CN109799830B - Automatic driving control system and method for impact road roller - Google Patents
Automatic driving control system and method for impact road roller Download PDFInfo
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Abstract
The automatic driving control system of the impact road roller comprises an impact roller, a tractor, an intelligent driving controller, a positioning base station, a handheld monitoring terminal and a wireless router, wherein the intelligent driving controller is used for realizing the positioning of the impact road roller by acquiring signals of the positioning base station; the handheld monitoring terminal realizes the self-networking with the intelligent driving controller through the wireless router. The control method of the automatic driving control system of the impact road roller comprises the following steps: a) Learning a construction path; b) Planning a running path; c) Automatically driving and rolling; d) Manual intervention. The system and the method realize repeated movement operation of the impact road on the working section, replace the traditional manual driving, avoid occupational injury caused by jolt of personnel on the impact road roller, improve the working efficiency and reduce the labor cost.
Description
Technical Field
The invention relates to an automatic driving control system and method, in particular to an automatic driving control system and method of an impact road roller.
Background
The impact road roller, also called impact road roller, is a new type of towed road roller, which is composed of tractor and impact roller. The impact road roller is towed by a loader, and the cement pavement and the roadbed are crushed and compacted by utilizing the weight of the impact roller and the impact force during the advancing. In order to achieve a good compacting effect, the running speed of the impact roller in working is definitely required to be not lower than 10Km/h in construction specifications. Through multiple rolling, the impact road roller can generate a very good compacting effect, so that the impact road roller is widely applied to construction sites such as highways, railways, dams, airports and the like. However, since impact rollers are generally of a trilateral or pentagonal configuration, the road surface is first pressed into a "washboard" type undulating road surface during the initial stages of the compaction process.
The working process of the impact roller has three characteristics: 1) Performing a plurality of repeated movements within a fixed area; 2) The motion trail of the robot needs to cover a designated area; 3) In the second compaction process, the impact roller can generate a large-amplitude fluctuation motion due to uneven pavement, so that the driver is tired, and occupational injury is extremely easy to cause.
Disclosure of Invention
In order to overcome the defects of the technical problems, the invention provides an automatic driving control system and method of an impact road roller.
The invention relates to an automatic driving control system of an impact road roller, which is characterized in that: the device comprises an impact roller, a tractor, an intelligent driving controller, a positioning base station, a handheld monitoring terminal and a wireless router, wherein the impact roller is connected with the tractor; the intelligent driving controller is used for obtaining signals of the positioning base station to realize the positioning of the impact road roller; the wireless router is arranged on a working road section, the handheld monitoring terminal realizes the self-networking with the intelligent driving controller through the wireless router, and the handheld monitoring terminal realizes the monitoring of the working process of the impact road roller.
The invention relates to an automatic driving control system of an impact road roller, which comprises a microcontroller, a differential GPS receiver, an inertial measurement unit IMU, a laser radar, an ultrasonic obstacle avoidance sensor, a monitoring camera, an accelerator control unit, a direction control unit, a brake control unit and a wireless network unit, wherein the differential GPS receiver is connected with the microcontroller; the laser radar is arranged on the transfer vehicle through the two-dimensional cradle head.
The automatic driving control system of the impact road roller comprises a direct-current servo motor, a steering wheel gear and a driving gear, wherein the steering wheel gear is fixed on a steering wheel rotating shaft of a tractor, the driving gear is meshed with the steering wheel gear, and the direct-current servo motor drives the driving gear to rotate through an electromagnetic clutch; the intelligent driving control system detects the steering angle of the tractor through an angle sensor.
