CN110412979B - Automatic driving method of intelligent driving system of in-place heat regeneration unit - Google Patents

Automatic driving method of intelligent driving system of in-place heat regeneration unit Download PDF

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CN110412979B
CN110412979B CN201910511170.9A CN201910511170A CN110412979B CN 110412979 B CN110412979 B CN 110412979B CN 201910511170 A CN201910511170 A CN 201910511170A CN 110412979 B CN110412979 B CN 110412979B
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vehicle
path
acquisition device
driving
operation station
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CN110412979A (en
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周勇
刘东美
王其伟
冯郧红
董光彬
靳先国
商红发
古金龙
潘为刚
王常顺
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Shandong Luqiao Group Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Abstract

The invention relates to an automatic driving method of an intelligent driving system of a hot-in-place recycling unit, wherein the intelligent driving system of the hot-in-place recycling unit comprises a path point acquisition device, a differential GPS base station, a handheld operation station, a vehicle data acquisition device and a vehicle control device, and the automatic driving method is realized through the following steps: a) artificially planning a driving path; b) forwarding path data; c) coordinate transformation; d) path fitting; e) issuing a driving path; f) automatic driving. The automatic driving method of the intelligent driving system of the in-place heat regeneration unit realizes automatic re-paving of the old asphalt pavement, avoids damage to sensors and other electronic devices caused by a high-temperature pavement environment, avoids adverse effects on line inspection driving caused by the problems of pavement marking loss, stain and the like, and enhances the practicability of the system.

Description

Automatic driving method of intelligent driving system of in-place heat regeneration unit
Technical Field
The invention relates to an automatic driving method of an intelligent driving system of a hot-in-place recycling unit, in particular to an automatic driving method of an intelligent driving system of a hot-in-place recycling unit, which firstly collects a driving path and then sends the path to each engineering vehicle.
Background
The on-site heat regeneration unit is a recycling combined device of an old asphalt pavement, which realizes the on-line repair of damaged unqualified asphalt pavements (such as ruts, cracks and pit and groove pavements) by a whole set of processes of digging, recycling, heating, crushing and screening the old asphalt pavement, re-mixing the old asphalt pavement with a regenerant and new asphalt into a mixture and re-paving the mixture on the pavement, can realize the 100 percent reuse of the old asphalt pavement, avoids the defect of material back and forth transportation, saves manpower and material resources, improves the working efficiency, and is more suitable for quickly repairing highways without road sealing.
The in-situ heat regeneration unit consists of a plurality of engineering vehicles, wherein different engineering vehicles have different functions and are an asphalt pavement heater, an asphalt pavement milling machine, an asphalt pavement heat supplement machine, an aggregate transport vehicle, an asphalt pavement remixer, an asphalt pavement paver and an asphalt pavement roller in sequence from front to back under normal conditions, the asphalt pavement heater heats the pavement based on the principle of thermal cycle, the temperature of the asphalt pavement heater can reach 150-200 ℃, the asphalt pavement heater also has the heating function and collects and gathers the old asphalt pavement in a heating and milling mode so that the aggregate transport vehicle collects the old asphalt pavement materials. The asphalt pavement remixer mixes the regenerant, the new asphalt and the old materials to form a new asphalt pavement material, and the new asphalt pavement is paved by the asphalt pavement paver.
Because the whole hot in-place recycling unit works in an environment with very high relative temperature, drivers of all vehicles need to work in a high-temperature environment, the phenomenon that the physical strength of the workers is insufficient to cause accidents easily occurs, and the high-temperature environment has adverse effects on the human bodies of the workers.
Disclosure of Invention
In order to overcome the defects of the technical problems, the invention provides an automatic driving method of the intelligent driving system of the local heat regeneration unit, which firstly acquires a driving path and then sends the path to each engineering vehicle.
