Automatic driving navigation control method, device and equipment of slip form paver and storage medium

Abstract

The invention discloses an automatic driving navigation control method, device and equipment for a slip form paver and a storage medium, and the method comprises the following steps: selecting two mold control points on a mold, establishing a kinematic relationship among an RTK coordinate system, an engineering coordinate system, a vehicle body coordinate system and a mold coordinate system, and realizing real-time positioning of the mold control points; establishing a preview-point-based feedforward control model of the current position of the mold control point and the design construction route, establishing a transverse control error-based feedback control model of the current position of the mold control point and the design construction route, and further establishing a comprehensive control model of the mold control point to realize position prediction of the mold control point and the vehicle body at the next moment; and establishing a kinematic model of the chassis of the slip form paver, and calculating the steering angle of the crawler belt according to the pose of the vehicle body at the next moment through the conversion constraint of any steering center of the asymmetric crawler belt structure and the steering angle of the crawler belt. The method is high in automation degree, high in control precision, flexible in steering and short in consumed time.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular, to an autonomous driving navigation control method, device, equipment and storage medium for a slip film paver. Background Art

[0002] In the process of road and bridge construction, in order to reduce dependence on people and achieve the goal of safe construction, the demand for unmanned construction of synovial paver is becoming increasingly urgent. In order to ensure the quality of concrete molding during construction, the synovial paver needs to maintain both position accuracy and body posture stability during automatic construction.

[0003] At present, the construction of the synovial paver is mainly a manual operation, which controls the synovial paver manually so that the side mold of the vehicle body straddles the steel cage for concrete pouring. In addition, most of the existing automatic operation control of the synovial paver relies on setting up a reference line on the side of the vehicle body mold to obtain the relative position of the mold and the steel cage to be constructed to guide the movement of the vehicle body. In addition, a small part of the automatic operation control of the synovial paver relies on installing RTK to position and orient the vehicle body in real time to guide the movement of the vehicle body.

[0004] The above-mentioned existing technologies still have many shortcomings and face many problems during the construction process. For example, during manual driving operations, there are problems with vehicle position deviation, posture deviation, and posture correction after deviation during the operation process. There are too many manual intervention factors during the construction process, and the operator needs to have certain construction experience. During automatic driving operations, if the baseline setting solution is used, the baseline setting is difficult and time-consuming, and the vehicle body movement process relies on the relative position of the baseline and the mold to guide the vehicle body for pure feedback adjustment. The adjustment amount of the vehicle body at the next moment cannot be pre-judged, and the vehicle body position and posture lag adjustment process always exists during the vehicle movement process. For navigation adjustment based on RTK for real-time positioning of the vehicle body, the existing control scheme focuses on the adjustment of the vehicle body position and posture. For equipment such as a sliding film paver that requires higher mold position control accuracy than the vehicle body position control accuracy, only controlling the vehicle body posture will affect the posture quality of the final concrete wall forming.

[0005] In summary, in view of the above problems faced during the construction of the slip film paver, it is very necessary to study an automatic driving navigation control method to maintain the stability of the slip film paver posture. Summary of the invention

[0006] On the one hand, the present application provides a navigation control method for automatic driving of a slip film paver to solve the technical problems of low automation, long time consumption and low control accuracy in the construction process of existing slip film paver.

[0007] This application is implemented through the following scheme:

[0008] A navigation control method for automatic driving of a synovial paver, wherein an RTK vehicle-mounted terminal is installed on the body of the synovial paver, and a positioning antenna and a directional antenna are installed on the left mold of the body for real-time positioning of the body posture, comprising the steps of:

[0009] Select two mold control points on the mold, establish a kinematic relationship between the RTK coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the mold coordinate system, and realize real-time positioning of the mold control points. The two mold control points include a vehicle body rear control point and a vehicle body front control point. The vehicle body rear control point is the location of the positioning antenna on the mold, and the vehicle body front control point is the location of the directional antenna on the mold.

[0010] Establish a feedforward control model based on the preview point for the current position of the mold control point and the designed construction route, establish a feedback control model based on the lateral control error for the current position of the mold control point and the designed construction route, and then establish a comprehensive control model for the mold control point to achieve the position prediction of the mold control point at the next moment, so as to predict the posture of the vehicle body at the next moment in combination with the kinematic relationship;

[0011] A kinematic model of the synovial paver chassis is established. Through the conversion constraints of the arbitrary steering center and the track angle of the asymmetric track structure, the track steering angle is calculated according to the posture of the vehicle body at the next moment, thereby realizing automatic driving of the synovial paver.

[0012] Furthermore, two mold control points are selected on the mold, and a kinematic relationship among the RTK coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the mold coordinate system is established to achieve real-time positioning of the mold control points, specifically including the following steps:

[0013] The latitude and longitude of two known points in the engineering coordinate system are measured by the RTK handheld rover, and the homogeneous transformation matrix of the current RTK coordinate system relative to the engineering coordinate system is obtained by fitting.

