CN109137708A - A kind of fully automatic high-speed highway marking machine control system and its control method - Google Patents
A kind of fully automatic high-speed highway marking machine control system and its control method Download PDFInfo
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- CN109137708A CN109137708A CN201811058567.9A CN201811058567A CN109137708A CN 109137708 A CN109137708 A CN 109137708A CN 201811058567 A CN201811058567 A CN 201811058567A CN 109137708 A CN109137708 A CN 109137708A
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- signal
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
Abstract
The invention discloses a kind of fully automatic high-speed highway marking machine control systems, including detection agency, control mechanism and spraying mechanism；Detection agency includes the first radar sensor for being mounted on pen machine front end, and the two sides of the first radar sensor are symmetrically installed that there are two the second radar sensors, and pen machine rear end is equipped with third radar sensor；Control mechanism includes, radar signal preprocessing module, for carrying out noise reduction process to radar signal, radar signal synthesis module, it is synthesized for the signal to the first radar sensor, the second radar sensor and third radar sensor, obtain road surface composite signal, control signal transmitting module, for sending control signal to spraying mechanism, spraying mechanism includes batcher, and there are two nozzle, the two sides of nozzle are hinged with the first cylinder for batcher connection, first cylinder is hinged on the second cylinder side surface, and the second cylinder is fixedly connected on pen machine.The present invention can improve the deficiencies in the prior art, improve scribing line efficiency.
Description
Technical field
The present invention relates to road and bridge construction technical field, especially a kind of fully automatic high-speed highway marking machine control system and its
Control method.
Background technique
With the Fast Construction of highway in China net, the lines on road surface workload during construction of the highway is also increased significantly.It is existing
Some pen machine the degree of automation are lower, need manually to adjust stroked parameters at any time according to the actual situation, cross inefficient.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of fully automatic high-speed highway marking machine control system and its controls
Method is able to solve the deficiencies in the prior art, improves scribing line efficiency.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of fully automatic high-speed highway marking machine control system, including detection agency, control mechanism and spraying mechanism；
Detection agency includes the first radar sensor for being mounted on pen machine front end, and the two sides of the first radar sensor are symmetrically installed
There are two the second radar sensors, and pen machine rear end is equipped with third radar sensor, the first radar sensor and the second radar
Sensor mounting height is identical, and the installation angle of the first radar sensor and the second radar sensor is 35 °, third radar sensing
The mounting height of device is lower than the mounting height of the first radar sensor, and the installation direction of third radar sensor and the first radar pass
The installation direction of sensor is parallel；
Control mechanism includes,
Radar signal preprocessing module, for carrying out noise reduction process to radar signal,
Radar signal synthesis module, for the letter to the first radar sensor, the second radar sensor and third radar sensor
It number is synthesized, obtains road surface composite signal,
Signal transmitting module is controlled, for sending control signal to spraying mechanism,
Spraying mechanism includes batcher, and there are two nozzles for batcher connection, and the two sides of nozzle are hinged with the first cylinder, the first cylinder
It is hinged on the second cylinder side surface, the second cylinder is fixedly connected on pen machine.
Preferably, the radar signal preprocessing module includes,
Derivative module, for being positioned to the pulse ripple position in radar signal；
Integration module is calculated for the signal strength to radar signal；
Processing module, for being pre-processed according to the calculated result of derivative module and integration module to radar signal.
A kind of control method of above-mentioned fully automatic high-speed highway marking machine control system, comprising the following steps:
A, the first radar sensor, the second radar sensor and third radar sensor synchronize scanning, obtain corresponding thunder
Up to signal；
B, radar signal preprocessing module carries out noise reduction process to radar signal；
C, radar signal synthesis module to the signal of the first radar sensor, the second radar sensor and third radar sensor into
Row synthesis, obtains road surface composite signal；
D, control signal transmitting module sends control signal to spraying mechanism, controls the spray of the first cylinder and the second cylinder to nozzle
Position is applied to be adjusted；
E, after nozzle adjustment, spraying scribing line is carried out.
In step B, pretreatment is carried out to radar signal and is included the following steps,
The pulse ripple position of B1, each radar signal of traversal, if occurring same pulse ripple at least two radar signal
Position, and the amplitude of pulse ripple is less than threshold value with the departure of the ratio of corresponding radar signal strength, then carries out this position
Label；
B2, unlabelled pulse ripple position is deleted；
B3, the radar signal behind deletion pulse ripple position is corrected, makes the holding of its signal strength and original signal intensity phase
Deng.