The invention relates to an automatic driving method of an intelligent driving system of a hot in-place recycling unit, which comprises a waypoint acquisition device, a differential GPS base station, a handheld operation station, a vehicle data acquisition device and a vehicle control device, wherein the vehicle data acquisition device is used for acquiring the steering angle and the geographical position coordinate information of an engineering vehicle, and the vehicle control device controls the driving path of the engineering vehicle by controlling the steering angle; the path point acquisition device consists of a trolley and a path point acquisition circuit arranged on the trolley and is used for acquiring longitude and latitude coordinates and altitude coordinates of the trolley; the handheld operation station is in wireless communication with the path point acquisition device and the handheld operation station; the automatic driving method of the intelligent driving system of the hot spot regeneration unit is characterized by being realized through the following steps:
a) manually planning a driving path, pushing the trolley by a worker to travel along the right boundary of the old asphalt lane to be re-paved, periodically acquiring longitude and latitude coordinates and altitude of the trolley by a path point acquisition device, and setting the number of acquired coordinate points as n, wherein the number of the acquired coordinate points is (B)1,L1,H1)、(B2,L2,H2)、…、 (Bi,Li,Hi)、…、(Bn,Ln,Hn)，Bi、Li、HiLongitude coordinates, latitude coordinates and altitude respectively;
b) forwarding path data, and sending the acquired n coordinate point data to a handheld operation station by a path point acquisition device;
c) converting the coordinate, converting the collected n GPS coordinate point data into a geodetic rectangular coordinate system by the handheld operation station, and setting the coordinates of the converted n points as (X) respectively1,Y1,Z1)、(X2,Y2,Z2)、…、 (Xi,Yi,Zi)、…、(Xn,Yn,Zn)；
d) Path fitting, namely fitting n points in the acquired earth rectangular coordinate system into a curve by using a least square method through the handheld operation station, wherein the curve is the fitted driving path;
e) issuing the driving path, and issuing the fitted driving path to each engineering vehicle by the handheld operation station;
f) and automatically driving, wherein the engineering vehicle acquires longitude and latitude coordinates of the vehicle through a vehicle data collector to obtain steering angle data, and controls the driving path of the vehicle through a vehicle control device, so that the engineering vehicle realizes the re-paving of the old asphalt lane according to the received fitted driving path form.
The invention relates to an automatic driving method of an intelligent driving system of a hot-in-place recycling unit, wherein the coordinate transformation in the step c) is realized by a formula (1):
Figure RE-GDA0002145173280000031
wherein the content of the first and second substances,
Figure RE-GDA0002145173280000032
a. b is the long radius and the short radius of the reference ellipsoid, a is 6378137m, and b is 6356752.3142.
The invention discloses an automatic driving method of an intelligent driving system of a hot-in-place recycling unit, which is characterized in that the path fitting in the step d) is realized through the following steps:
d-1), establishing a fitting polynomial, and firstly establishing the fitting polynomial shown as the formula (2) in an O-XY plane of a large-ground rectangular coordinate system:
y＝a0+a1x+...+akxk (2)
d-2) calculating the sum of the distances, calculating the n points (X) obtained1,Y1,Z1)、(X2,Y2,Z2)、…、 (Xi,Yi,Zi)、…、(Xn,Yn,Zn) Latitude and longitude coordinates Xi,YiSum of distances to the curve represented by formula (2) R:
Figure RE-GDA0002145173280000033
d-3) for a in formula (3)0、a1、...、ai、...anThe partial derivatives are calculated in sequence to obtain:
Figure RE-GDA0002145173280000034
d-4). by simplifying the left side of the equation of equation (4), we can get:
Figure RE-GDA0002145173280000041
d-5) let:
Figure RE-GDA0002145173280000042
that is, X a ═ Y, then a ═ X (X) can be foundT*X)-1*XTY, n points to be obtained (X)1,Y1,Z1)、(X2,Y2,Z2)、…、(Xi,Yi,Zi)、…、(Xn,Yn,Zn) The coefficient matrix a is obtained by substituting the formula (5), and the fitting polynomial y is determined as a0+a1x+...+akxk。
The invention relates to an automatic driving method of an intelligent driving system of a hot in-place recycling unit, wherein a path point acquisition circuit consists of a first ARM controller, a battery pack connected with the first ARM controller, a first differential GPS antenna and a first wireless communication module, wherein the first ARM controller acquires longitude and latitude coordinates and altitude of a path point acquisition device through the first differential GPS antenna, and realizes communication with a handheld operation station through the first wireless communication module;
the handheld operation station is controlled by a second ARM controller, a built-in battery, a 7-inch touch screen, a second wireless communication module, a warp stop button and a steering rocker, wherein the built-in battery, the 7-inch touch screen, the second wireless communication module, the warp stop button and the steering rocker are connected with the handheld operation station, the second ARM controller is communicated with a path point acquisition device and a vehicle control device through the second wireless communication module, the emergency stop button, the steering rocker and the 7-inch touch screen are all arranged on the shell, the emergency stop button controls parking of the engineering vehicle, and the steering rocker controls the steering state of the engineering vehicle.
