Road pre-line calibration device and method based on pile position coordinates

Abstract

The invention relates to the technical field of road line drawing, in particular to a road pre-line calibration device and method based on pile position coordinates, the road pre-line calibration device comprises the pile position coordinates, a pre-line calibration assembly and a moving trolley, and the pile position coordinates are arranged on a road and used for recording road coordinate positions; the pre-line calibration assembly is used for making a pre-line mark on a road; the moving trolley runs on the road according to the position of the pile position coordinate, the pre-line calibration assembly is arranged on the moving trolley, and the moving trolley drives the pre-line calibration assembly to run on the road so as to carry out pre-line marking on the road in the running process. According to the method, the pile position coordinates are used as the reference of the road position information, so that the road coordinate positions are accurately recorded. Accuracy and stability play a crucial role in follow-up construction.

Description

Technical Field

[0001] The present invention relates to the technical field of road line drawing, and in particular to a road pre-line calibration device and method based on stake position coordinates. Background Art

[0002] The stake coordinates in road construction refer to the coordinates of a series of stake points set up in linear projects (such as highways, railways, etc.) to accurately identify each location. These stake points usually have a unique number, namely the stake number, which is used to quickly locate a specific location in the project. The calculation of stake coordinates involves a variety of line shapes, including straight lines, circular curves, transition curves, complex curves, and return curves, and the calculation methods for different line shapes are different.

[0003] In road construction, the determination of stake position coordinates is crucial for construction, maintenance and management. By calculating the stake position coordinates, the precise position of each location on the road can be determined, thereby ensuring the accuracy of construction and the flatness of the road. This is of great significance for improving the quality and service life of the road. The calculation of stake position coordinates is usually based on known information such as the starting point coordinates, the turning angle value at the intersection, and the azimuth of the starting edge. By using this known information, the coordinates of each intersection of the entire route can be calculated, and then the coordinates of each center stake can be calculated. In the calculation process, different linear and curve elements need to be considered, such as the radius of the circular curve, the length of the transition curve, etc.

[0004] The existing pre-line calibration of highway line drawing requires obtaining field parameters on site before pre-line calibration. The pre-processing work of this method is relatively cumbersome, and the workload is large, which affects the time of pre-line calibration. Summary of the invention

[0005] To solve the above problems, the present invention uses the pile position coordinates as the reference of the road position information to achieve accurate recording of the road coordinate position. The pile position coordinates are the key control points in road construction, and their accuracy and stability play a vital role in subsequent construction. The road pre-line calibration device and method based on the pile position coordinates are provided.

[0006] The technical solution adopted by the present invention is: a road pre-line calibration device based on stake position coordinates, including stake position coordinates, a pre-line calibration component and a mobile cart, the stake position coordinates are set on the road, and are used to record the road coordinate position; the pre-line calibration component is used to make pre-line marks on the road; the mobile cart travels on the road according to the position of the stake position coordinates, the pre-line calibration component is set on the mobile cart, and the mobile cart drives the pre-line calibration component to travel on the road, so as to make pre-line marks on the road during the driving process.

[0007] A further improvement to the above scheme is that the pile position coordinates are composed of a plurality of main coordinates, the plurality of main coordinates are arranged continuously along the length direction of the road, a plurality of secondary coordinates are arranged between two adjacent main coordinates, and the plurality of secondary coordinates are spaced apart by a distance a.

[0008] A further improvement to the above scheme is that the mobile vehicle is provided with a traveling mechanism, a navigation mechanism and a positioning mechanism, the positioning mechanism is used to locate the mobile vehicle, the navigation mechanism is used to navigate when the mobile vehicle is traveling, and the traveling mechanism is used to drive the mobile vehicle to travel on the road.

[0009] A further improvement to the above scheme is that the traveling mechanism includes a frame and a driving wheel group, the driving wheel group is arranged on the frame, and the driving wheel group is used to drive the frame to travel; the pre-line calibration component includes a water tank, a water pump and a line-laying nozzle arranged on the frame, and the water tank is connected to the line-laying nozzle through the water pump to pump the liquid in the water tank to the line-laying nozzle, and spray the line on the road surface to make marks.

[0010] A further improvement to the above scheme is that the mobile vehicle is provided with a positioning acquisition module, which is used to obtain the coordinate point position of the pile position coordinates, and the navigation mechanism provides the driving direction to the driving mechanism according to the position of the coordinate point to make pre-line markings on the road.