The control method of the automatic driving control system of the impact road roller is characterized by comprising the following steps of:
a) Learning a construction path, wherein a manual driving tractor learns along a construction area, and an intelligent driving controller records an operation starting point and an operation end point of the construction area according to the acquired position coordinate information in the running process, and records a culvert starting point and a culvert end point under the condition that a culvert exists in the construction area; the acquired coordinate point information is sent to the handheld control terminal; b) Setting the running speed, compaction pass number, wrong wheel width, construction pavement width and turning radius parameters of the impact road roller through a handheld monitoring terminal, and planning the running path of the impact road roller according to the set parameters; c) Automatically driving and rolling, wherein the intelligent driving controller controls the impact road roller to automatically operate according to the planned running path; when the front meets an obstacle or runs to the starting point of the culvert, the speed reduction operation is automatically carried out, and when the distance of the obstacle reaches the minimum braking distance, the obstacle is automatically braked and an alarm signal is sent to the handheld monitoring terminal; when the obstacle disappears, automatically starting the impact road roller to continue operation; when the obstacle does not disappear within a certain time or the vehicle is stopped due to other reasons and does not have a restarting condition, sending alarm information to the handheld monitoring terminal to request manual intervention; d) And manual intervention, wherein in the construction process, on-site constructors can adjust the speed of the vehicle according to the road surface flatness by using the handheld monitoring terminal, and when the turning mode is set to be manual turning, the tractor is driven by a worker to perform turning operation when the turning position is reached.
In the control method of the automatic driving control system of the impact road roller, in the step a), the acquired GPS coordinates of the ith marking point are set as (B) i ,L i ,H i ) Solving the Gaussian plane coordinate (x) of the ith mark point according to the Gaussian projection forward calculation formula i ,y i )：
In the formula (1), the angles are radians, L' =l-L 0 ，L 0 Is the central meridian longitude; n is the radius of curvature of the meridian, e is the first eccentricity of the ellipsoid, a and b are respectively the long and short radii of the ellipsoid, f is the oblate of the ellipsoid, and W is the first auxiliary coefficient;
a＝6378137.000m，b＝6356752.314m；f＝1/298.257223563；t＝tanB i ；η 2 ＝e 2 cos 2 B i ，/>x is the meridian arc length, which is calculated by the following formula:
a 0 ,a 2 ,a 4 ,a 6 ,a 8 is basically constant and is calculated according to a formula (3):
wherein: m is m 0 ,m 2 ,m 4 ,m 6 ,m 8 Is basically constant and is calculated according to the following formula:
in the control method of the automatic driving control system of the impact road roller, in the step b), the operation starting point coordinate of a certain road section under the Gaussian coordinate system is set as (X) 0 ,Y 0 ) The coordinates of the work end point are (X 1 ,Y 2 ) The planning running path is realized by the following steps:
b-1) straight-line segment trajectory equation, starting at point (X) 0 ,Y 0 ) The end point is (X) 1 ,Y 2 ) In the case of a straight road section, the relevant parameters of the travel track equation ax+by+c=0 of the impact roller can be determined as:
b-2) planning the track of the turning road section, and recording the set minimum turning radius as r min The overlapping distance is L ol And the width of the construction pavement is W, and then:
b-2-1) ifIndicating that the impact road roller cannot turn around directly once and needs manual intervention to assist turning around;
b-2-2) ifIndicating that the impact road roller can be directly turned around, and the turning radius is r min The track equation of the travel is (x-x cir ) 2 +(y-y cir ) 2 ＝r min 2 The center coordinates of the travel track equation are as follows:
b-2-3) ifIndicating that the impact road roller cannot turn from the starting point to the end point in one turn, planning the path into two paths with the radius r min A combination of 90 ° arc and straight line path;
b-3) automatic driving control, wherein in the running process of the straight road section, the calculation formula of the track error of the impact road roller is as follows:
wherein, (x, y) is a position coordinate obtained in the driving process of the impact road roller;
the track error calculation company in the turning process is:
according to the error d err And performing track tracking control on the impact road roller by adopting a fuzzy PID control algorithm.