The automatic driving method of the intelligent driving system of the hot in-place recycling unit comprises the steps that a vehicle data collector comprises a third microcontroller, a CAN bus interface, an ultrasonic distance measuring sensor, a wheel angle sensor and a second differential GPS module which are connected with the third microcontroller, the third microcontroller obtains the distance between the third microcontroller and a front vehicle through the ultrasonic distance measuring sensor, obtains the steering angle of an engineering vehicle through the wheel angle sensor, obtains the longitude and latitude coordinates and the altitude of the engineering vehicle through the second differential GPS module, realizes communication with a vehicle control device through the CAN bus interface, and sends the obtained steering angle, the longitude and latitude coordinates, the altitude and the distance between the front vehicle to the vehicle control device;
the vehicle control device comprises a fourth ARM controller, a power conversion circuit, a third wireless communication module, a servo motor driver, a CAN bus signal acquisition interface and an RS232 interface, wherein the power conversion circuit, the third wireless communication module, the servo motor driver, the CAN bus signal acquisition interface and the RS232 interface are connected with the fourth ARM controller, a steering motor for steering the controller is arranged on the engineering vehicle, the fourth ARM controller is communicated with the handheld operation station through the third wireless communication module, is communicated with the vehicle data acquisition device through the CAN bus signal acquisition interface, controls the steering motor through the servo motor driver, and is communicated with the vehicle speed control system through the RS232 interface.
The invention has the beneficial effects that: the invention relates to an automatic driving method of an intelligent driving system of a local heat regeneration unit, which is provided with a path point acquisition device, a handheld operation station, a vehicle data acquisition device and a vehicle control device, wherein in the process of pushing a trolley to move along a driving path by personnel, a path point acquisition circuit can periodically acquire longitude and latitude coordinates and altitude of the driving path of the trolley, and the handheld operation station can fit the driving path of a engineering vehicle according to the longitude and latitude coordinates and altitude information in the moving process of the path point acquisition device and sends the fitted path to the vehicle control device of each engineering vehicle; the vehicle control device obtains the position coordinates and the steering angle information of the engineering vehicle through the vehicle data collector, controls the operation of the engineering vehicle according to the received path, realizes the heating, milling, aggregate transportation, remixing, paving and rolling of the old asphalt pavement, realizes the re-paving of the old asphalt pavement, avoids the damage of a high-temperature pavement environment to a sensor and other electronic devices, avoids the adverse effect on line patrol driving caused by the problems of pavement marking loss, fouling and the like, and enhances the practicability of the system.
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FIG. 1 is a working schematic diagram of an automatic driving method of an intelligent driving system of a hot-in-place recycling unit of the invention;
FIG. 2 is a schematic diagram of an automatic driving method of the intelligent driving system of the hot in-place recycling unit of the invention;
FIG. 3 is a schematic circuit diagram of the waypoint collection assembly of the present invention;
FIG. 4 is a schematic circuit diagram of a handheld operator station of the present invention;
FIG. 5 is a block diagram of a handheld operator station of the present invention;
FIG. 6 is a schematic circuit diagram of a vehicle data collector according to the present invention;
FIG. 7 is a schematic circuit diagram of a vehicle control apparatus according to the present invention;
FIG. 8 is a graph of a driving path fitted by a handheld operating station according to coordinate points.