[0011] A road pre-line calibration method based on stake position coordinates includes the road pre-line calibration device based on stake position coordinates; the method includes the following steps: Step S1, obtaining the pile position coordinate parameters of the road that needs to be pre-calibrated; Step S2, converting the parameters of the pile position coordinates into driving navigation parameters to guide the mobile car; Step S3, the mobile car travels on the road according to the driving navigation parameters. During the driving process, pre-line marking is performed on the road according to the driving navigation parameters. The pre-line marking is performed at least multiple times, and each time the line is drawn, it is marked based on the pile position coordinates.

[0012] A road pre-line calibration method based on stake position coordinates, comprising the road pre-line calibration device based on stake position coordinates; Step S1, obtaining the pile position coordinate parameters of the road that needs to be pre-calibrated; Step S2, converting the parameters of the pile position coordinates into driving navigation parameters to guide the mobile car; Step S3, the mobile car travels on the road according to the driving navigation parameters. During the driving process, the pre-line marking is performed on the road according to the driving navigation parameters to obtain the pre-line a, and then multiple pre-lines are drawn based on the pre-line a.

[0013] A further improvement to the above solution is that in step S3, when the navigation parameters are obtained, error compensation is performed, and the error compensation value is the deviation value between the roadside and the pile position coordinates.

[0014] A further improvement to the above scheme is that the pile position coordinates are composed of a plurality of main coordinates, the plurality of main coordinates are arranged continuously along the length direction of the road, a plurality of secondary coordinates are arranged between two adjacent main coordinates, and a distance a is provided between the plurality of secondary coordinates; When compensating for errors, the error is measured first. During the measurement process, the mobile car moves along the direction of the secondary coordinate and obtains the distance between the curb and the secondary coordinate at intervals. Compensation is performed based on the error between the distance and the original stake coordinate and road distance.

[0015] The beneficial effects of the present invention are: Compared with the existing road pre-line calibration, the present invention uses the pile position coordinates as the benchmark of the road position information to achieve accurate recording of the road coordinate position. As the key control point in road construction, the accuracy and stability of the pile position coordinates play a vital role in subsequent construction. The pile position coordinates obtained by high-precision measurement means can ensure that the position deviation during the road construction process is controlled within the minimum range, providing a reliable basis for road pre-line calibration. Secondly, the introduction of the pre-line calibration component makes it simple and efficient to make pre-line marks on the road. Pre-line calibration is a key link before road marking, which directly affects the accuracy and aesthetics of road markings. Traditional pre-line calibration methods often require manual operation, which is not only time-consuming and labor-intensive, but also difficult to ensure the accuracy and consistency of calibration. The pre-line calibration component can quickly and accurately make pre-line marks on the road through mechanization and automation, greatly improving the construction efficiency and calibration quality. Furthermore, the use of the mobile car further enhances the flexibility and adaptability of the device. The mobile car travels on the road according to the position of the pile position coordinates, and can automatically adjust the driving route and speed to adapt to different road conditions and construction requirements. At the same time, the pre-line calibration component is set on a mobile trolley, which is driven by the mobile trolley to travel on the road, so that the pre-line marking is carried out during the driving process. This design not only simplifies the calibration process and reduces labor costs, but also improves the continuity and stability of the calibration work.

[0016] The present invention also has a high level of intelligence. By integrating advanced navigation and control systems, the mobile car can perceive the road environment and vehicle status in real time, and perform accurate path planning and obstacle avoidance operations. At the same time, the pre-line calibration components can also be flexibly adjusted according to construction requirements, such as changing the mark color, width and shape, etc., to meet the needs of different road markings. By improving construction efficiency and calibration quality, reducing the waste of manpower and material resources, it provides a strong guarantee for the smooth completion of road construction projects. At the same time, the device also has high scalability and maintainability, and can expand functions and optimize performance according to construction requirements to adapt to the development trend of future road construction.