[0014] Establish a vehicle body coordinate system, with the x-axis along the vehicle body's travel direction, the z-axis vertically upward, and the y-axis determined according to the right-hand rule;

[0015] Establish a mold coordinate system, the direction of the mold coordinate system is consistent with the body coordinate system, obtain the translation coordinates of the mold control points on the mold relative to the body coordinate system, and establish the homogeneous transformation matrix between the mold coordinate system and the body coordinate system Among them, the rotation matrix in the homogeneous transformation matrix is ​​the unit matrix;

[0016] Obtain the coordinates of the positioning antenna and directional antenna in the mold coordinate system, and establish the homogeneous transformation matrix between the RTK coordinate system and the mold coordinate system

[0017] According to the homogeneous transformation matrix Get the homogeneous transformation matrix between the vehicle body coordinate system and the engineering coordinate system:

[0018]

[0019] Among them, inv represents matrix inversion.

[0020] Furthermore, a feedforward control model based on preview points of the current position and the design position of the mold control point is established, which specifically includes the following steps:

[0021] Calculate the orientation angle error α1 between the front control point of the vehicle body and the control point before previewing, and the orientation angle error α2 between the rear control point of the vehicle body and the control point after previewing, and obtain the feedforward control model:

[0022]

[0023] Among them, M 1x 、M 1y 、M 2x 、M 2y are the XY coordinates of the front control point and the rear control point of the vehicle body in the vehicle body coordinate system at the current moment, L 1x , L 1y , L 2x , L 2y They are respectively the XY coordinates of the front control point and the rear control point of preview at the current moment in the vehicle body coordinate system. The front control point and the rear control point of preview are selected on the designed construction route according to the moving direction of the vehicle body, and the distance between the front control point and the rear control point of preview on the designed construction route is equal to the distance between the rear control point and the front control point of the vehicle body on the mold.

[0024] Furthermore, a feedback control model based on lateral control error between the current position of the mold control point and the designed construction route is established, which specifically includes the following steps:

[0025] Calculate the lateral offset distance error e1 between the front control point of the vehicle body and the designed construction route at the current moment, and the lateral offset distance error e2 between the rear control point of the vehicle body and the designed construction route. Given the PID proportional, integral, and differential adjustment values ​​kp, ki, and kd, establish a feedback control model:

[0026]

[0027] Among them, Δα1 and Δα2 are the correction values ​​of the heading angle error, e1_1 and e2_1 are the lateral errors of the front and rear control points of the vehicle body in the previous calculation cycle, e1_2 and e2_2 are the lateral errors of the front and rear control points of the vehicle body in the previous two calculation cycles, Isa is the integral separation factor, when the lateral error is <0.01m, Isa=1, otherwise, Isa=0; Isu is the integral anti-saturation factor, when the track angle reaches the mechanical limit, Isu=1, otherwise, Isu=0.

[0028] Furthermore, establishing a comprehensive control model for mold control points specifically includes the following steps:

[0029] Feedback correction is performed on the orientation angle according to the lateral distance error of the mold control point, and the motion equation and observation equation based on the preview point feedforward and lateral control error feedback are established:

[0030]

[0031] Among them, x k Indicates the position and posture of the mold. The position and posture at each moment are recorded as x1, x2, ..., x k , x k =[P1x k ,P1y k ,P2x k ,P2y k ], P1x k ,P1y k P2x is the x and y coordinates of the control point in front of the vehicle at time k, k ,P2y k A is the x and y coordinates of the rear control point of the vehicle body at time k; k-1 is the posture transformation matrix at the previous moment; u k Input the heading angle, each moment is recorded as α11, α21, α12, α22, ..., α1 k ,α2 k Among them, α1=α1+Δα1, α2=α2+Δα2; w k is the process noise; y k is the observed data, i.e. the measured lateral error, recorded at each moment as e11, e21, e12, e22, ..., e1 k ,e2 k ; C k is the observation matrix; n k To measure noise;

[0032]

[0033] Among them, P k represents the covariance of the front posture of the vehicle body at any moment; Q krepresents the covariance of the noise in the equation of motion; R k The covariance of the observation equation noise is Ν(0,P k ) indicates that the mold posture is subject to a mean of 0 and a covariance of P k The normal distribution of Ν(0,Q k ) indicates that the process noise is subject to a mean of 0 and a covariance of Q k The normal distribution of Ν(0,R k ) indicates that the measurement noise is subject to a mean of 0 and a covariance of R k Normal distribution of

[0034] Building a comprehensive control model:

[0035]

[0036] in,

[0037]

[0038] Where A is the quadratic form of x.