FIG. 9 is a circuit diagram of a power circuit of the waypoint collection device of the present invention;
FIG. 10 is an interface circuit of a differential GPS antenna of the waypoint collection assembly of the present invention;
FIG. 11 is an interface circuit of a wireless communication module of the waypoint collection device in accordance with the present invention;
FIG. 12 is a circuit diagram of a third microcontroller and its peripheral circuits in accordance with the present invention;
FIG. 13 is a circuit diagram of a CAN bus interface of a vehicle data collector in accordance with the present invention;
FIG. 14 is a circuit diagram of the acquisition interface of the ultrasonic ranging sensor and the wheel angle sensor of the vehicle data acquisition unit according to the present invention;
FIG. 15 is a circuit diagram of a fourth ARM controller and its peripheral circuits in accordance with the present invention;
FIG. 16 is a circuit diagram of CAN communication and RS485 communication of the vehicle control device according to the present invention;
fig. 17 is an RS232 communication circuit diagram of the vehicle control device in the invention;
FIG. 18 is a 10-way digital quantity input interface circuit of the vehicle control apparatus of the present invention;
fig. 19 is a 10-way digital quantity output interface circuit of the vehicle control device of the invention;
fig. 20 is a circuit diagram of a servo motor driver of the vehicle control device of the present invention.
In the figure: 1, an asphalt pavement heater, 2, an asphalt pavement milling machine, 3, an asphalt pavement aggregate transport vehicle, 4, 5, and 6, asphalt pavement remixers; 7 old asphalt pavements, 8 path point acquisition devices, 9 differential GPS base stations, 10 engineering vehicles, 11 handheld operation stations, 12 vehicle data acquisition devices, 13 vehicle control devices, 14 first ARM controllers, 15 battery packs, 16 first differential GPS antennas, 17 first wireless communication modules, 18 second ARM controllers, 19 built-in batteries, 207 inch touch screens, 21 second wireless communication modules, 22 emergency stop buttons, 23 steering rockers, 24 shells, 25 third microcontrollers, 26CAN bus interfaces, 27 ultrasonic ranging sensors, 28 wheel angle sensors, 29 second differential GPS modules, 30 fourth ARM controllers, 31 power supply conversion circuits, 32 third wireless communication modules, 33 servo motor drivers, 34CAN bus signal acquisition interfaces, 35 RS232 interfaces, 36 steering motors and 37 vehicle speed control systems.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1 and fig. 2, a working schematic diagram and a schematic diagram of an automatic driving method of the intelligent driving system of the hot-in-place recycling unit are respectively given, the automatic driving method of the intelligent driving system of the hot-in-place recycling unit is composed of a waypoint collecting device 8, a differential GPS base station 9, a handheld operation station 11, a vehicle data collector 12 and a vehicle control device 13, and the engineering vehicle 10 is used for realizing the re-paving of an old asphalt pavement 7 and realizing the online renovation of the old pavement. The engineering vehicle 10 sequentially comprises an asphalt pavement heater 1, a path pavement milling machine 2, an asphalt pavement aggregate transport vehicle 3, an asphalt pavement remixer 4, an asphalt pavement spreader 5 and an asphalt pavement roller 6 from front to back, wherein the heater 1 heats an old asphalt pavement 7 so that the subsequent milling machine 2 can cut the asphalt pavement, the milled old asphalt pavement is collected by the aggregate transport vehicle 3, the collected old asphalt pavement material is transported to the remixer and mixed with a regenerant and new asphalt in the remixer to form a new paving material, the asphalt pavement material is re-paved by the asphalt pavement spreader, and the re-paved pavement is rolled by the roller to form a new asphalt pavement.
Under the influence of the high-temperature (generally 150-200 ℃) working environment of the engineering vehicles 10 and the influence of unclear or missing marked lines of the old asphalt pavement 7, the automatic line-patrol automatic running of each engineering vehicle 10 is basically realized wirelessly, and a path point acquisition device 8 is arranged for planning the running path of the engineering vehicles 10. The path point acquisition device 8 is composed of a trolley and a path point acquisition circuit arranged on the trolley, and in the process of manually pushing the trolley to travel along a set route, the path point acquisition circuit periodically acquires longitude and latitude coordinates and altitude of the path point acquisition device 8 and sends acquired data to the handheld operation station 11. The handheld operation station 11 can realize communication with the path point acquisition device 8 and the vehicle control device 13, and after the handheld operation station 11 acquires longitude and latitude coordinates and altitude data of a driving path of the path point acquisition device 8, the driving path of the engineering vehicle is fitted and sent to the vehicle control device 13.