[0017] The road pre-line calibration method based on stake position coordinates uses stake position coordinates as a reference to accurately obtain stake position coordinate parameters. As a key parameter in road design, stake position coordinates can accurately reflect the geometric characteristics and location information of the road. Accurate capture of stake position coordinates is achieved to provide reliable data support for subsequent road pre-line calibration. After obtaining the stake position coordinate parameters, this method converts them into driving navigation parameters to guide the mobile car to navigate on the road. This conversion process fully considers the actual situation of the road and the driving characteristics of the mobile car, ensuring the accuracy and practicality of the navigation parameters. During the driving process, the mobile car can drive along the predetermined road trajectory according to these navigation parameters, thereby realizing accurate control of the road pre-line marking. In the pre-line marking process, a strategy of multiple line drawing is adopted. Each line drawing is marked based on the stake position coordinates to ensure the accuracy and consistency of the marking. This practice of multiple line drawing not only improves the clarity of the marking, but also helps to timely discover and correct possible errors, further improving the accuracy of road pre-line calibration. It also embodies the characteristics of high automation and intelligence. By integrating advanced navigation systems and automated control technologies, the mobile vehicle can autonomously complete the entire process of road pre-line calibration without manual intervention or assistance. This not only reduces labor costs, but also improves work efficiency, making road pre-line calibration work more convenient and efficient.

[0018] In the road pre-line calibration method based on stake coordinates, in step S3, the mobile car makes pre-line marks on the road according to the converted driving navigation parameters. In this process, the car not only travels according to the predetermined route, but also adjusts the driving trajectory according to the navigation parameters in real time to ensure that the drawing of the pre-line a meets the design requirements and is close to the actual road conditions. The accurate drawing of the pre-line a provides a reliable benchmark for the subsequent drawing of multiple pre-lines, making the entire road pre-line calibration process more systematic and standardized. In addition, the method also has excellent scalability and flexibility. Based on the pre-line a, multiple pre-lines can continue to be drawn to meet the road marking requirements under different road widths and different traffic needs. This pre-line calibration method based on a unified benchmark not only improves the accuracy of road markings, but also greatly shortens the construction period and reduces manpower and material costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the working state of the road pre-line calibration device based on the pile position coordinates of the present invention; Figure 2 It is a structural schematic diagram of the mobile vehicle of the present invention; Figure 3 This is a structural schematic diagram of the mobile vehicle of the present invention from another perspective; Figure 4 It is a connection schematic diagram of the road pre-line calibration device based on the pile position coordinates of the present invention; Figure 5 The figure is a flowchart of the road pre-line calibration method based on stake position coordinates.

[0020] Explanation of the accompanying drawings: pile position coordinates 10, first direction road 11, second direction road 12, primary coordinates 13, secondary coordinates 14, pre-line calibration component 20, water tank 21, water pump 22, line-laying nozzle 23, mobile vehicle 30, traveling mechanism 31, frame 311, driving wheel group 312, navigation mechanism 32, positioning mechanism 33. DETAILED DESCRIPTION

[0021] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Figure 1~Figure 5 As shown, in one embodiment of the present invention, a road pre-line calibration device based on pile position coordinates is involved, including pile position coordinates 10, a pre-line calibration component 20 and a mobile car 30, the pile position coordinates 10 are arranged on the road, and are used to record the road coordinate position; the pre-line calibration component 20 is used to make pre-line marks on the road; the mobile car 30 travels on the road according to the position of the pile position coordinates 10, the pre-line calibration component 20 is arranged on the mobile car 30, and the mobile car 30 drives the pre-line calibration component 20 to travel on the road, so as to make pre-line marks on the road during the driving process. The present invention uses the pile position coordinates 10 as a reference for road position information, and realizes the accurate recording of the road coordinate position. As a key control point in road construction, the accuracy and stability of the pile position coordinates 10 play a vital role in subsequent construction. The pile position coordinates 10 obtained by high-precision measurement means can ensure that the position deviation during the road construction process is controlled within the minimum range, and provide a reliable basis for road pre-line calibration. Secondly, the introduction of the pre-line calibration component 20 makes it simple and efficient to make pre-line marks on the road. Pre-line calibration is a key link before road marking, which directly affects the accuracy and aesthetics of road markings. Traditional pre-line calibration methods often require manual operation, which is not only time-consuming and labor-intensive, but also difficult to ensure the accuracy and consistency of calibration. The pre-line calibration component 20 can quickly and accurately make pre-line marks on the road through mechanized and automated means, greatly improving construction efficiency and calibration quality. Furthermore, the use of the mobile car 30 further enhances the flexibility and adaptability of the device. The mobile car 30 travels on the road according to the position of the pile position coordinates 10, and can automatically adjust the driving route and speed to adapt to different road conditions and construction requirements. At the same time, the pre-line calibration component 20 is arranged on the mobile car 30, and the mobile car 30 drives it to travel on the road, so as to perform pre-line marking during driving. This design not only simplifies the calibration process and reduces labor costs, but also improves the continuity and stability of the calibration work. In this embodiment, the pile position coordinates 10 are the center pile coordinates or the side pile coordinates of the road, and the purpose is to identify the position of the road so that the mobile vehicle 30 can be positioned according to the position of the coordinates combined with the roadside.