In the step c), the intelligent driving controller measures the distance between the tractor and the front obstacle through the laser radar sensor as follows:
c-1) calculating the posture of the tractor under the static condition, and obtaining the traction by the intelligent driving controller through an acceleration sensor in an Inertial Measurement Unit (IMU)Three-axis acceleration (a) x ,a y ,a z ) And then calculating the transverse inclination angle phi and the longitudinal inclination angle theta of the tractor by using an Euler angle formula:
obtaining a direction angle psi of the movement of the tractor through a differential GPS receiver;
the initial quaternion obtained by using quaternion and Euler angle formula is:
c-2) acquiring the attitude of the tractor under the dynamic condition, wherein an updating equation of the quaternion is as follows:
in the formula (10), ω x 、ω y 、ω z The real-time three-axis angular velocity value is obtained by an Inertial Measurement Unit (IMU);
further, the carrier attitude under the dynamic condition of the tractor is obtained as follows:
c-3) carrying out fusion processing on the sensor data by utilizing a second-order complementary filtering algorithm, wherein a time domain equation of the self-adaptive correction algorithm can be expressed as follows:
wherein,respectively the longitudinal inclination angles of the tractors after fusionInclination angle, K p1 、K p2 、K I1 、K I2 Are all filtering parameters;
c-4) correcting the attitude of the laser radar, and driving the laser radar to perform longitudinal inclination by using a two-dimensional platform to obtain the longitudinal inclinationTransverse inclination angleTo counteract the ranging effect of low-frequency heave motion of the vehicle body on the lidar.
The beneficial effects of the invention are as follows: according to the automatic driving control system of the impact road roller, the positioning base station is arranged on the working section of the impact road roller, so that the intelligent driving controller can accurately position the road roller, and accurate path planning is realized; the intelligent driving controller realizes the self-networking with the positioning base station through the wireless router, so that the route key points collected by the intelligent driving controller are uploaded to the handheld terminal, the running route planned by the handheld terminal is transmitted to the intelligent driving controller, the intelligent driving controller controls the running direction and the running speed of the road roller according to the obtained position coordinates and steering angles of the road roller, and the road roller runs according to the planned operation route.
According to the control method of the automatic driving control system of the impact road roller, firstly, a manual driving tractor learns in a construction area to obtain an operation starting point and an operation ending point as well as a culvert starting point and a culvert ending point, and then, a working path of the road roller is planned on a handheld monitoring terminal according to the set parameters of the impact road roller; then, the intelligent driving controller controls the automatic operation of the road roller according to the detected obstacle distance and whether the intelligent driving controller is positioned at the starting point of the culvert, so that repeated motion operation of the impact road on the working section is realized, the traditional manual driving is replaced, occupational injury caused by jolt of personnel on the impact road roller is avoided, the working efficiency is improved, and the labor cost is reduced.
Drawings
FIG. 1 is a schematic view of an impact roller according to the present invention;
FIG. 2 is a schematic diagram of an automatic driving control system for an impact roller according to the present invention;
FIG. 3 is a schematic diagram of the operation of the intelligent driving controller of the present invention;
FIG. 4 is a steering control block diagram of the tractor of the present invention;
fig. 5 is a schematic diagram of the travel path planning of the impact roller of the present invention.
In the figure: 1 impact mill, 2 tractor, 3 intelligent driving controller, 4 location basic station, 5 handheld monitor terminal, 6 wireless router, 7 steering wheel, 8 steering wheel pivot, 9 steering wheel gear, 10 drive gear.
Detailed Description
The invention will be further described with reference to the drawings and examples.
As shown in fig. 1, a schematic structural diagram of the impact roller of the present invention is provided, and the impact roller is composed of an impact roller 1 and a tractor 2, wherein the impact roller 1 is suspended behind the tractor 2, so that the tractor 2 drives the impact roller 1 to move. The impact roller 1 is shown to be trilateral, but also pentagonal, and in the process that the impact roller 1 moves along with the tractor 2, the impact roller 1 breaks a cement road surface by depending on the weight of the impact roller 1 or compacts a road base road surface.
As shown in fig. 2, a schematic diagram of the automatic driving control system of the impact road roller is provided, which consists of the impact road roller, a positioning base station 4, an intelligent driving controller 3, a handheld monitoring terminal 5 and a wireless router 6, wherein the positioning base station 4 is arranged in the middle area of a working road section and is used for realizing the accurate positioning of the impact road roller, and the positioning precision can reach +/-1 cm under the condition of adopting a differential GPS receiver. The intelligent driving controller 3 is arranged on the tractor 2, and the intelligent driving controller 3 can realize the detection of the operation parameters of the tractor 2, such as position information, steering angle and operation speed, and can automatically control the driving path of the impact road roller. The handheld monitoring terminal 5 is used for planning a driving path of the impact road roller and displaying the running state parameters of the press machine so as to monitor the running state of the road roller. The wireless router 6 is provided with a working road section so that the handheld monitoring terminal 5 and the intelligent driving controller 3 are in ad hoc network through the wireless router 6.