The vehicle data collector 12 is used for obtaining longitude and latitude coordinates, altitude and steering angles of the engineering vehicle 10 and transmitting the collected data to the vehicle control device 13, and after the vehicle control device 13 receives the driving path, the engineering vehicle is controlled according to the current longitude and latitude coordinates and steering angles of the vehicle according to the planned driving path form, so that automatic driving of each engineering vehicle is realized, and re-paving of the old asphalt pavement is realized.
The automatic driving method of the intelligent driving system of the hot in-place recycling unit is realized by the following steps:
a) manually planning a driving path, pushing the trolley by a worker to travel along the right boundary of the old asphalt lane to be re-paved, periodically acquiring longitude and latitude coordinates and altitude of the trolley by a path point acquisition device, and setting the number of acquired coordinate points as n, wherein the number of the acquired coordinate points is (B)1,L1,H1)、(B2,L2,H2)、…、 (Bi,Li,Hi)、…、(Bn,Ln,Hn)，Bi、Li、HiLongitude coordinates, latitude coordinates and altitude respectively;
b) forwarding path data, and sending the acquired n coordinate point data to a handheld operation station by a path point acquisition device;
c) converting the coordinate, converting the collected n GPS coordinate point data into a geodetic rectangular coordinate system by the handheld operation station, and setting the coordinates of the converted n points as (X) respectively1,Y1,Z1)、(X2,Y2,Z2)、…、 (Xi,Yi,Zi)、…、(Xn,Yn,Zn)；
In this step, the coordinate transformation is realized by formula (1):
Figure RE-GDA0002145173280000081
wherein the content of the first and second substances,
Figure RE-GDA0002145173280000082
a. b is the long radius and the short radius of the reference ellipsoid, a is 6378137m, and b is 6356752.3142.
d) Path fitting, namely fitting n points in the acquired earth rectangular coordinate system into a curve by using a least square method through the handheld operation station, wherein the curve is the fitted driving path;
in this step, the path fitting is implemented by the following steps:
d-1), establishing a fitting polynomial, and firstly establishing the fitting polynomial shown as the formula (2) in an O-XY plane of a large-ground rectangular coordinate system:
y＝a0+a1x+...+akxk (2)
d-2) calculating the sum of the distances, calculating the n points (X) obtained1,Y1,Z1)、(X2,Y2,Z2)、…、 (Xi,Yi,Zi)、…、(Xn,Yn,Zn) Latitude and longitude coordinates Xi,YiSum of distances to the curve represented by formula (2) R:
Figure RE-GDA0002145173280000083
d-3) for a in formula (3)0、a1、...、ai、...anThe partial derivatives are calculated in sequence to obtain:
Figure RE-GDA0002145173280000091
d-4). by simplifying the left side of the equation of equation (4), we can get:
Figure RE-GDA0002145173280000092
d-5) let:
Figure RE-GDA0002145173280000093
that is, X a ═ Y, then a ═ X (X) can be foundT*X)-1*XTY, n points to be obtained (X)1,Y1,Z1)、(X2,Y2,Z2)、…、(Xi,Yi,Zi)、…、(Xn,Yn,Zn) Belt (D)Entering the formula (5), the coefficient matrix a is obtained, and the fitting polynomial y ═ a is determined0+a1x+...+akxk。
e) Issuing the driving path, and issuing the fitted driving path to each engineering vehicle by the handheld operation station;
f) and automatically driving, wherein the engineering vehicle acquires longitude and latitude coordinates of the vehicle through a vehicle data collector to obtain steering angle data, and controls the driving path of the vehicle through a vehicle control device, so that the engineering vehicle realizes the re-paving of the old asphalt lane according to the received fitted driving path form. As shown in fig. 8, a graph of the driving path fitted by the handheld operation station according to the coordinate points is shown.
As shown in fig. 3, a schematic circuit diagram of the route point collection device of the present invention is provided, the circuit of the route point collection device is composed of a first ARM controller 14, a battery pack 15 connected to the first ARM controller, a first differential GPS antenna 16, and a first wireless communication module 17, the first ARM controller 14 realizes the functions of signal collection, data operation, and control output, the first ARM controller 14 obtains the position coordinates (including longitude and latitude and altitude) of the route point collection device through the first differential GPS antenna 16, and communicates with the handheld operation station 11 through the first wireless communication module 17, so as to send the received position data of the route point collection device to the handheld operation station 11.