[0024] The present invention also has a high level of intelligence. By integrating advanced navigation and control systems, the mobile car 30 can perceive the road environment and vehicle status in real time, and perform accurate path planning and obstacle avoidance operations. At the same time, the pre-line calibration component 20 can also be flexibly adjusted according to construction requirements, such as changing the mark color, width and shape, etc., to meet the needs of different road markings. By improving construction efficiency and calibration quality, reducing the waste of manpower and material resources, it provides a strong guarantee for the smooth completion of road construction projects. At the same time, the device also has high scalability and maintainability, and can expand functions and optimize performance according to construction requirements to adapt to the development trend of future road construction.

[0025] The stake position coordinate 10 is set at the center of the road. The first direction road 11 and the second direction road 12 are respectively set on both sides of the road with the stake position coordinate 10 as the center. The mobile car 30 is used to travel on the first direction road 11 and the second direction road 12 for pre-line marking. In this embodiment, once the stake position coordinate 10 is established, the road is used as a reference to plan the first direction road 11 and the second direction road 12 on both sides. Under the guidance of the stake position coordinate 10, these two roads realize the precise control of parameters such as width, slope and curvature, thereby ensuring the overall design quality and driving safety of the road. The mobile car 30 is specially designed to travel on the first direction road 11 and the second direction road 12, and is equipped with high-precision sensors and line-laying equipment. During driving, the mobile car 30 can read road information in real time and perform precise line-laying operations according to preset parameters. The specific process of the line setting and calibration operation includes: first, the mobile car 30 calculates the specific position of the line setting according to the pile position coordinates 10 and the road design parameters; then, the car travels along the predetermined trajectory and leaves clear and accurate pre-line marks on the road surface. These marks provide clear guidance for subsequent construction operations and ensure the smooth progress of road construction. In this embodiment, the pile position coordinates 10 are set at the center of the road, which corresponds to the middle pile coordinates. The mobile car 30 is used to locate and navigate according to the position of the middle pile coordinates.

[0026] In another embodiment, the pile position coordinates 10 are set on the side of the road, corresponding to the edge pile coordinates, and the mobile vehicle 30 can also be used to perform positioning and navigation according to the position of the edge pile coordinates.

[0027] The pile position coordinates 10 are composed of a plurality of principal coordinates 13, which are arranged continuously along the length direction of the road, and a plurality of secondary coordinates 14 are set between two adjacent principal coordinates 13, and a distance a is provided between the plurality of secondary coordinates 14. In this embodiment, the pile position coordinates 10 are decomposed into a plurality of key principal coordinates 13 points. These principal coordinates 13 points are arranged continuously along the length direction of the road, forming the basic framework of the road. In order to ensure the continuity and accuracy of the road construction, a plurality of secondary coordinates 14 points are further set between two adjacent principal coordinates 13 points. These secondary coordinates 14 points not only play the role of auxiliary positioning, but also provide a more detailed reference benchmark for road construction through the fixed distance a between them. In the process of laying out and calibrating, the device will use advanced measurement technology and equipment to accurately measure and calibrate the pile position coordinates 10.

[0028] During the specific implementation of the above embodiment, refer to the following formula: Mileage = K (primary coordinate) 1 (secondary coordinate) + 020 (secondary coordinate distance) When each primary coordinate K is 1 km away, the secondary coordinates are 1~n, and the distance a of each secondary coordinate is 20 meters, the mobile car 30 moves according to the position of each secondary coordinate. The primary coordinate seat locates the control point of each coordinate.