In step B3, it is to the corrected method of radar signal,
The difference for calculating radar signal strength and original signal intensity after deleting pulse ripple position, the difference intensity of calculating is mended
In radar signal after entering to delete pulse ripple position, different location fills into intensity and itself and deleted arteries and veins in radar signal
The distance at punching fluctuation position is inversely proportional.
In step C, synthesis is carried out to radar signal and is included the following steps,
C1, the scanning signal matrix for establishing every a kind of radar sensor；
C2, the first radar sensor signal matrix and the second radar sensor signal matrix, the first radar sensor are established respectively
The transfer function matrix of signal matrix and third radar sensor signal matrix；
C3, the decomposition that transfer function matrix is carried out to three-dimensional select the highest dimension of similarity after decomposing to tie up as benchmark
Degree, synthesizes transfer function matrix；
C4, it is converted the second radar sensor signal and third radar sensor signal to using the transfer function matrix after synthesis
First radar sensor sub signal, and according to the similarity of transfer function matrix and former transfer function matrix after synthesis, by the
One radar sensor signal is merged with the first radar sensor sub signal, the transfer function matrix after synthesis and former transmitting letter
The similarity of matrix number is directly proportional with the intensity of corresponding the first radar sensor sub signal being transformed.
Brought beneficial effect is by adopting the above technical scheme: the present invention is by design radar-probing system, to spray
It applies region and carries out real-time detection, and then quickly obtain spraying scheme, cross to realize for the full-automatic spraying on road surface.In order to
The accuracy of radar detection is improved, the present invention improves the noise of radar signal by designing special method for processing radar signals
Than the clarity of radar image being improved, thus quickly to show that spraying scheme provides accurate foundation.
Detailed description of the invention
Fig. 1 is the schematic diagram of control system in a specific embodiment of the invention.
Fig. 2 is the structure chart of spraying mechanism in a specific embodiment of the invention.
In figure: 1, the first radar sensor；2, the second radar sensor；3, third radar sensor；4, radar signal is pre-
Processing module；5, radar signal synthesis module；6, signal transmitting module is controlled；7, batcher；8, nozzle；9, the first cylinder；10,
Second cylinder；11, derivative module；12, integration module；13, processing module；14, temperature sensor；15, variable frequency pump；16, it dries
Device；17, jet pipe is purged.
Specific embodiment
The standardized element used in the present invention can commercially, and shaped piece is according to specification and attached drawing
Record can carry out customized, and the specific connection type of each part is all made of in the prior art mature bolt, rivet, weldering
The conventional means such as connect, paste, this will not be detailed here.
Referring to Fig.1-2, a specific embodiment of the invention includes detection agency, control mechanism and spraying mechanism；
Detection agency includes the first radar sensor 1 for being mounted on pen machine front end, and the two sides of the first radar sensor 1 are symmetrically pacified
There are two the second radar sensors 2 for dress, and pen machine rear end is equipped with third radar sensor 3, the first radar sensor 1 and second
2 mounting height of radar sensor is identical, and the installation angle of the first radar sensor 1 and the second radar sensor 2 is 35 °, third
The mounting height of radar sensor 3 is lower than the mounting height of the first radar sensor 1, the installation direction of third radar sensor 3
It is parallel with the installation direction of the first radar sensor 1；
Control mechanism includes,
Radar signal preprocessing module 4, for carrying out noise reduction process to radar signal,
Radar signal synthesis module 5, for the first radar sensor 1, the second radar sensor 2 and third radar sensor 3
Signal synthesized, obtain road surface composite signal,
Signal transmitting module 6 is controlled, for sending control signal to spraying mechanism,
Spraying mechanism includes batcher 7, and for the connection of batcher 7 there are two nozzle 8, the two sides of nozzle 8 are hinged with the first cylinder 9, the
One cylinder 9 is hinged on 10 side of the second cylinder, and the second cylinder 10 is fixedly connected on pen machine.
The radar signal preprocessing module 4 includes,
Derivative module 11, for being positioned to the pulse ripple position in radar signal；
Integration module 12 is calculated for the signal strength to radar signal；
Processing module 13, for being pre-processed according to the calculated result of derivative module 11 and integration module 12 to radar signal.