As shown in fig. 4 and fig. 5, a schematic circuit diagram and a structural diagram of the handheld operation station of the present invention are respectively given, the handheld operation station 11 is composed of a housing 24 and a circuit portion located in the housing 24, the circuit portion is composed of a second ARM controller 18, an internal battery 19 connected with the second ARM controller, a 7-inch touch screen 20, a second wireless communication module 21, an emergency stop button 22 and a steering rocker 23, the 7-inch touch screen 20, the emergency stop button 22 and the steering rocker 23 are all disposed on the housing 24, and the second ARM controller 18 realizes communication with the path point acquisition device 8 and the vehicle control device 13 through the second wireless communication module 21 to receive the path coordinates acquired by the path point acquisition device 8 and send the processed path to the vehicle control device 13. The emergency stop button 22 and the steering rocker 23 are used for emergency stop and vehicle direction control.
As shown in fig. 6, a schematic circuit diagram of the vehicle data collector of the present invention is shown, which is composed of a third microcontroller 25, and a CAN bus interface 26, an ultrasonic ranging sensor 27, a wheel angle sensor 29 and a second differential GPS module 29 connected thereto, each of the engineering vehicles 10 is provided with its own vehicle data collector 12 and vehicle control device 13, and the third microcontroller 25 realizes communication with the vehicle control device 13 and the vehicle ECU through the CAN bus interface 26. The third microcontroller 25 acquires a distance to a preceding vehicle through the ultrasonic ranging sensor 27 to prevent a vehicle collision, acquires a steering angle of the construction vehicle 10 through the wheel angle sensor 29, acquires longitude and latitude coordinates and an altitude of the corresponding construction vehicle 10 through the second differential GPS module 29, and simultaneously transmits the acquired vehicle coordinates and steering angle to the vehicle control device 13.
As shown in fig. 7, a schematic circuit diagram of the vehicle control device of the present invention is provided, which is composed of a fourth ARM controller 30, and a power conversion circuit 31, a third wireless communication module 32, a servo motor driver 33, a CAN bus signal acquisition interface 34, and an RS232 interface 35 connected thereto, where the fourth ARM controller 30 implements communication with the handheld operation station 11 through the third wireless communication module 32 to receive the fitted driving path, drives the steering motor 36 through the servo motor driver 33, drives the engineering vehicle 10 to steer by the steering motor 36, implements communication with the vehicle data acquisition device 12 through the CAN bus signal acquisition interface 34 to obtain the position information and the steering angle of the engineering vehicle 10, and implements communication with the vehicle speed control system 37 through the RS232 interface 35.
AS shown in fig. 8, a circuit diagram of a first ARM controller and its peripheral circuits in the present invention is given, the first ARM controller 14 shown adopts a chip of model STM32F103RCT6, and a clock circuit, a reset circuit and a voltage stabilizing circuit are provided around the first ARM controller, AS shown in fig. 9, a circuit diagram of a power supply circuit of the path point acquisition device in the present invention is given, and the battery pack 15 forms a stable dc voltage through power supply chips of model MP1584E1 and AS 1117-3.3V. As shown in fig. 10, an interface circuit of the differential GPS antenna of the waypoint collection device of the present invention is provided, the illustrated interface P5 is connected to the first differential GPS antenna 16, both the first differential GPS antenna 16 and the second differential GPS module 29 employ a U-Base positioning Base station and a Sky2 positioning module of the zhonghaida surveying and mapping instrument company, the positioning and measuring accuracy of the device can reach 1cm, and the system requirements can be met. As shown in fig. 11, an interface circuit of the wireless communication module of the waypoint collection device according to the present invention is shown, and the interface J2 is connected to the wireless communication module to implement wireless signal transmission.