[0039] Furthermore, the next moment posture prediction of the vehicle body is performed in combination with the kinematic relationship, specifically including the steps of:

[0040] The state estimate of the slip film paver at the next moment is converted into known u and y, and the probability distribution of x P(x|y,u) is solved, that is:

[0041]

[0042] Among them, P 1x ' and P 1y ' is the x and y coordinates of the front control point of the vehicle body in the engineering coordinate system at the next moment, P 2x ' and P 2y ' is the x and y coordinates of the rear control point of the vehicle body in the engineering coordinate system at the next moment, and argminJ(x) is the least square equation expression for solving the position of the control point at the next moment;

[0043] Calculate the change in the control angle of the front and rear control points of the vehicle body in the vehicle body coordinate system:

[0044]

[0045] Among them, θ1 and θ2 are the control angle changes of the front and rear control points of the vehicle body in the vehicle body coordinate system, P 1x and P 1y is the x and y coordinates of the front control point of the vehicle body in the engineering coordinate system at the current moment, P 2x and P 2y It is the x and y coordinates of the rear control point of the vehicle body in the engineering coordinate system at the current moment.

[0046] Furthermore, a kinematic model of the chassis of the synovial paver is established. Through the conversion constraints of the arbitrary steering center and the track angle of the asymmetric track structure, the track steering angle is calculated according to the posture of the vehicle body at the next moment, so as to realize the automatic driving of the synovial paver. The specific steps include:

[0047] Calculate the turning center of the vehicle body:

[0048]

[0049] [Py]=P 1y +(Px-P 1x )*tan(α1)

[0050] Among them, Px and Py are the x and y coordinates of the vehicle body steering center in the engineering coordinate system at the next moment;

[0051] Calculate the track steering angle:

[0052]

[0053] Among them, track1, track2, and track3 correspond to the turning angles of the left, right, and rear tracks respectively, and P t1x , P t1y , P t2x , P t2y , P t3x , P t3y They are the x and y coordinates of the left, right and rear track center coordinates in the vehicle body coordinate system transferred to the engineering coordinate system.

[0054] On the other hand, the present application also provides a navigation control device for automatic driving of a synovial paver, wherein an RTK vehicle-mounted terminal is installed on the body of the synovial paver, and a positioning antenna and a directional antenna are installed on the left mold of the body, which are used for real-time positioning of the body posture, including:

[0055] A coordinate system kinematic relationship establishment module is used to select two mold control points on the mold, establish the kinematic relationship between the RTK coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the mold coordinate system, and realize the real-time positioning of the mold control points. The two mold control points include a vehicle body rear control point and a vehicle body front control point. The vehicle body rear control point is the location of the positioning antenna on the mold, and the vehicle body front control point is the location of the directional antenna on the mold.

[0056] The posture prediction module is used to establish a feedforward control model based on the preview point between the current position of the mold control point and the designed construction route, establish a feedback control model based on the lateral control error between the current position of the mold control point and the designed construction route, and then establish a comprehensive control model of the mold control point to realize the position prediction of the mold control point at the next moment, so as to predict the posture of the vehicle body at the next moment in combination with the kinematic relationship;

[0057] The automatic driving control module is used to establish the kinematic model of the chassis of the synovial paver. Through the conversion constraints of the arbitrary steering center and the track angle of the asymmetric track structure, the track steering angle is calculated according to the posture of the vehicle body at the next moment, thereby realizing the automatic driving of the synovial paver.

[0058] On the other hand, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the navigation control method for automatic driving of the slip film paver when executing the computer program.

[0059] On the other hand, the present application further provides a storage medium, which includes a stored program, and when the program is run, controls the device where the storage medium is located to execute the steps of the navigation control method for automatic driving of the slip film paver.

[0060] Compared with the prior art, this application has the following beneficial effects:

[0061] (1) Compared with the existing control schemes that focus on the adjustment of the body position and posture, the present application establishes a comprehensive control model based on two mold control points on the mold. Through a comprehensive control system based on preview point feedforward control and lateral error feedback control, the mold position and posture accuracy during the automatic driving process of the slip film paver is ensured, thereby further improving the concrete molding quality during the construction of the slip film paver.

[0062] (2) The present application dynamically changes the steering center position of the vehicle body through the corrected mold control point orientation angle, making the steering more flexible. Compared with the traditional method of limiting the steering center to the left or right side of the vehicle body, the vehicle body swing error is reduced.

[0063] (3) The automatic driving navigation method for the sliding film paver proposed in this application has greatly improved the work efficiency and ensured the safety of the workers. In addition, this method can reduce the manual intervention process, reduce the dependence on construction experience and human operation errors, and has a short time consumption, high degree of automation and high control accuracy.

[0064] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0066] Figure 1 This is a flow chart of the navigation control method for automatic driving of a slip film paver according to a preferred embodiment of the present application.

[0067] Figure 2 This is a schematic diagram of the sliding film paver and hardware installation in the preferred embodiment of the present application.

[0068] Figure 3 Schematic diagram of the automatic driving error of the slip film paver in this application.

[0069] Figure 4 It is a schematic diagram of the navigation control device module for automatic driving of a slip film paver according to a preferred embodiment of the present application.

[0070] Figure 5 It is a schematic block diagram of an electronic device entity of a preferred embodiment of the present application.