A kind of control method of above-mentioned fully automatic high-speed highway marking machine control system, comprising the following steps:
A, the first radar sensor 1, the second radar sensor 2 and third radar sensor 3 synchronize scanning, obtain corresponding
Radar signal；
B, radar signal preprocessing module 4 carries out noise reduction process to radar signal；
C, letter of the radar signal synthesis module 5 to the first radar sensor 1, the second radar sensor 2 and third radar sensor 3
It number is synthesized, obtains road surface composite signal；
D, control signal transmitting module 6 sends control signal to spraying mechanism, controls the first cylinder 9 and the second cylinder 10 to nozzle
8 spraying position is adjusted；
E, after nozzle adjustment, spraying scribing line is carried out.
In step B, pretreatment is carried out to radar signal and is included the following steps,
The pulse ripple position of B1, each radar signal of traversal, if occurring same pulse ripple at least two radar signal
Position, and the amplitude of pulse ripple is less than threshold value with the departure of the ratio of corresponding radar signal strength, then carries out this position
Label；
B2, unlabelled pulse ripple position is deleted；
B3, the radar signal behind deletion pulse ripple position is corrected, makes the holding of its signal strength and original signal intensity phase
Deng.
In step B3, it is to the corrected method of radar signal,
The difference for calculating radar signal strength and original signal intensity after deleting pulse ripple position, the difference intensity of calculating is mended
In radar signal after entering to delete pulse ripple position, different location fills into intensity and itself and deleted arteries and veins in radar signal
The distance at punching fluctuation position is inversely proportional.
In step C, synthesis is carried out to radar signal and is included the following steps,
C1, the scanning signal matrix for establishing every a kind of radar sensor；
C2, the first radar sensor signal matrix and the second radar sensor signal matrix, the first radar sensor are established respectively
The transfer function matrix of signal matrix and third radar sensor signal matrix；
C3, the decomposition that transfer function matrix is carried out to three-dimensional select the highest dimension of similarity after decomposing to tie up as benchmark
Degree, synthesizes transfer function matrix；
C4, it is converted the second radar sensor signal and third radar sensor signal to using the transfer function matrix after synthesis
First radar sensor sub signal, and according to the similarity of transfer function matrix and former transfer function matrix after synthesis, by the
One radar sensor signal is merged with the first radar sensor sub signal, the transfer function matrix after synthesis and former transmitting letter
The similarity of matrix number is directly proportional with the intensity of corresponding the first radar sensor sub signal being transformed.
Purging jet pipe 17 is installed, the road surface composite signal obtained according to radar signal judges whether to start on pen machine
Purging 17 road pavement of jet pipe is purged.
Temperature sensor 14 is installed on pen machine, for detecting pavement temperature.Variable frequency pump is installed in batcher 7
15, quantity for spray is adjusted in real time according to pavement temperature.
14 pairs of temperature sensor spraying front and back road surfaces detect, temperature drop after spraying be more than threshold value after, then
Without drying；After temperature drop after spraying is less than threshold value, then start baker 16, scribing line position is dried.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown is merely for convenience of the description present invention, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. a kind of fully automatic high-speed highway marking machine control system, it is characterised in that: including detection agency, control mechanism and spraying
Mechanism；Detection agency includes the first radar sensor (1) for being mounted on pen machine front end, the two sides of the first radar sensor (1)
It is symmetrically installed there are two the second radar sensor (2), pen machine rear end is equipped with third radar sensor (3), and the first radar passes
Sensor (1) is identical with the second radar sensor (2) mounting height, the first radar sensor (1) and the second radar sensor (2)
Installing angle is 35 °, and the mounting height of third radar sensor (3) is lower than the mounting height of the first radar sensor (1), third
The installation direction of radar sensor (3) is parallel with the installation direction of the first radar sensor (1)；
Control mechanism includes radar signal preprocessing module (4), for carrying out noise reduction process to radar signal,
Radar signal synthesis module (5), for being passed to the first radar sensor (1), the second radar sensor (2) and third radar
The signal of sensor (3) is synthesized, and road surface composite signal is obtained, and is controlled signal transmitting module (6), for sending to spraying mechanism
Signal is controlled, spraying mechanism includes batcher (7), and there are two nozzle (8) for batcher (7) connection, and the two sides of nozzle (8) are hinged with
First cylinder (9), the first cylinder (9) are hinged on the second cylinder (10) side, and the second cylinder (10) is fixedly connected on pen machine.