As shown in fig. 3, a working schematic diagram of the intelligent driving controller in the invention is provided, and it can be seen that the intelligent driving controller 3 can realize direction control and detection, throttle control and detection, brake control and detection, and has a wireless router, a differential GPS receiver, an ultrasonic obstacle avoidance device, a laser radar and a camera. The intelligent driving controller 1 consists of a microcontroller, a differential GPS receiver, an inertial measurement unit IMU, a laser radar, an ultrasonic obstacle avoidance sensor, a monitoring camera, an accelerator control unit, a direction control unit, a brake control unit and a wireless network unit, wherein the differential GPS receiver is connected with the microcontroller; the laser radar is arranged on the transfer vehicle through the two-dimensional cradle head.
As shown in fig. 4, a steering control structure diagram of the tractor is shown, the steering wheel is driven to rotate by the direct current servo motor, the steering angle of the vehicle is fed back to the control system by the angle sensor arranged on the steering shaft, an electromagnetic clutch is arranged between the motor and the driving gear, and the driving motor and the steering wheel system can be separated by the electromagnetic clutch under the condition of manual driving so as to reduce the steering wheel resistance during manual driving.
As shown in fig. 5, a schematic diagram of the travel path planning of the impact roller according to the invention is given, which is implemented by the following steps:
a) Learning a construction path, wherein a manual driving tractor learns along a construction area, and an intelligent driving controller records an operation starting point and an operation end point of the construction area according to the acquired position coordinate information in the running process, and records a culvert starting point and a culvert end point under the condition that a culvert exists in the construction area; the acquired coordinate point information is sent to the handheld control terminal;
in step a), the acquired GPS coordinates of the ith mark point are set as (B) i ,L i ,H i ) Solving the Gaussian plane coordinate (x) of the ith mark point according to the Gaussian projection forward calculation formula i ,y i )：
In the formula (1), the angles are radians, L' =l-L 0 ，L 0 Is the central meridian longitude; n is the radius of curvature of the meridian, e is the first eccentricity of the ellipsoid, a and b are respectively the long and short radii of the ellipsoid, f is the oblate of the ellipsoid, and W is the first auxiliary coefficient;
a＝6378137.000m，b＝6356752.314m；f＝1/298.257223563；t＝tanB i ；η 2 ＝e 2 cos 2 B i ，/>x is the meridian arc length, which is calculated by the following formula:
a 0 ,a 2 ,a 4 ,a 6 ,a 8 is basically constant and is calculated according to a formula (3):
wherein: m is m 0 ,m 2 ,m 4 ,m 6 ,m 8 Is basically constant and is calculated according to the following formula:
b) Setting the running speed, compaction pass number, wrong wheel width, construction pavement width and turning radius parameters of the impact road roller through a handheld monitoring terminal, and planning the running path of the impact road roller according to the set parameters;
in the step b), the operation start point coordinates of a certain link set in the Gaussian coordinate system are (X) 0 ,Y 0 ) The coordinates of the work end point are (X 1 ,Y 2 ) The planning running path is realized by the following steps:
b-1) straight-line segment trajectory equation, starting at point (X) 0 ,Y 0 ) The end point is (X) 1 ,Y 2 ) In the case of a straight road section, the relevant parameters of the travel track equation ax+by+c=0 of the impact roller can be determined as:
b-2) planning the track of the turning road section, and recording the set minimum turning radius as r min The overlapping distance is L ol And the width of the construction pavement is W, and then:
b-2-1) ifIndicating that the impact road roller cannot turn around directly once and needs manual intervention to assist turning around;
b-2-2) ifIndicating that the impact road roller can be directly turned around, and the turning radius is r min The track equation of the travel is (x-x cir ) 2 +(y-y cir ) 2 ＝r min 2 The center coordinates of the travel track equation are as follows:
b-2-3) ifIndicating that the impact road roller cannot turn from the starting point to the end point in one turn, planning the path into two paths with the radius r min A combination of 90 ° arc and straight line path;
b-3) automatic driving control, wherein in the running process of the straight road section, the calculation formula of the track error of the impact road roller is as follows:
wherein, (x, y) is a position coordinate obtained in the driving process of the impact road roller;
the track error calculation company in the turning process is:
according to the error d err And performing track tracking control on the impact road roller by adopting a fuzzy PID control algorithm.