[0071] Figure 6 It is a diagram of the internal structure of a computer device of a preferred embodiment of the present application. DETAILED DESCRIPTION

[0072] The embodiments of the present application are described in detail below in conjunction with the accompanying drawings, but the present application can be implemented in a variety of different ways defined and covered below.

[0073] like Figure 1 As shown, a navigation control method for automatic driving of a synovial paver is provided, wherein an RTK vehicle-mounted terminal is installed on the body of the synovial paver, and a positioning antenna and a directional antenna are installed on the left mold of the body for real-time positioning of the body posture, including the steps of:

[0074] S1. Select two mold control points on the mold, establish a kinematic relationship among the RTK coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the mold coordinate system, and realize real-time positioning of the mold control points. The two mold control points include a vehicle body rear control point and a vehicle body front control point. The vehicle body rear control point is the location of the positioning antenna on the mold, and the vehicle body front control point is the location of the directional antenna on the mold.

[0075] S2, establishing a feedforward control model based on the preview point for the current position of the mold control point and the designed construction route, establishing a feedback control model based on the lateral control error for the current position of the mold control point and the designed construction route, and then establishing a comprehensive control model for the mold control point to achieve the position prediction of the mold control point at the next moment, thereby combining the kinematic relationship to predict the posture of the vehicle body at the next moment;

[0076] S3. Establish a kinematic model of the chassis of the synovial paver. Through the conversion constraints of the arbitrary steering center and the track angle of the asymmetric track structure, calculate the track steering angle according to the next moment's position of the vehicle body, thereby realizing automatic driving of the synovial paver.

[0077] Figure 2 It is a schematic diagram of the sliding film paver and hardware installation involved in the present invention, including a vehicle body origin 1, a vehicle body left side mold 2, an asymmetrically installed front track 3, a right track 4, a rear track 5, a positioning antenna 6, and a directional antenna 7, wherein the positioning antenna 6 is the rear control point of the vehicle body, and the directional antenna 7 is the front control point of the vehicle body.

[0078] Traditional vehicle control is mainly body control, and motion control is performed through body route planning. The input of the control system is the body deviation, and the control object is the body. The final construction accuracy of the slip film paver is the deviation between the mold route on the body and the designed route. Different from traditional control, in this embodiment, the positioning antenna 6 and directional antenna 7 of the RTK measurement system are installed on the mold, and the input of the control system is the mold control point deviation. The control object is the body, and the body movement is guided by the mold control point deviation, and the final movement result directly affects the construction accuracy.

[0079] Therefore, compared with the prior art, this embodiment has the following beneficial effects:

[0080] (1) Compared with the existing control scheme that focuses on the adjustment of the body position and posture, this embodiment establishes a comprehensive control model based on two mold control points on the mold. Through a comprehensive control system based on preview point feedforward control and lateral error feedback control, the mold position and posture accuracy during the automatic driving process of the slip film paver is ensured, thereby further improving the concrete molding quality during the construction of the slip film paver.

[0081] (2) This embodiment dynamically changes the steering center position of the vehicle body through the corrected mold control point orientation angle, making the steering more flexible. Compared with the traditional method of limiting the steering center to the left or right side of the vehicle body, the vehicle body swing error is reduced.

[0082] (3) The automatic driving navigation method for the sliding film paver proposed in this embodiment greatly improves the work efficiency and ensures the safety of the workers. In addition, this method can reduce the manual intervention process, reduce the dependence on construction experience and human operation errors, and has a short time consumption, high degree of automation and high control accuracy.

[0083] Preferably, two mold control points are selected on the mold, and a kinematic relationship among the RTK coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the mold coordinate system is established to achieve real-time positioning of the mold control points, specifically including the following steps:

[0084] S11. Use the RTK handheld rover to measure the longitude and latitude of two known points in the engineering coordinate system, and fit the homogeneous transformation matrix of the current RTK coordinate system relative to the engineering coordinate system.

[0085] S12, establishing a vehicle body coordinate system, with the x-axis along the vehicle body moving direction, the z-axis vertically upward, and the y-axis determined according to the right-hand rule;

[0086] S13, establish a mold coordinate system, the direction of the mold coordinate system is consistent with the body coordinate system, obtain the translation coordinates of the mold control point on the mold relative to the body coordinate system, and establish a homogeneous transformation matrix between the mold coordinate system and the body coordinate system Among them, the rotation matrix in the homogeneous transformation matrix is ​​the unit matrix;

[0087] S14. Obtain the coordinates of the positioning antenna and the directional antenna in the mold coordinate system, and establish the homogeneous transformation matrix between the RTK coordinate system and the mold coordinate system.

[0088] S15. According to the homogeneous transformation matrix Get the homogeneous transformation matrix between the vehicle body coordinate system and the engineering coordinate system:

[0089]

[0090] Among them, inv represents matrix inversion.

