CN111487979A - Intelligent line marking vehicle for guiding automatic driving through Beidou satellite and control method - Google Patents
Intelligent line marking vehicle for guiding automatic driving through Beidou satellite and control method Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The application discloses through intelligent marking vehicle of big dipper satellite guide autopilot, this equipment rely on the orientation part of location based on satellite signal and base signal to realize real-time accurate location, rely on autopilot part and automatic ruling machine to realize that accurate location is carried out according to predetermineeing the orbit and is advanced automatically and rule automatically down. The automatic drawing of marking can be realized to this equipment, it is low to have solved workman work efficiency, the easy tired problem of makeing mistakes of manpower, marking speed improves at double, even also can guarantee efficiency and quality that the marking was drawn under night or other adverse circumstances, and according to accurate real-time location and complete orbit setting, need not before the marking is drawn to prepare to beat some, mark steps such as waterline, simplified the realization process that the marking was drawn, reduce time cost and cost of labor simultaneously, and then reduced the working costs. The application also provides an intelligent marking vehicle control method and a readable storage medium, and the intelligent marking vehicle control method and the readable storage medium have the beneficial effects.
Description
Technical Field
The application relates to the field of mechanical marking equipment, in particular to an intelligent marking vehicle guided to automatically drive through a Beidou satellite, a control method of the intelligent marking vehicle guided to automatically drive through the Beidou satellite and a readable storage medium.
Background
The highway belongs to one of the most direct public infrastructure at present, the cost required by transportation is reduced due to the existence of highways such as expressways, elevated roads and urban expressways, the quality of vehicle transportation is improved, the development of the transportation industry is greatly facilitated, and the highway construction plays an important role in the economic development as the blood vessels of the economic development.
The highway is an important resource belonging to an area, and needs to be marked in daily road construction and road maintenance to ensure safety guidance, namely, marks of traffic information such as guidance, limitation, warning and the like are transmitted to traffic participants by lines, arrows, characters, vertical marks, raised road signs, contour marks and the like on the road surface of the road.
At present, road marking lines at home and abroad mainly adopt hand-push type, vehicle-mounted type and riding type marking lines. Vehicle-mounted and driving marking processes are both manually controlled, people sit on a marking line vehicle to drive during working, advance along a fixed route according to a pre-drawn waterline (marking is needed before marking, and the waterline is marked), and tools such as a spray gun are controlled to carry out marking work.
In the process of drawing the road marking, workers are required to participate in the whole process, the advancing process of the marking vehicle is completely controlled by manpower, a reference object needs to be found in the advancing process to demarcate standard points of the marking, the manual demarcation strength is high, the visual fatigue is easy, and the condition of wrong drawing or oblique drawing is easy to occur; the whole scribing process comprises the steps of preparing dotting, scribing a waterline and the like for scribing, the switch of the spray gun also needs to be controlled by personnel at any time, the whole realization process needs more manpower, and the consumed manpower resource is huge; meanwhile, the manual scribing efficiency is low, the scribing quality is completely determined by operators, unreliable and unstable factors are more, and especially during night construction, the manual scribing is difficult to ensure the operation efficiency and quality; in addition, in the process of drawing road marking lines on expressways and other roads with severe working conditions, the danger degree of manual marking is high, the working environment is severe, and particularly when the road surfaces are drawn under the insolation in summer, the temperature of the road surfaces is extremely high, accidents are easy to occur to constructors, and the safety of the constructors is difficult to guarantee.
Therefore, how to draw the road marking by a simple and efficient method, which saves labor cost and time cost, is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The intelligent marking vehicle is guided to automatically drive through the Beidou satellite, and can automatically draw a marking line; another object of the present application is to provide an intelligent line marking vehicle control method and a readable storage medium for guiding automatic driving through a Beidou satellite.