c) Automatically driving and rolling, wherein the intelligent driving controller controls the impact road roller to automatically operate according to the planned running path; when the front meets an obstacle or runs to the starting point of the culvert, the speed reduction operation is automatically carried out, and when the distance of the obstacle reaches the minimum braking distance, the obstacle is automatically braked and an alarm signal is sent to the handheld monitoring terminal; when the obstacle disappears, automatically starting the impact road roller to continue operation; when the obstacle does not disappear within a certain time or the vehicle is stopped due to other reasons and does not have a restarting condition, sending alarm information to the handheld monitoring terminal to request manual intervention;
the impact roller of the impact press has a great weight of 16t. The minimum braking distance of the normal working impact road roller is generally not less than 10m in emergency braking. In the invention, a laser radar sensor is selected to measure the distance between the tractor and the front obstacle. However, when there is a fluctuation in the road surface, the measurement result of the lidar is very liable to generate a very large fluctuation, which is liable to cause unnecessary deceleration.
In step c), the method for measuring the distance between the tractor and the front obstacle by the intelligent driving controller through the laser radar sensor is as follows:
c-1) calculating the posture of the tractor under the static condition, and obtaining the triaxial acceleration (a) of the tractor by the intelligent driving controller through an acceleration sensor in an Inertial Measurement Unit (IMU) x ,a y ,a z ) And then calculating the transverse inclination angle phi and the longitudinal inclination angle theta of the tractor by using an Euler angle formula:
obtaining a direction angle psi of the movement of the tractor through a differential GPS receiver;
the initial quaternion obtained by using quaternion and Euler angle formula is:
c-2) acquiring the attitude of the tractor under the dynamic condition, wherein an updating equation of the quaternion is as follows:
in the formula (10), ω x 、ω y 、ω z The real-time three-axis angular velocity value is obtained by an Inertial Measurement Unit (IMU);
further, the carrier attitude under the dynamic condition of the tractor is obtained as follows:
c-3) carrying out fusion processing on the sensor data by utilizing a second-order complementary filtering algorithm, wherein a time domain equation of the self-adaptive correction algorithm can be expressed as follows:
wherein,respectively the longitudinal inclination angle and the transverse inclination angle after the tractor is fused, K p1 、K p2 、K I1 、K I2 Are all filtering parameters;
c-4) correcting the attitude of the laser radar, and driving the laser radar to perform longitudinal inclination by using a two-dimensional platform to obtain the longitudinal inclinationThe transverse inclination is +.>To counteract the ranging effect of low-frequency heave motion of the vehicle body on the lidar.
d) And manual intervention, wherein in the construction process, on-site constructors can adjust the speed of the vehicle according to the road surface flatness by using the handheld monitoring terminal, and when the turning mode is set to be manual turning, the tractor is driven by a worker to perform turning operation when the turning position is reached.
When the obstacle is less than the set point from the tractor, a deceleration or stopping should be performed. When the vehicle is in heave motion, a very large deviation of the measured obstacle distance may occur because the vehicle posture is no longer in a horizontal state. The laser radar is fixed on the vehicle body through the two-axis platform, and after the longitudinal inclination angle and the transverse inclination angle of the vehicle body are calculated, the low-frequency fluctuation motion of the vehicle body is counteracted through the rapid motion of the two-dimensional cradle head, so that the aim of calibrating obstacle avoidance data is fulfilled. And the attitude angle of the two-dimensional cradle head is introduced into the calculation of the distance of the obstacle in front, so that the accuracy of obstacle measurement is ensured to the greatest extent.