[0091] This embodiment selects two mold control points on the mold to establish the kinematic relationship between the RTK coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the mold coordinate system, such as the homogeneous transformation matrix between the coordinate systems, which is conducive to meeting the mold control position accuracy requirements and realizing real-time and precise positioning of the mold control points.

[0092] Preferably, a feedforward control model based on preview points of the current position and the design position of the mold control point is established, which specifically includes the steps of:

[0093] S21, calculate the orientation angle error α1 between the front control point of the vehicle body and the front control point of the preview aiming, and the orientation angle error α2 between the rear control point of the vehicle body and the rear control point of the preview aiming, and obtain the feedforward control model:

[0094]

[0095] Among them, M 1x 、M 1y 、M 2x 、M 2y are the XY coordinates of the front control point and the rear control point of the vehicle body in the vehicle body coordinate system at the current moment, L 1x , L 1y , L 2x , L2y They are respectively the XY coordinates of the front control point and the rear control point of preview aiming at the current moment in the vehicle body coordinate system. The front control point and the rear control point of preview aiming are selected on the designed construction route according to the direction of vehicle body travel, and the distance between the front control point and the rear control point of preview aiming on the designed construction route is equal to the distance between the rear control point and the front control point of the vehicle body on the mold, ensuring that when the front and rear heading angles approach 0, the control points on the mold coincide with the control points on the designed construction route.

[0096] Preferably, a feedback control model based on lateral control error between the current position of the mold control point and the designed construction route is established, specifically comprising the steps of:

[0097] S22, calculate the lateral offset distance error e1 between the front control point of the vehicle body and the designed construction route at the current moment, and the lateral offset distance error e2 between the rear control point of the vehicle body and the designed construction route, and establish a feedback control model by given PID proportional, integral, and differential adjustment values ​​kp, ki, and kd:

[0098]

[0099] Among them, Δα1 and Δα2 are the correction values ​​of the heading angle error, e1_1 and e2_1 are the lateral errors of the front and rear control points of the vehicle body in the previous calculation cycle, e1_2 and e2_2 are the lateral errors of the front and rear control points of the vehicle body in the previous two calculation cycles, Isa is the integral separation factor, when the lateral error is <0.01m, Isa=1, otherwise, Isa=0; Isu is the integral anti-saturation factor, when the track angle reaches the mechanical limit, Isu=1, otherwise, Isu=0.

[0100] Preferably, establishing a comprehensive control model for mold control points specifically includes the following steps:

[0101] S23, feedback correction is performed on the orientation angle according to the lateral distance error of the mold control point, and the motion equation and observation equation based on the preview point feedforward and lateral control error feedback are established:

[0102]

[0103] Among them, x k Indicates the position and posture of the mold. The position and posture at each moment are recorded as x1, x2, ..., x k , x k =[P1x k ,P1y k ,P2x k ,P2y k ], P1x k ,P1y k P2x is the x and y coordinates of the control point in front of the vehicle at time k,k ,P2y k A is the x and y coordinates of the rear control point of the vehicle body at time k; k-1 is the posture transformation matrix at the previous moment; u k Input the heading angle, each moment is recorded as α11, α21, α12, α22, ..., α1 k ,α2 k Among them, α1=α1+Δα1, α2=α2+Δα2; w k is the process noise; y k is the observed data, i.e. the measured lateral error, recorded at each moment as e11, e21, e12, e22, ..., e1 k ,e2 k ; C k is the observation matrix; n k To measure noise;

[0104]

[0105] Among them, P k represents the covariance of the front posture of the vehicle body at any moment; Q k represents the covariance of the noise in the equation of motion; R k represents the covariance of the observation equation noise, Ν(0,P k ) indicates that the mold posture is subject to a mean of 0 and a covariance of P k The normal distribution of Ν(0,Q k ) indicates that the process noise is subject to a mean of 0 and a covariance of Q k The normal distribution of Ν(0,R k ) indicates that the measurement noise is subject to a mean of 0 and a covariance of R k Normal distribution of

[0106] S24. Establishing a comprehensive control model:

[0107]

[0108] in,

[0109]

[0110] Where A is the quadratic form of x.

[0111] Preferably, the next moment posture prediction of the vehicle body is performed in combination with the kinematic relationship, specifically comprising the steps of:

[0112] S25. Estimating the state of the sliding film paver at the next moment is converted into known u and y, and solving the probability distribution of x P(x|y,u), that is:

[0113]

[0114] Among them, P 1x ' and P 1y ' is the x and y coordinates of the front control point of the vehicle body in the engineering coordinate system at the next moment, P 2x ' and P 2y ' is the x and y coordinates of the rear control point of the vehicle body in the engineering coordinate system at the next moment, and argminJ(x) is the least square equation expression for solving the position of the control point at the next moment;

[0115] S26, calculating the change in the control angle of the front and rear control points of the vehicle body in the vehicle body coordinate system:

[0116]

[0117] Among them, θ1 and θ2 are the control angle changes of the front and rear control points of the vehicle body in the vehicle body coordinate system, P 1x and P 1y is the x and y coordinates of the front control point of the vehicle body in the engineering coordinate system at the current moment, P 2x and P 2y It is the x and y coordinates of the rear control point of the vehicle body in the engineering coordinate system at the current moment.