[0029] The mobile car 30 is provided with a running mechanism 31, a navigation mechanism 32 and a positioning mechanism 33, wherein the positioning mechanism 33 is used to position the mechanism of the mobile car 30, the navigation mechanism 32 is used to navigate when the mobile car 30 is traveling, and the running mechanism 31 is used to drive the mobile car 30 to travel on the road. In this embodiment, the running mechanism 31, the navigation mechanism 32 and the positioning mechanism 33 of the car are used to ensure the accuracy and efficiency of the road pre-line calibration. First, the positioning mechanism 33 of the mobile car 30 plays a vital role. It uses high-precision sensors and algorithms to determine the precise position of the car on the road in real time, and provides reliable basic data for subsequent line setting calibration. Through precise docking with the pile position coordinate 10 system, the positioning mechanism 33 can ensure that the car always stays on the predetermined path during driving. Secondly, the navigation mechanism 32 is responsible for guiding the car to travel along the predetermined route. It generates the optimal driving path based on the road design data and the pile position coordinate 10 information, and adjusts the driving direction of the car through real-time feedback. The high precision and real-time performance of the navigation mechanism 32 ensure that the trolley can travel stably and accurately even in complex road environments. Finally, the travel mechanism 31, as a key component for driving the trolley forward, adopts advanced drive technology and control system. It can flexibly adjust the travel speed and steering angle of the trolley according to the instructions of the navigation mechanism 32, ensuring that the trolley maintains a stable and continuous driving state during the line setting and calibration process.

[0030] The travel mechanism 31 includes a frame 311 and a driving wheel group 312, wherein the driving wheel group 312 is arranged on the frame 311 and is used to drive the frame 311 to travel; the pre-line marking assembly 20 includes a water tank 21, a water pump 22 and a line-laying nozzle 23 arranged on the frame 311, wherein the water tank 21 is connected to the line-laying nozzle 23 through the water pump 22 to pump the liquid in the water tank 21 to the line-laying nozzle 23, and spray the line on the road surface to make a mark. In this embodiment, the travel mechanism 31 serves as the basic mobile platform of the entire device, and its design integrates the precise matching of the frame 311 and the driving wheel group 312. As a supporting structure, the frame 311 not only bears the overall weight of the device, but also provides a stable installation position for the driving wheel group 312. The driving wheel group 312 drives the frame 311 to travel smoothly along the predetermined route through its efficient transmission mechanism, ensuring the continuity and stability of the road pre-line marking operation. The pre-line calibration component 20 is the core part of realizing road marking. It cleverly integrates the water tank 21, the water pump 22 and the line-laying nozzle 23 on the frame 311 to form a compact and efficient liquid spraying system. The water tank 21 serves as a liquid storage unit, storing specific liquids for road marking. The water pump 22 serves as a power source, and through its powerful suction ability, it continuously and stably transports the liquid in the water tank 21 to the line-laying nozzle 23. The line-laying nozzle 23 is the final liquid injection component, and its design fully considers the uniformity and accuracy of the spraying to ensure the formation of clear and continuous marking lines on the road surface. The mobile car 30 is provided with a positioning acquisition module, which is used to obtain the coordinate point position of the pile position coordinate 10. The navigation mechanism 32 provides the driving direction to the driving mechanism 31 according to the position of the coordinate point, so as to perform pre-line marking on the road.

[0031] like Figure 1~Figure 5As shown, a road pre-line calibration method based on the stake position coordinates 10 includes the road pre-line calibration device based on the stake position coordinates 10; the method includes the following steps: step S1, obtaining the stake position coordinates 10 parameters of the road to be pre-line calibrated; step S2, converting the parameters of the stake position coordinates 10 into driving navigation parameters to navigate the mobile car 30; step S3, the mobile car 30 drives on the road according to the driving navigation parameters, and during the driving process, the pre-line marking is performed on the road according to the driving navigation parameters, and the pre-line marking is performed at least multiple times, and each time the line is drawn, it is marked based on the stake position coordinates 10. The stake position coordinates 10 are used as a reference to accurately obtain the parameters of the stake position coordinates 10. As a key parameter in road design, the stake position coordinates 10 can accurately reflect the geometric characteristics and location information of the road. Accurate capture of the stake position coordinates 10 is achieved to provide reliable data support for subsequent road pre-line calibration. After obtaining the stake position coordinates 10 parameters, the method converts them into driving navigation parameters to guide the mobile car 30 to navigate on the road. This conversion process fully considers the actual situation of the road and the driving characteristics of the mobile car 30, ensuring the accuracy and practicality of the navigation parameters. During the driving process, the mobile car 30 can travel along the predetermined road trajectory according to these navigation parameters, thereby realizing the precise control of the road pre-line marking. In the pre-line marking process, a strategy of multiple line drawing is adopted. Each line drawing is marked based on the stake position coordinates 10, ensuring the accuracy and consistency of the marking. This practice of multiple line drawing not only improves the clarity of the marking, but also helps to timely discover and correct possible errors, further improving the accuracy of road pre-line calibration. It also embodies a high degree of automation and intelligence. By integrating advanced navigation systems and automatic control technologies, the mobile car 30 can independently complete the entire process of road pre-line calibration without manual intervention or assistance. This not only reduces labor costs, but also improves work efficiency, making road pre-line calibration more convenient and efficient.