Claims (5)
1. The automatic driving control system of the impact road roller comprises an impact roller (1), a tractor (2), an intelligent driving controller (3), a positioning base station (4), a handheld monitoring terminal (5) and a wireless router (6), wherein the impact roller is connected with the tractor, and the intelligent driving controller is arranged on the tractor and is used for driving the tractor to automatically drive the impact roller to crush or compact a roadbed; the intelligent driving controller is used for obtaining signals of the positioning base station to realize the positioning of the impact road roller; the wireless router is arranged on the working road section, the handheld monitoring terminal realizes the self-networking with the intelligent driving controller through the wireless router, and the handheld monitoring terminal monitors the working process of the impact road roller;
the method is characterized in that the control method of the automatic driving control system of the impact road roller is realized by the following steps:
a) Learning a construction path, wherein a manual driving tractor learns along a construction area, and an intelligent driving controller records an operation starting point and an operation end point of the construction area according to the acquired position coordinate information in the running process, and records a culvert starting point and a culvert end point under the condition that a culvert exists in the construction area; the acquired coordinate point information is sent to the handheld control terminal;
b) Setting the running speed, compaction pass number, wrong wheel width, construction pavement width and turning radius parameters of the impact road roller through a handheld monitoring terminal, and planning the running path of the impact road roller according to the set parameters;
c) Automatically driving and rolling, wherein the intelligent driving controller controls the impact road roller to automatically operate according to the planned running path; when the front meets an obstacle or runs to the starting point of the culvert, the speed reduction operation is automatically carried out, and when the distance of the obstacle reaches the minimum braking distance, the obstacle is automatically braked and an alarm signal is sent to the handheld monitoring terminal; when the obstacle disappears, automatically starting the impact road roller to continue operation; when the obstacle does not disappear within a certain time or the vehicle is stopped due to other reasons and does not have a restarting condition, sending alarm information to the handheld monitoring terminal to request manual intervention;
d) Manually intervening, wherein in the construction process, on-site constructors can adjust the speed of the vehicle according to the road surface flatness by using a handheld monitoring terminal, when the turning mode is set to be manual turning, and when the turning mode reaches a turning position, the workers drive the tractor to carry out turning operation;
in the step b), the operation start point coordinates of a certain link set in the Gaussian coordinate system are (X) 0 ,Y 0 ) The coordinates of the work end point are (X 1 ,Y 2 ) The planning running path is realized by the following steps:
b-1) straight-line segment trajectory equation, starting at point (X) 0 ,Y 0 ) The end point is (X) 1 ,Y 2 ) In the case of a straight road section, the relevant parameters of the travel track equation ax+by+c=0 of the impact roller can be determined as:
b-2) planning the track of the turning road section, and recording the set minimum turning radius as r min The overlapping distance is L ol And the width of the construction pavement is W, and then:
b-2-1) ifIndicating that the impact road roller cannot turn around directly once and needs manual intervention to assist turning around;
b-2-2) ifIndicating that the impact road roller can be directly turned around, and the turning radius is r min The track equation of the travel is (x-x cir ) 2 +(y-y cir ) 2 ＝r min 2 The center coordinates of the travel track equation are as follows:
b-2-3) ifIndicating that the impact road roller cannot turn from the starting point to the end point in one turn, planning the path into two paths with the radius r min A combination of 90 ° arc and straight line path;
b-3) automatic driving control, wherein in the running process of the straight road section, the calculation formula of the track error of the impact road roller is as follows:
wherein, (x, y) is a position coordinate obtained in the driving process of the impact road roller;
the track error calculation company in the turning process is:
according to the error d err And performing track tracking control on the impact road roller by adopting a fuzzy PID control algorithm.
2. The method of controlling an autopilot control system for an impact roller of claim 1 wherein: the intelligent driving controller (3) consists of a microcontroller, a differential GPS receiver, an Inertial Measurement Unit (IMU), a laser radar, an ultrasonic obstacle avoidance sensor, a monitoring camera, an accelerator control unit, a direction control unit, a brake control unit and a wireless network unit, wherein the differential GPS receiver is connected with the microcontroller; the laser radar is arranged on the tractor through the two-dimensional cradle head.