[0118] The error parameters of autonomous driving are as follows: Figure 3 As shown in the figure, it includes the lateral offset distance error e1 between the front control point of the vehicle body and the designed construction route, the lateral offset distance error e2 between the rear control point of the vehicle body and the designed construction route, the heading angle error α1 between the front control point of the vehicle body and the control point before previewing, and the heading angle error α2 between the rear control point of the vehicle body and the control point after previewing. The control model is established to control the direction errors α1 and α2 to approach 0, and the lateral offset distance errors e1 and e2 also approach 0, forming a heading angle deviation correction method and PID adjustment strategy based on double control points, that is, the mold position and posture are close to the designed construction route, thereby ensuring that the mold position control accuracy requirements are met during the operation of the sliding film paver during the process of controlling the body posture, which is beneficial to control the body posture while also controlling the corresponding mold posture, thereby ensuring the posture quality of the final concrete wall forming.

[0119] Preferably, a kinematic model of the chassis of the synovial paver is established, and the track steering angle is calculated according to the next moment position of the vehicle body through the conversion constraint of the arbitrary steering center and the track angle of the asymmetric track structure, so as to realize the automatic driving of the synovial paver, which specifically includes the following steps:

[0120] S31. Calculate the steering center of the vehicle body:

[0121]

[0122] [Py]=P1y +(Px-P 1x )*tan(α1)

[0123] Among them, Px and Py are the x and y coordinates of the vehicle body steering center in the engineering coordinate system at the next moment;

[0124] S32, calculate the track steering angle:

[0125]

[0126] Among them, track1, track2, and track3 correspond to the turning angles of the left, right, and rear tracks respectively, and P t1x , P t1y , P t2x , P t2y , P t3x , P t3y They are the x and y coordinates of the left, right and rear track center coordinates in the vehicle body coordinate system transferred to the engineering coordinate system.

[0127] This embodiment dynamically changes the steering center position of the vehicle body through the corrected control point orientation angle, making the steering more flexible. Compared with the traditional method of limiting the steering center to the left or right side of the vehicle body, the vehicle body swing error is reduced and the steering accuracy of the vehicle body is improved.

[0128] like Figure 4 As shown, another preferred embodiment of the present application further provides a navigation control device for automatic driving of a synovial paver, wherein an RTK vehicle-mounted terminal is installed on the body of the synovial paver, and a positioning antenna and a directional antenna are installed on the left mold of the body for real-time positioning of the body posture, including:

[0129] A coordinate system kinematic relationship establishment module is used to select two mold control points on the mold, establish the kinematic relationship between the RTK coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the mold coordinate system, and realize the real-time positioning of the mold control points. The two mold control points include a vehicle body rear control point and a vehicle body front control point. The vehicle body rear control point is the location of the positioning antenna on the mold, and the vehicle body front control point is the location of the directional antenna on the mold.

[0130] The posture prediction module is used to establish a feedforward control model based on the preview point between the current position of the mold control point and the designed construction route, establish a feedback control model based on the lateral control error between the current position of the mold control point and the designed construction route, and then establish a comprehensive control model of the mold control point to realize the position prediction of the mold control point at the next moment, so as to predict the posture of the vehicle body at the next moment in combination with the kinematic relationship;

[0131] The automatic driving control module is used to establish the kinematic model of the chassis of the synovial paver. Through the conversion constraints of the arbitrary steering center and the track angle of the asymmetric track structure, the track steering angle is calculated according to the posture of the vehicle body at the next moment, thereby realizing the automatic driving of the synovial paver.

[0132] like Figure 5 As shown, a preferred embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the navigation control method for automatic driving of a slip film paver in the above-mentioned embodiment when executing the computer program.

[0133] like Figure 6 As shown, the preferred embodiment of the present application also provides a computer device, which can be a terminal or a liveness detection server, and its internal structure diagram can be as shown in Figure 6 As shown. The computer device includes a processor, a memory and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with other external computer devices via a network connection. When the computer program is executed by the processor, the steps of the navigation control method for automatic driving of the above-mentioned sliding film paver are implemented.

[0134] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0135] A preferred embodiment of the present application further provides a storage medium, which includes a stored program, and when the program is running, controls the device where the storage medium is located to execute the steps of the navigation control method for automatic driving of a slip film paver in the above embodiment.