[0032] A road pre-line calibration method based on stake position coordinates 10 includes the road pre-line calibration device based on stake position coordinates 10; step S1, obtaining the stake position coordinates 10 parameters of the road to be pre-line calibrated; step S2, converting the parameters of the stake position coordinates 10 into driving navigation parameters to navigate the mobile car 30; step S3, the mobile car 30 drives on the road according to the driving navigation parameters, and during the driving process, pre-line marking is performed on the road according to the driving navigation parameters to obtain pre-line a, and then multiple pre-lines are continuously drawn based on pre-line a. In step S3, the mobile car 30 performs pre-line marking on the road according to the converted driving navigation parameters. In this process, the car not only drives according to the predetermined route, but also adjusts the driving trajectory according to the navigation parameters in real time to ensure that the drawing of pre-line a meets the design requirements and is close to the actual conditions of the road. The accurate drawing of pre-line a provides a reliable benchmark for the subsequent drawing of multiple pre-lines, making the entire road pre-line calibration process more systematic and standardized. In addition, the method also has excellent scalability and flexibility. Based on pre-line a, multiple pre-lines can be drawn to meet the road marking requirements under different road widths and different traffic needs. This pre-line calibration method based on a unified benchmark not only improves the accuracy of road markings, but also greatly shortens the construction period and reduces manpower and material costs.

[0033] In step S3, when the navigation parameters are obtained, error compensation is performed, and the error compensation value is the deviation value between the roadside and the stake coordinate 10. The stake coordinate 10 is composed of a plurality of main coordinates 13, and the plurality of main coordinates 13 are continuously arranged along the length direction of the road, and a plurality of secondary coordinates 14 are set between two adjacent main coordinates 13, and a distance a is separated between the plurality of secondary coordinates 14; when the error is compensated, the error is first measured, and during the measurement process, the mobile car 30 travels along the direction of the secondary coordinate 14, and the distance between the roadside and the secondary coordinate 14 is obtained at intervals, and compensation is performed according to the error between the distance and the original stake coordinate 10 and the road distance. In this embodiment, in the road pre-line calibration method based on the stake coordinate 10, error compensation is a crucial link, which is directly related to the accuracy and reliability of the final road calibration. After successfully obtaining the navigation parameters, we immediately perform error compensation processing, and the core of this compensation is to use the deviation value between the roadside and the stake coordinate 10 for adjustment. The pile position coordinate system 10 is used as the benchmark for road calibration. It is composed of a series of carefully selected main coordinates 13, which are arranged continuously and orderly along the length of the road. In order to ensure the fineness and accuracy of the calibration, we cleverly set a plurality of secondary coordinates 14 between two adjacent main coordinates 13. These secondary coordinates 14 not only play the role of transition and refinement of the calibration interval, but also provide convenience for subsequent error measurement. The spacing a between the secondary coordinates 14 is determined by scientific calculation to ensure the accuracy and efficiency of the measurement. In the specific implementation process of error compensation, we first measure the potential errors. This process relies on a mobile car 30, which travels smoothly along the direction of the secondary coordinates 14, and obtains the distance data between the curb and the secondary coordinates 14 at intervals during the process. These data provide us with valuable error information, which can make necessary adjustments to the original pile position coordinates 10 and the road distance according to the actual situation. Based on the above measurement data, error compensation calculations are performed, and the pile position coordinates 10 are fine-tuned accordingly. This process ensures the accuracy of road calibration and makes the final calibration result more in line with the actual situation. Through this method of layout and calibration, not only can the accuracy of road construction be improved, but it can also provide strong support for subsequent road maintenance and management.