3. The control method of an automatic driving control system of an impact roller according to claim 1 or 2, characterized by: the steering wheel comprises a direct current servo motor, a steering wheel gear (9) and a driving gear (10), wherein the steering wheel gear is fixed on a steering wheel rotating shaft (8) of a tractor, the driving gear is meshed with the steering wheel gear, and the direct current servo motor drives the driving gear to rotate through an electromagnetic clutch; the intelligent driving control system detects the steering angle of the tractor through an angle sensor.
4. The method according to claim 1, wherein in the step a), the GPS coordinates of the i-th mark point obtained are set to (B i ,L i ,H i ) Solving the Gaussian plane coordinate (x) of the ith mark point according to the Gaussian projection forward calculation formula i ,y i )：
In the formula (1), the angles are radians, L' =l-L 0 ，L 0 Is the central meridian longitude; n is the radius of curvature of the meridian, e is the first eccentricity of the ellipsoid, a and b are respectively the long and short radii of the ellipsoid, f is the oblate of the ellipsoid, and W is the first auxiliary coefficient;
a＝6378137.000m，b＝6356752.314m；f＝1/298.257223563；t＝tanB i ；η 2 ＝e 2 cos 2 B i ，/>x is the meridian arc length, which is calculated by the following formula:
a 0 ,a 2 ,a 4 ,a 6 ,a 8 is basically constant and is calculated according to a formula (3):
wherein: m is m 0 ,m 2 ,m 4 ,m 6 ,m 8 Is basically constant and is calculated according to the following formula:
m 0 ＝a(1-e 2 )；m 4 ＝5e 2 m 2 ；/>
5. the method for controlling an automatic driving control system of an impact roller according to claim 1, wherein in the step c), the intelligent driving controller measures the distance between the tractor and the obstacle ahead through the laser radar sensor as follows:
c-1) calculating the posture of the tractor under the static condition, and obtaining the triaxial acceleration of the tractor by the intelligent driving controller through an acceleration sensor in an Inertial Measurement Unit (IMU)a x ,a y ,a z ) And then calculating the transverse inclination angle phi and the longitudinal inclination angle theta of the tractor by using an Euler angle formula:
obtaining a direction angle psi of the movement of the tractor through a differential GPS receiver;
the initial quaternion obtained by using quaternion and Euler angle formula is:
c-2) acquiring the attitude of the tractor under the dynamic condition, wherein an updating equation of the quaternion is as follows:
in the formula (10), ω x 、ω y 、ω z The real-time three-axis angular velocity value is obtained by an Inertial Measurement Unit (IMU);
further, the carrier attitude under the dynamic condition of the tractor is obtained as follows:
c-3) carrying out fusion processing on the sensor data by utilizing a second-order complementary filtering algorithm, wherein a time domain equation of the self-adaptive correction algorithm can be expressed as follows:
wherein,respectively the longitudinal inclination angle and the transverse inclination angle after the tractor is fused, K p1 、K p2 、K I1 、K I2 Are all filtering parameters;
c-4) correcting the attitude of the laser radar, and driving the laser radar to perform longitudinal inclination by using a two-dimensional platform to form a-The transverse inclination angle is +.>To counteract the ranging effect of low-frequency heave motion of the vehicle body on the lidar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910169361.1A CN109799830B (en) | 2019-03-06 | 2019-03-06 | Automatic driving control system and method for impact road roller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910169361.1A CN109799830B (en) | 2019-03-06 | 2019-03-06 | Automatic driving control system and method for impact road roller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109799830A CN109799830A (en) | 2019-05-24 |
| CN109799830B true CN109799830B (en) | 2023-11-14 |
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| EP4074893A1 (en) * | 2021-04-16 | 2022-10-19 | BOMAG GmbH | Method for the maintenance or addition of functionality to a self-propelled machine and function or maintenance management system |
| CN113393656A (en) * | 2021-06-10 | 2021-09-14 | 徐州徐工筑路机械有限公司 | Unmanned system of land leveler |
| CN117908548A (en) * | 2024-01-19 | 2024-04-19 | 青岛科泰重工机械有限公司 | Intelligent planning control system for working path of full-hydraulic single-steel-wheel road roller |
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