[0136] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0137] If the functions described in the method of this embodiment are implemented in the form of software functional units and sold or used as independent products, they can be stored in one or more computing devices readable storage media. Based on this understanding, the part of the embodiment of the present application that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computing device (which can be a personal computer, server, mobile computing device or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0138] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt 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.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0139] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0140] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0141] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0142] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic accurate concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0143] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A navigation control method for automatic driving of a sliding film paver, characterized in that: The RTK vehicle-mounted terminal is installed on the body of the slip film paver, and a positioning antenna and a directional antenna are installed on the left mold of the body for real-time positioning of the body posture, including the following steps: Select two mold control points on the mold, establish a kinematic relationship between the RTK coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the mold coordinate system, and realize real-time positioning of the mold control points. The two mold control points include a vehicle body rear control point and a vehicle body front control point. The vehicle body rear control point is the location of the positioning antenna on the mold, and the vehicle body front control point is the location of the directional antenna on the mold. Establish a feedforward control model based on the preview point for the current position of the mold control point and the designed construction route, establish a feedback control model based on the lateral control error for the current position of the mold control point and the designed construction route, and then establish a comprehensive control model for the mold control point to achieve the position prediction of the mold control point at the next moment, so as to predict the posture of the vehicle body at the next moment in combination with the kinematic relationship; A kinematic model of the synovial paver chassis is established. Through the conversion constraints of the arbitrary steering center and the track angle of the asymmetric track structure, the track steering angle is calculated according to the posture of the vehicle body at the next moment, thereby realizing automatic driving of the synovial paver.

2. The navigation control method for automatic driving of a sliding film paver according to claim 1, characterized in that: Select two mold control points on the mold, establish the kinematic relationship between the RTK coordinate system, engineering coordinate system, vehicle body coordinate system, and mold coordinate system, and realize the real-time positioning of the mold control points. The specific steps include: The latitude and longitude of two known points in the engineering coordinate system are measured by the RTK handheld rover, and the homogeneous transformation matrix of the current RTK coordinate system relative to the engineering coordinate system is obtained by fitting. Establish a vehicle body coordinate system, with the x-axis along the vehicle body's travel direction, the z-axis vertically upward, and the y-axis determined according to the right-hand rule; Establish a mold coordinate system, the direction of the mold coordinate system is consistent with the body coordinate system, obtain the translation coordinates of the mold control points on the mold relative to the body coordinate system, and establish the homogeneous transformation matrix between the mold coordinate system and the body coordinate system Among them, the rotation matrix in the homogeneous transformation matrix is ​​the unit matrix; Obtain the coordinates of the positioning antenna and directional antenna in the mold coordinate system, and establish the homogeneous transformation matrix between the RTK coordinate system and the mold coordinate system According to the homogeneous transformation matrix Get the homogeneous transformation matrix between the vehicle body coordinate system and the engineering coordinate system: Among them, inv represents matrix inversion.

3. The navigation control method for automatic driving of a sliding film paver according to claim 1, characterized in that: Establishing a feedforward control model based on preview points for the current position and design position of the mold control point includes the following steps: Calculate the orientation angle error α1 between the front control point of the vehicle body and the control point before previewing, and the orientation angle error α2 between the rear control point of the vehicle body and the control point after previewing, and obtain the feedforward control model: Among them, M 1x 、M 1y 、M 2x 、M 2y are the XY coordinates of the front control point and the rear control point of the vehicle body in the vehicle body coordinate system at the current moment, L 1x , L 1y , L 2x , L 2y They are respectively the XY coordinates of the front control point and the rear control point of preview at the current moment in the vehicle body coordinate system. The front control point and the rear control point of preview are selected on the designed construction route according to the moving direction of the vehicle body, and the distance between the front control point and the rear control point of preview on the designed construction route is equal to the distance between the rear control point and the front control point of the vehicle body on the mold.

4. The navigation control method for automatic driving of a sliding film paver according to claim 3 is characterized in that: A feedback control model based on lateral control error between the current position of the mold control point and the designed construction route is established, which specifically includes the following steps: Calculate the lateral offset distance error e1 between the front control point of the vehicle body and the designed construction route at the current moment, and the lateral offset distance error e2 between the rear control point of the vehicle body and the designed construction route. Given the PID proportional, integral, and differential adjustment values ​​kp, ki, and kd, establish a feedback control model: Among them, Δα1 and Δα2 are the correction values ​​of the heading angle error, e1_1 and e2_1 are the lateral errors of the front and rear control points of the vehicle body in the previous calculation cycle, e1_2 and e2_2 are the lateral errors of the front and rear control points of the vehicle body in the previous two calculation cycles, Isa is the integral separation factor, when the lateral error is <0.01m, Isa=1, otherwise, Isa=0; Isu is the integral anti-saturation factor, when the track angle reaches the mechanical limit, Isu=1, otherwise, Isu=0.