For solving above-mentioned technical problem, this application provides an intelligence mark line car through big dipper satellite guide autopilot, includes:
the system comprises a marking vehicle body, a positioning and orienting component, an automatic driving component, a vehicle-mounted integrated flat terminal, an automatic marking machine and a controller;
wherein the positioning and orienting member comprises: the mobile station receiver comprises a base station acquisition module and a receiver mainboard, wherein the base station acquisition module is used for acquiring a base station positioning and orientation signal, and the receiver mainboard is used for receiving the satellite positioning and orientation signal and the base station positioning and orientation signal and sending the satellite positioning and orientation signal and the base station positioning and orientation signal to the vehicle-mounted integrated flat panel terminal;
the vehicle-mounted integrated flat panel terminal is used for acquiring road parameters and generating automatic driving track information and marking line drawing information according to the road parameters; the positioning and orientation component is connected with the automatic scribing machine and used for determining real-time position information of a scribing nozzle in the automatic scribing machine according to an intelligent marking vehicle model, the satellite positioning and orientation signal and the base station positioning and orientation signal; the automatic driving component is connected with the automatic driving component and used for controlling the automatic driving component to drive according to a preset track according to the automatic driving track information and the position information; generating a marking control instruction according to the marking drawing information during driving;
the controller is connected with the vehicle-mounted integrated panel terminal and the automatic scribing machine and used for receiving the scribing control instruction and controlling the automatic scribing machine to perform marking drawing according to a preset marking drawing mode according to the scribing control instruction.
Optionally, the satellite antenna comprises: and the positioning antenna and the directional antenna are respectively arranged at two sides of the advancing direction.
Optionally, the vehicle-mounted all-in-one tablet terminal is further configured to: receiving vehicle physical parameter information; wherein the physical parameter information includes a relative positional relationship between the positioning and orienting member and the scribing nozzle; and generating the marking vehicle model according to the physical parameter information.
Optionally, the vehicle-mounted integrated tablet terminal includes: and the information import interface is used for receiving the marking drawing information intelligent marking vehicle set by the user through third-party software.
Optionally, the vehicle-mounted integrated tablet terminal includes: a user interaction platform;
the user interaction platform is used for acquiring geographic information of the target road section, displaying and setting the geographic information, and receiving a moving track set by a user according to the geographic information to serve as automatic driving track information; and receiving the marking drawing information intelligent marking vehicle set by the user according to the geographic information and the marking drawing standard.
Optionally, the mobile station receiver further includes: the inertial navigation component is used for generating inertial navigation positioning and orientation information under the current time node according to the positioning and orientation information of the previous time node;
correspondingly, the vehicle-mounted integrated tablet terminal is further used for: and performing auxiliary positioning and orientation according to the inertial navigation positioning and orientation information generated by the inertial navigation part.
Optionally, the line marking vehicle body is: a riding-type sign line vehicle body;
correspondingly, the intelligent marking vehicle automatic driving component comprises: the electric control steering wheel is used for receiving automatic driving control of the vehicle-mounted integrated panel terminal, and the manual steering wheel is used for receiving automatic driving control of the vehicle-mounted integrated panel terminal.
The application also provides an intelligent line marking vehicle control method for guiding automatic driving through the Beidou satellite, which is based on the intelligent line marking vehicle for guiding automatic driving through the Beidou satellite, and comprises the following steps:
acquiring a satellite positioning and orientation signal and a base station positioning and orientation signal of the intelligent line marking vehicle;
determining real-time position information of a scribing nozzle in the automatic scribing machine according to the intelligent marking vehicle model, the satellite positioning and orientation signal and the base station positioning and orientation signal;
controlling an automatic driving part to drive the marking vehicle body to a target road section according to the position information and the automatic driving track information;
and controlling an automatic line marking machine to draw the marked lines during the running of the target road section according to the marked line drawing information.
Optionally, before determining real-time position information of a scribing nozzle in the automatic scribing machine according to the intelligent line marking vehicle model, the satellite positioning and orientation signal and the base station positioning and orientation signal, the method further includes: and converting a coordinate system adopted by the intelligent marking vehicle.
The application also provides a readable storage medium, on which a program is stored, which when executed by a processor implements the steps of the intelligent marking vehicle control method as described.
The utility model provides a through big dipper satellite guide autopilot's intelligent marking vehicle, this equipment rely on the orientation part of location based on satellite signal and base signal to realize real-time accurate location, rely on autopilot part and automatic line printer to realize that accurate location is carried out the automation according to predetermineeing the orbit and is advanced and automatic the rule down. The automatic drawing of marking can be realized to this equipment, it is low to have solved workman work efficiency, the easy tired problem of makeing mistakes of manpower, marking speed improves at double, even also can guarantee efficiency and quality that the marking was drawn under night or other adverse circumstances, and according to accurate real-time location and complete orbit setting, need not before the marking is drawn to prepare to beat some, mark steps such as waterline, simplified the realization process that the marking was drawn, reduce time cost and cost of labor simultaneously, and then reduced the working costs.