[0034] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A road pre-line calibration device based on pile position coordinates, characterized in that: include Stake position coordinates, set on the road, used to record the road coordinate position; A pre-line marking component, the pre-line marking component is used to make pre-line markings on the road; as well as A mobile trolley is driven on the road according to the position of the pile position coordinates. The pre-line calibration component is arranged on the mobile trolley. The mobile trolley drives the pre-line calibration component to drive on the road so as to perform pre-line marking on the road during driving.

2. The road pre-line calibration device based on pile position coordinates according to claim 1 is characterized in that: The pile position coordinates are composed of a plurality of main coordinates, which are arranged continuously along the length direction of the road, a plurality of secondary coordinates are arranged between two adjacent main coordinates, and a distance a is provided between the plurality of secondary coordinates.

3. The road pre-line calibration device based on pile position coordinates according to claim 1, characterized in that: The mobile car is provided with a traveling mechanism, a navigation mechanism and a positioning mechanism. The positioning mechanism is used for positioning the mobile car, the navigation mechanism is used for navigating when the mobile car is traveling, and the traveling mechanism is used for driving the mobile car to travel on the road.

4. The road pre-line calibration device based on pile position coordinates according to claim 3 is characterized in that: The traveling mechanism comprises a vehicle frame and a driving wheel set, wherein the driving wheel set is arranged on the vehicle frame and is used for driving the vehicle frame to travel.

5. The road pre-line calibration device based on pile position coordinates according to claim 3 is characterized in that: The pre-line marking component includes a water tank, a water pump and a line-laying nozzle arranged on a vehicle frame. The water tank is connected to the line-laying nozzle through the water pump to pump the liquid in the water tank to the line-laying nozzle to spray the line on the road surface to make a mark.

6. The road pre-line calibration device based on pile position coordinates according to claim 3, characterized in that: The mobile vehicle is provided with a positioning acquisition module, which is used to obtain the coordinate point position of the pile position coordinates. The navigation mechanism provides the driving mechanism with the driving direction according to the position of the coordinate point to perform pre-line marking on the road.

7. A road pre-line calibration method based on stake position coordinates, characterized in that: The method comprises the road pre-line calibration device based on pile position coordinates as described in any one of claims 1 to 6; the method comprises the following steps: Step S1, obtaining the pile position coordinate parameters of the road that needs to be pre-calibrated; Step S2, converting the parameters of the pile position coordinates into driving navigation parameters to guide the mobile car; Step S3, the mobile car travels on the road according to the driving navigation parameters. During the driving process, pre-line marking is performed on the road according to the driving navigation parameters. The pre-line marking is performed at least multiple times, and each time the line is drawn, it is marked based on the pile position coordinates.

8. A road pre-line calibration method based on stake position coordinates, characterized in that: The road pre-line calibration device based on pile position coordinates according to any one of claims 1 to 6; the method comprises the following steps: Step S1, obtaining the pile position coordinate parameters of the road that needs to be pre-calibrated; Step S2, converting the parameters of the pile position coordinates into driving navigation parameters to guide the mobile car; Step S3, the mobile car travels on the road according to the driving navigation parameters. During the driving process, the pre-line marking is performed on the road according to the driving navigation parameters to obtain the pre-line a, and then multiple pre-lines are drawn based on the pre-line a.

9. The road pre-line calibration method based on pile position coordinates according to claim 7 or 8, characterized in that: In step S3, when the navigation parameters are obtained, error compensation is performed, and the error compensation value is the deviation value between the roadside and the pile position coordinates.

10. The road pre-line calibration method based on stake position coordinates according to claim 9, characterized in that: The pile position coordinates are composed of a plurality of main coordinates, the plurality of main coordinates are arranged continuously along the length direction of the road, a plurality of secondary coordinates are arranged between two adjacent main coordinates, and a distance a is provided between the plurality of secondary coordinates; When compensating for errors, the error is measured first. During the measurement process, the mobile car moves along the direction of the secondary coordinate and obtains the distance between the curb and the secondary coordinate at intervals. Compensation is performed based on the error between the distance and the original stake coordinate and road distance.

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