5. The navigation control method for automatic driving of a sliding film paver according to claim 4, characterized in that: The establishment of a comprehensive control model for mold control points includes the following steps: Feedback correction is performed on the orientation angle according to the lateral distance error of the mold control point, and the motion equation and observation equation based on the preview point feedforward and lateral control error feedback are established: Among them, x k Indicates the position and posture of the mold. The position and posture at each moment are recorded as x1, x2, ..., x k , x k =[P1x k ,P1y k ,P2x k ,P2y k ], P1x k ,P1y k is the x,y coordinates of the control point in front of the vehicle at time k, P2x k ,P2y k A is the x and y coordinates of the rear control point of the vehicle body at time k; k-1 is the posture transformation matrix at the previous moment; u k Input the heading angle, each moment is recorded as α11, α21, α12, α22, ..., α1 k ,α2 k Among them, α1=α1+Δα1, α2=α2+Δα2; w k is the process noise; y k is the observed data, i.e. the measured lateral error, recorded at each moment as e11, e21, e12, e22, ..., e1 k ,e2 k ; C k is the observation matrix; n k To measure noise; Among them, P k represents the covariance of the front posture of the vehicle body at any moment; Q k represents the covariance of the noise in the equation of motion; R k represents the covariance of the observation equation noise, Ν(0,P k ) indicates that the mold posture is subject to a mean of 0 and a covariance of P k The normal distribution of Ν(0,Q k ) indicates that the process noise is subject to a mean of 0 and a covariance of Q k The normal distribution of Ν(0,R k ) indicates that the measurement noise is subject to a mean of 0 and a covariance of R k Normal distribution of Building a comprehensive control model: in, Where A is the quadratic form of x.

6. The navigation control method for automatic driving of a sliding film paver according to claim 5, characterized in that: Combining the kinematic relationship, the next moment posture prediction of the vehicle body is performed, which specifically includes the following steps: The state estimate of the slip film paver at the next moment is converted into known u and y, and the probability distribution of x P(x|y,u) is solved, that is: Among them, P 1x ' and P 1y ' is the x and y coordinates of the front control point of the vehicle body in the engineering coordinate system at the next moment, P 2x ' and P 2y ' is the x and y coordinates of the rear control point of the vehicle body in the engineering coordinate system at the next moment, and argminJ(x) is the least square equation expression for solving the position of the control point at the next moment; Calculate the change in the control angle of the front and rear control points of the vehicle body in the vehicle body coordinate system: Among them, θ1 and θ2 are the control angle changes of the front and rear control points of the vehicle body in the vehicle body coordinate system, P 1x and P 1y is the x and y coordinates of the front control point of the vehicle body in the engineering coordinate system at the current moment, P 2x and P 2y It is the x and y coordinates of the rear control point of the vehicle body in the engineering coordinate system at the current moment.

7. The navigation control method for automatic driving of a sliding film paver according to any one of claim 6, characterized in that: The kinematic model of the chassis of the synovial paver is established. Through the conversion constraints of the arbitrary steering center and the track angle of the asymmetric track structure, the track steering angle is calculated according to the next moment posture of the vehicle body, so as to realize the automatic driving of the synovial paver. The specific steps include: Calculate the turning center of the vehicle body: [Py]DP 1y +(Px-P 1x )*tan(α1) Among them, Px and Py are the x and y coordinates of the vehicle body steering center in the engineering coordinate system at the next moment; Calculate the track steering angle: Among them, track1, track2, and track3 correspond to the turning angles of the left, right, and rear tracks respectively, and P t1x , P t1y , P t2x , P t2y , P t3x , P t3y They are the x and y coordinates of the left, right and rear track center coordinates in the vehicle body coordinate system transferred to the engineering coordinate system.

8. A navigation control device for automatic driving of a sliding film paver, characterized in that: The RTK vehicle-mounted terminal is installed on the body of the slip film paver, and a positioning antenna and a directional antenna are installed on the left mold of the body for real-time positioning of the body posture, including: A coordinate system kinematic relationship establishment module is used to select two mold control points on the mold, establish the kinematic relationship between the RTK coordinate system, the engineering coordinate system, the vehicle body coordinate system, and the mold coordinate system, and realize the real-time positioning of the mold control points. The two mold control points include a vehicle body rear control point and a vehicle body front control point. The vehicle body rear control point is the location of the positioning antenna on the mold, and the vehicle body front control point is the location of the directional antenna on the mold. The posture prediction module is used to establish a feedforward control model based on the preview point between the current position of the mold control point and the designed construction route, establish a feedback control model based on the lateral control error between the current position of the mold control point and the designed construction route, and then establish a comprehensive control model of the mold control point to realize the position prediction of the mold control point at the next moment, so as to predict the posture of the vehicle body at the next moment in combination with the kinematic relationship; The automatic driving control module is used to establish the kinematic model of the chassis of the synovial paver. Through the conversion constraints of the arbitrary steering center and the track angle of the asymmetric track structure, the track steering angle is calculated according to the posture of the vehicle body at the next moment, thereby realizing the automatic driving of the synovial paver.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the navigation control method for automatic driving of a slip film paver as described in any one of claims 1 to 7 are implemented.

10. A storage medium, comprising a stored program, which controls a device where the storage medium is located to execute the steps of the navigation control method for automatic driving of a slip film paver as claimed in any one of claims 1 to 7 when the program is running.

Images