The application also provides an intelligent line marking vehicle control method and a readable storage medium for guiding automatic driving through the Beidou satellite, and the intelligent line marking vehicle control method and the readable storage medium have the beneficial effects and are not repeated.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent line marking vehicle guided by a Beidou satellite for automatic driving according to an embodiment of the present application;
fig. 2 is a schematic connection diagram of components in an intelligent marking vehicle according to an embodiment of the present disclosure;
FIG. 3 is a top view of an intelligent line striping vehicle according to an embodiment of the present application;
fig. 4 is a flowchart of an intelligent line marking vehicle control method for guiding automatic driving through a Beidou satellite according to the embodiment of the application.
Detailed Description
The core of the application is to provide the intelligent marking vehicle which is guided to automatically drive by the Beidou satellite, and the method can realize automatic drawing of the marking; another core of the application is to provide an intelligent line marking vehicle control method for guiding automatic driving through a Beidou satellite and a readable storage medium.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an intelligent line marking vehicle that is guided by a Beidou satellite to automatically drive according to the embodiment, and fig. 2 is a schematic connection diagram of each component in the intelligent line marking vehicle, and the apparatus mainly includes: the positioning and orientation components 1, 2(2 is not shown in fig. 1) and 3, the automatic driving components 4 and 5, the automatic line marking machine 6 (which comprises a line marking nozzle 7), an on-board integrated flat terminal 8, a controller 9 and a marking vehicle body 10, and other auxiliary functional components such as paint storage tanks, pipelines and other connecting piece cables are not shown in the figure and can be set according to the actual component installation position and functional requirements.
The positioning and orienting member includes: a satellite antenna for acquiring satellite positioning directional signals and a mobile station receiver. The satellite antenna is used for acquiring satellite signals, the type of the satellite signals received by the satellite antenna is not limited in the embodiment, the Beidou satellite can be received, the Beidou satellite global networking with completely independent intellectual property rights in China is completed at present, a ground base station can be assisted, positioning and guiding control are realized, experiments prove that the precision of the Beidou satellite global networking can completely meet the marking-off standard, and the GNSS (global navigation satellite system) satellite signals except the Beidou can be received.
In addition, in this embodiment, the number of the satellite antennas is not limited, the satellite antennas may be a single antenna, in order to ensure positioning accuracy, the two satellite antennas may be provided, in fig. 1, two satellite antennas (1 and 2) are taken as an example, one is used for positioning, and the other is used for orientation, and are respectively arranged on two sides (the arrangement position is not limited) in the traveling direction, and are located on racks on the left and right sides of the vehicle body of the marking vehicle, as shown in fig. 3, a top view of the intelligent marking vehicle is provided, the antenna erection may be shown in fig. 3, in fig. 1, the positioning antennas 1 and 2 may be directional antennas, and the dual antennas may reduce the shackle of the antenna models on the basis of ensuring the positioning accuracy, and reduce the antenna cost.
The mobile station receiver comprises a base station acquisition module and a receiver mainboard, wherein the base station acquisition module is used for acquiring a base station positioning directional signal, a cable of the satellite antenna is connected to the receiver mainboard, and the receiver mainboard is also connected with the base station acquisition module, is mainly used for receiving the satellite positioning directional signal and the base station positioning directional signal and sending the satellite positioning directional signal and the base station positioning directional signal to the vehicle-mounted integrated flat panel terminal 8. The base station acquisition module comprises a wireless receiving antenna and a radio station module and/or a 4G module, the wireless receiving antenna is used for acquiring positioning and directional signals from a radio station base station and/or a network base station, the radio station module is used for receiving the positioning and directional signals from the radio station base station and sending the positioning and directional signals to the vehicle-mounted integrated flat panel terminal 8, the 4G module is used for receiving the positioning and directional signals from the network base station and sending the positioning and directional signals to the vehicle-mounted integrated flat panel terminal 8, wherein the radio station module and the 4G module can be arranged simultaneously or can be arranged selectively, and the embodiment is described by taking the simultaneous arrangement of the radio station module and the 4G module.
In this embodiment, for convenience of management, a receiver motherboard, a wireless receiving antenna, a radio module, and a 4G module are packaged into a mobile station receiver, as shown in fig. 1 as 3, where 3 in fig. 1 includes the receiver motherboard, the wireless receiving antenna, the radio module, and the 4G module. The mobile station receiver 3 can be installed on the body of the line marking vehicle and connected with the vehicle-mounted integrated flat panel terminal 8 through a data line, so that data interaction is realized, and the specific data interaction process can be as follows: the mobile station receiver acquires the satellite carrier phase observed value, and acquires the carrier phase observed value transmitted by the ground base station through the wireless receiving antenna, then calculates the high-precision position of the satellite antenna through a carrier phase differential algorithm, and transmits the high-precision position to the vehicle-mounted integrated tablet terminal 8 (the calculation process may also be executed in 8).
