used to obtain real-time video of the tire transporter 12 and feed it back to a remote display screen, thereby enabling an operator to remotely view the real-time working status of the tire transporter 12.

[0062] In one embodiment, the assisted driving system further includes an edge contact alarm unit. When the tire transporter 12 comes into contact with an external obstacle, the edge contact alarm unit controls the tire transporter 12 to stop and issues an alarm, thereby greatly improving the safety performance of the tire transporter 12 during operation.

[0063] In the second aspect, the present application discloses an embodiment of a beam yard central control system, which includes a control center and a plurality of wheeled transporters 12 with the above-mentioned auxiliary driving system. The control center remotely and simultaneously dispatches all the wheeled transporters 12 to the beam yard electronically. Figure 1 The transporting work of multiple tire transporters 12 is carried out simultaneously.

[0064] The beam yard central control system of the present application can remotely dispatch all wheeled transporters 12 to the beam yard electronically. Figure 1 During operation, multiple tire transporters 12 can be used simultaneously to transport beam pieces, which greatly improves the efficiency of beam piece transfer and saves the time and energy of operators.

[0065] In a third aspect, the present application further discloses an assisted driving method based on the above assisted driving system, comprising the following steps:

[0066] Based on the demoulding base where the tire transporter 12 is located, the beam field is electronically Figure 1 The position (i.e., the starting position) is determined, and the beam storage pedestal 11 to be reached (i.e., the end position) is selected. The driving correction unit selects the nearest theoretical planning route based on the demoulding pedestal and the beam storage pedestal 11.

[0067] The driving correction unit controls the wheeled transporter 12 to travel along the theoretically planned route; during the driving process, the wheeled transporter 12 is obtained in the beam yard electronic map. Figure 1 The left and right real-time positions are measured, and real-time correction is performed based on the offset between the left and right real-time positions and the road centerline of the selected theoretical planned route.

[0068] In one embodiment, the beam field is electronically Figure 1 It includes several roads that intersect vertically and horizontally, and the operation switching point 13 is located at the intersection. Figure 1 It is not an open map, but a pre-set criss-cross map.

[0069] The tire transporter 12 is provided with a plurality of telescopic legs, and the driving correction unit is also used for controlling the telescopic legs of the tire transporter 12 to extend to the lowest position against the ground at the operation switching point 13, so as to facilitate the tires to slightly leave the ground and rotate; all tires of the tire transporter 12 rotate to switch between the front and rear straight-moving state and the left and right horizontal state.

[0070] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0071] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0072] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A wheeled transporter auxiliary driving system, characterized in that: Include: A map positioning unit is used to pre-store an electronic map (1) of the beam yard and preset a plurality of theoretically planned routes from a demoulding pedestal to a beam storage pedestal (11) in the electronic map (1) of the beam yard; and is also used to obtain the front and rear real-time positions of a tire-type transporter (12) in the electronic map (1) of the beam yard; The driving deviation correction unit is used to select the nearest theoretical planning route according to the demoulding platform and the beam storage platform (11), control the tire-type transporter (12) to travel along the theoretical planning route, obtain the left and right real-time positions of the tire-type transporter (12) in the beam yard electronic map (1), and perform real-time deviation correction according to the offset between the left and right real-time positions and the road center line of the selected theoretical planning route.

2. The tire-type transporter auxiliary driving system according to claim 1, characterized in that: The map positioning unit is also used to mark an operation switching point (13) in each theoretically planned route, the beam yard electronic map (1) includes a plurality of roads that are vertically and horizontally intersecting, and the operation switching point (13) is located at an intersection; The tire-type transporter (12) is provided with a plurality of telescopic legs, and the travel deviation correction unit is also used to control the telescopic legs of the tire-type transporter (12) to extend to the lowest position against the ground at the operation switching point (13), so that all tires of the tire-type transporter (12) rotate to switch between the forward and backward straight-moving state and the left and right horizontal moving state.

3. The tire-type transporter auxiliary driving system according to claim 1, characterized in that: The map positioning unit comprises a GPS fixed base station pre-deployed in the beam yard, and a vehicle-mounted GPS antenna and a data processing board card arranged in the center of the tire-type transporter (12); the GPS fixed base station, the satellite and the vehicle-mounted GPS antenna locate the front and rear real-time positions of the tire-type transporter (12) through differential positioning technology, and the data processing board card converts the absolute coordinates of the located front and rear real-time positions into relative coordinates in the beam yard electronic map (1).

4. The tire-type transporter auxiliary driving system according to claim 1, characterized in that: The tire transporter (12) comprises a first drive mechanism and a second drive mechanism; The driving deviation correction unit includes a data processor and two vehicle-mounted GPS antennas respectively arranged at the left and right center points of the first driving mechanism and the second driving mechanism; The two vehicle-mounted GPS antennas obtain the left and right real-time positions of the two drive structures in real time, and the data processor calculates the left and right real-time deviations between the left and right center points of the two drive structures and the center line of the theoretical planned route, and controls the two drive mechanisms to perform real-time deviation correction.

5. The tire-type transporter auxiliary driving system according to claim 3, characterized in that: The data processing board includes a GNSS module and a drawing module; the GNSS module is used to convert the design layout of the beam yard into a preliminary electronic map in advance; The drawing module is used to correct the preliminary electronic map according to the on-site survey data of the beam yard to obtain the beam yard electronic map (1).

6. The tire-type transporter auxiliary driving system according to claim 1, characterized in that: The auxiliary driving system also comprises a laser measuring unit and a lifting unit. The laser measuring system is used to identify the type of beam pieces on the beam storage pedestal (11) or the demoulding pedestal. The lifting unit is used to control the tire-type transporter (12) to control the initial lifting height and the final lifting height at the beam storage pedestal (11) or the demoulding pedestal according to the type of the beam pieces.

7. The tire-type transporter auxiliary driving system according to claim 1, characterized in that: The auxiliary driving system further comprises a video detection unit, which is used to obtain a video of the periphery of the tire transporter (12) in real time and feed it back to a remote display screen.

8. The wheeled transporter auxiliary driving system according to claim 1, characterized in that: The auxiliary driving system also comprises an edge contact alarm unit. When the tire transporter (12) contacts an external obstacle, the edge contact alarm unit controls the tire transporter (12) to stop and issues an alarm.

9. A beam yard central control system, characterized by: It comprises a control center and a plurality of wheeled transporters (12) having any one of the auxiliary driving systems of claims 1 to 8, wherein the control center remotely and simultaneously dispatches all the wheeled transporters (12) to operate in the beam yard electronic map (1).

10. An assisted driving method based on the assisted driving system according to any one of claims 1 to 8, characterized in that: The following steps are involved: Based on the position of the demoulding platform where the tire-type transporter (12) is located on the beam yard electronic map (1), the beam storage platform (11) to be reached is selected, and the driving correction unit selects the nearest theoretical planning route according to the demoulding platform and the beam storage platform (11); The driving deviation correction unit controls the tire-type transporter (12) to travel along a theoretically planned route; During the driving process, the left and right real-time positions of the tire transporter (12) in the beam yard electronic map (1) are obtained, and real-time deviation correction is performed based on the offset between the left and right real-time positions and the road center line of the selected theoretical planning route.

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