As shown in fig. 12, a circuit diagram of a third microcontroller and its peripheral circuits in the present invention is shown, and the third microcontroller 25 uses a chip of model STM32F103RB, and its periphery is provided with a clock circuit, a reset circuit and a voltage stabilizing circuit, so as to implement normal operation of the STM32F103RB chip. As shown in fig. 13, a circuit diagram of a CAN bus interface of the vehicle data collector in the present invention is shown, the CAN bus interface 26 is a chip with a model number TJA1050T, as shown in fig. 14, a circuit diagram of an acquisition interface of an ultrasonic distance measuring sensor and a wheel angle sensor of the vehicle data collector in the present invention is shown, and the circuit diagram includes 6 digital signal acquisition ports composed of an operational amplifier, 4 of the 6 digital signal acquisition ports are used as acquisition ports of the ultrasonic distance measuring sensor 27, 1 is used as an acquisition port of the wheel angle sensor 28, and 1 is reserved.
As shown in fig. 15, a circuit diagram of the fourth ARM controller and its peripheral circuits in the present invention is shown, the fourth ARM controller 30 is a chip with a model number of STM32F40XVX, and a clock circuit, a reset circuit and a voltage stabilizing circuit are disposed around the fourth ARM controller to ensure stable operation of the fourth ARM controller. As shown in fig. 16, a circuit diagram of CAN communication and RS485 communication of the vehicle control device according to the present invention is shown, the fourth ARM controller 30 forms the CAN bus signal acquisition interface 34 via a chip with a model of ADUM1201ARZ and a model of TJA1050T, and forms the RS485 communication interface via a chip with a model of ADUM1201ARZ and a model of SN 653082E. As shown in fig. 17, which shows an RS232 communication circuit diagram of the vehicle control apparatus of the present invention, the fourth ARM controller 30 forms an RS232 interface 35 via a chip of type ADUM1201ARZ and type MAX 232. Fig. 18 and 19 show 10 digital input/output interface circuits and digital input/output interfaces of the vehicle control device according to the present invention, respectively, and fig. 20 shows a circuit diagram of a servo motor driver of the vehicle control device according to the present invention, which controls the state of a relay through two photocouplers to control the steering of the work vehicle 10.

Claims (4)

1. An automatic driving method of an intelligent driving system of a hot in-place recycling unit comprises a path point acquisition device (8), a differential GPS base station (9), a handheld operation station (11), a vehicle data acquisition device (12) and a vehicle control device (13), wherein the vehicle data acquisition device is used for acquiring the steering angle and the geographical position coordinate information of an engineering vehicle, and the vehicle control device controls the driving path of the engineering vehicle by controlling the steering angle; the path point acquisition device consists of a trolley and a path point acquisition circuit arranged on the trolley and is used for acquiring longitude and latitude coordinates and altitude coordinates of the trolley; the handheld operation station is in wireless communication with the path point acquisition device and the handheld operation station; the automatic driving method of the intelligent driving system of the hot spot regeneration unit is characterized by being realized through the following steps:
a) manually planning a driving path, pushing the trolley by a worker to travel along the right boundary of the old asphalt lane to be re-paved, periodically acquiring longitude and latitude coordinates and altitude of the trolley by a path point acquisition device, and setting the number of acquired coordinate points as n, wherein the number of the acquired coordinate points is (B)1,L1,H1)、(B2,L2,H2)、…、(Bi,Li,Hi)、…、(Bn,Ln,Hn)，Bi、Li、HiLongitude coordinates, latitude coordinates and altitude respectively;
b) forwarding path data, and sending the acquired n coordinate point data to a handheld operation station by a path point acquisition device;
c) converting the coordinate, converting the collected n GPS coordinate point data into a geodetic rectangular coordinate system by the handheld operation station, and setting the coordinates of the converted n points as (X) respectively1,Y1,Z1)、(X2,Y2,Z2)、…、(Xi,Yi,Zi)、…、(Xn,Yn,Zn)；
d) Path fitting, namely fitting n points in the acquired earth rectangular coordinate system into a curve by using a least square method through the handheld operation station, wherein the curve is the fitted driving path;
e) issuing the driving path, and issuing the fitted driving path to each engineering vehicle by the handheld operation station;