2. fully automatic high-speed highway marking machine control system according to claim 1, it is characterised in that: the radar signal
Preprocessing module (4) includes derivative module (11), for positioning to the pulse ripple position in radar signal；Integrate mould
Block (12), calculates for the signal strength to radar signal；Processing module (13), for according to derivative module (11) and product
The calculated result of sub-module (12) pre-processes radar signal.
3. a kind of control method of fully automatic high-speed highway marking machine control system of any of claims 1 or 2, it is characterised in that
The following steps are included:
A, the first radar sensor (1), the second radar sensor (2) and third radar sensor (3) synchronize scanning, obtain
Corresponding radar signal；
B, radar signal preprocessing module (4) carries out noise reduction process to radar signal；
C, radar signal synthesis module (5) senses the first radar sensor (1), the second radar sensor (2) and third radar
The signal of device (3) is synthesized, and road surface composite signal is obtained；
D, control signal transmitting module (6) sends control signal to spraying mechanism, controls the first cylinder (9) and the second cylinder (10)
The spraying position of nozzle (8) is adjusted；
E, after nozzle adjustment, spraying scribing line is carried out.
4. the control method of fully automatic high-speed highway marking machine control system according to claim 3, it is characterised in that: step
In rapid B, pretreatment is carried out to radar signal and is included the following steps,
The pulse ripple position of B1, each radar signal of traversal, if occurring same pulse ripple at least two radar signal
Position, and the amplitude of pulse ripple is less than threshold value with the departure of the ratio of corresponding radar signal strength, then carries out this position
Label；
B2, unlabelled pulse ripple position is deleted；
B3, the radar signal behind deletion pulse ripple position is corrected, makes the holding of its signal strength and original signal intensity phase
Deng.
5. the control method of fully automatic high-speed highway marking machine control system according to claim 4, it is characterised in that: step
In rapid B3, it is to the corrected method of radar signal,
The difference for calculating radar signal strength and original signal intensity after deleting pulse ripple position, the difference intensity of calculating is mended
In radar signal after entering to delete pulse ripple position, different location fills into intensity and itself and deleted arteries and veins in radar signal
The distance at punching fluctuation position is inversely proportional.
6. the control method of fully automatic high-speed highway marking machine control system according to claim 5, it is characterised in that: step
In rapid C, synthesis is carried out to radar signal and is included the following steps,
C1, the scanning signal matrix for establishing every a kind of radar sensor；
C2, the first radar sensor signal matrix and the second radar sensor signal matrix, the first radar sensor are established respectively
The transfer function matrix of signal matrix and third radar sensor signal matrix；
C3, the decomposition that transfer function matrix is carried out to three-dimensional select the highest dimension of similarity after decomposing to tie up as benchmark
Degree, synthesizes transfer function matrix；
C4, it is converted the second radar sensor signal and third radar sensor signal to using the transfer function matrix after synthesis
First radar sensor sub signal, and according to the similarity of transfer function matrix and former transfer function matrix after synthesis, by the
One radar sensor signal is merged with the first radar sensor sub signal, the transfer function matrix after synthesis and former transmitting letter
The similarity of matrix number is directly proportional with the intensity of corresponding the first radar sensor sub signal being transformed.
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| CN201811058567.9A CN109137708B (en) | 2018-09-11 | 2018-09-11 | Full-automatic highway marking machine control system and control method thereof |
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| CN201811058567.9A CN109137708B (en) | 2018-09-11 | 2018-09-11 | Full-automatic highway marking machine control system and control method thereof |
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2018
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| WO2003079037A2 (en) * | 2002-03-13 | 2003-09-25 | Raytheon Company | A noise suppression system and method for phased-array based systems |
| CN105178157B (en) * | 2015-10-09 | 2017-07-04 | 河南科技学院 | The unmanned remote control autoset road marking of highway and its control method |
| CN106199561A (en) * | 2016-07-22 | 2016-12-07 | 武汉海达数云技术有限公司 | The processing method and processing device of impulse wave |
| CN106154267A (en) * | 2016-08-23 | 2016-11-23 | 电子科技大学 | High Resolution SAR imaging method based on miniature ultra wide band radar sensing module |
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Non-Patent Citations (1)
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