f) automatically driving, wherein the engineering vehicle acquires longitude and latitude coordinates of the vehicle through a vehicle data collector to obtain steering angle data, and controls a driving path of the vehicle through a vehicle control device, so that the engineering vehicle drives according to the received fitted driving path, and the old asphalt lane is re-paved;
the path fitting in step d) is realized by the following steps:
d-1), establishing a fitting polynomial, and firstly establishing the fitting polynomial shown as the formula (2) in an O-XY plane of a large-ground rectangular coordinate system:
y＝a0+a1x+...+akxk (2)
d-2) calculating the sum of the distances, calculating the n points (X) obtained1,Y1,Z1)、(X2,Y2,Z2)、…、(Xi,Yi,Zi)、…、(Xn,Yn,Zn) Latitude and longitude coordinates Xi,YiSum of distances to the curve represented by formula (2) R:
Figure FDA0002648042560000021
d-3) for a in formula (3)0、a1、...、ai、...anThe partial derivatives are calculated in sequence to obtain:
Figure FDA0002648042560000022
d-4). by simplifying the left side of the equation of equation (4), we can get:
Figure FDA0002648042560000023
d-5) let:
Figure FDA0002648042560000024
that is, X a ═ Y, then a ═ X (X) can be foundT*X)-1*XTY, n points to be obtained (X)1,Y1,Z1)、(X2,Y2,Z2)、…、(Xi,Yi,Zi)、…、(Xn,Yn,Zn) The coefficient matrix a is obtained by substituting the formula (5), and the fitting polynomial y is determined as a0+a1x+...+akxk。
2. The automatic driving method of the intelligent driving system of the hot in-place recycling unit as claimed in claim 1, wherein the method comprises the following steps: the coordinate transformation described in step c) is realized by formula (1):
Figure FDA0002648042560000031
wherein the content of the first and second substances,
Figure FDA0002648042560000032
a. b is the long radius and the short radius of the reference ellipsoid, a is 6378137m, and b is 6356752.3142.
3. The automatic driving method of the intelligent driving system of the hot in-place recycling unit as claimed in claim 1, wherein the method comprises the following steps: the path point acquisition circuit consists of a first ARM controller (14), a battery pack (15) connected with the first ARM controller, a first differential GPS antenna (16) and a first wireless communication module (17), wherein the first ARM controller acquires longitude and latitude coordinates and altitude of the path point acquisition device (8) through the first differential GPS antenna and realizes communication with the handheld operation station (11) through the first wireless communication module;
the handheld operation station (11) is controlled by a second ARM controller (18) and a built-in battery (19) connected with the second ARM controller, a 7-inch touch screen (20), a second wireless communication module (21), a stop button (22) and a steering rocker (23), the second ARM controller is communicated with a path point acquisition device (8) and a vehicle control device (13) through the second wireless communication module, the emergency stop button, the steering rocker and the 7-inch touch screen are arranged on a shell (24), the emergency stop button controls parking of the engineering vehicle, and the steering rocker controls the steering state of the engineering vehicle.
4. The automatic driving method of the intelligent driving system of the hot in-place recycling unit as claimed in claim 2, wherein: the vehicle data acquisition device (12) comprises a third microcontroller (25), a CAN bus interface (26) connected with the third microcontroller, an ultrasonic distance measurement sensor (27), a wheel angle sensor (28) and a second differential GPS module (29), wherein the third microcontroller acquires the distance between the third microcontroller and a front vehicle through the ultrasonic distance measurement sensor, acquires the steering angle of the engineering vehicle through the wheel angle sensor, acquires the longitude and latitude coordinates and the altitude of the engineering vehicle through the second differential GPS module, realizes the communication with the vehicle control device (13) through the CAN bus interface, and transmits the acquired steering angle, longitude and latitude coordinates, altitude and the distance between the front vehicle to the vehicle control device (13);
the vehicle control device (13) is composed of a fourth ARM controller (30) and a power conversion circuit (31), a third wireless communication module (32), a servo motor driver (33), a CAN bus signal acquisition interface (34) and an RS232 interface (35), wherein the power conversion circuit is connected with the fourth ARM controller, a steering motor (36) for steering the controller is arranged on the engineering vehicle, the fourth ARM controller is communicated with the handheld operation station (11) through the third wireless communication module, the CAN bus signal acquisition interface is communicated with the vehicle data acquisition device (12), the steering motor is controlled through the servo motor driver (33), and the RS232 interface is communicated with the vehicle speed control system (37).
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