In the embodiment, the double positioning information is adopted for positioning and orientation, the satellite positioning assists the ground base station, and the two positioning information are combined to realize accurate positioning.
The automatic driving component is a component for automatically controlling the driving of the intelligent marking vehicle according to the preset marking track information, wherein the components specifically included in the automatic driving component are not limited in the embodiment, and reference can be made to the implementation structure in the related technology. For example, an autopilot unit may include: the electric control steering wheel is connected with a steering shaft of the scribing car through a spline, the electric control steering wheel rotates and drives the steering shaft to rotate, the steering shaft drives the guide wheel to rotate, and the forward or backward direction of the scribing car is controlled. The throttle electric push rod is connected with a throttle connecting rod part of the marking vehicle, so that the advancing, accelerating and constant-speed running of the vehicle are realized. The brake electric push rod is connected with a throttle brake connecting rod part of the marking vehicle, so that the stopping and the speed reduction of the vehicle are realized. The angle sensor realizes the feedback of the vehicle steering. In the present embodiment, only such a structure and a connection manner are described as examples.
Besides automatic driving control, in order to facilitate manual driving control, optionally, the marking vehicle body can be a driving type marking vehicle body; correspondingly, the intelligent marking vehicle automatic driving component specifically comprises: an electric control steering wheel for receiving automatic driving control of the vehicle-mounted integrated tablet terminal, and a manual steering wheel, for example, in fig. 1, 4 is the electric control steering wheel, 5 is the manual steering wheel, and other components for assisting realization of automatic driving control, such as an angle sensor, an accelerator electric push rod, a brake electric push rod, and the like, are not shown in the figures. It should be noted that the intelligent marking vehicle provided in this embodiment may be a large-sized driving type intelligent marking vehicle that a person may drive, or may be a small-sized vehicle-mounted type intelligent marking vehicle, the size and driving manner of the marking vehicle body are not limited in this embodiment, and when the marking vehicle body is the driving type marking vehicle body, the automatic driving component should also be a component that may be automatically driven and manually driven, and other components are adjusted accordingly.
The automatic line marking machine 6 is arranged on the body part of the line marking vehicle and is mainly used for drawing marking lines under the control of the controller. The automatic scribing machine 6 mainly comprises a scribing nozzle 7 (namely a mechanical part for spraying marking pigment) and an actuating mechanism part for controlling the scribing nozzle, and the two parts form the automatic scribing machine. The executing mechanism is connected with the controller through a data cable, and drives the mechanical structure according to the control logic of the controller, so that automatic ground scribing is realized.
The vehicle-mounted integrated flat panel terminal 8 is mounted on a vehicle body of the marking vehicle, is connected with the controller 9 and an automatic driving part (an automatic driving part of a middle electric control steering wheel) through a data line, is mainly used for acquiring road parameters (the acquisition mode of the road parameters is not limited, a positioning and orienting part can be directly called to acquire road information of a target road section, an unmanned aerial vehicle or other means can acquire geographic information of the road section at a road section to be marked and guide in the geographic information), and generates automatic driving track information and marking line drawing information according to the road parameters; the marking device is connected with the positioning and orienting component and used for determining real-time position information of a marking nozzle in the automatic marking machine according to an intelligent marking vehicle model (including the relative position relation between the positioning and orienting component and the marking nozzle), a satellite positioning and orienting signal and a base station positioning and orienting signal so as to realize accurate positioning of the marking vehicle; the marking executing mechanism is connected with the automatic driving component and is used for controlling the automatic driving component to drive according to the preset track according to the automatic driving track information and the position information; and generating a marking control instruction according to the marking drawing information during running so as to control the automatic marking machine to draw the marking according to the marking drawing information through the controller. Software such as an android system, a server side and a client side can be installed in the tablet terminal, and the importing of information such as reticle drawing information can be completed in the tablet terminal.
And the marking drawing information may be imported into the vehicle-mounted integrated tablet terminal after being set by the third-party software, or may be generated at the vehicle-mounted integrated tablet terminal, and specifically, to implement the information import function, the vehicle-mounted integrated tablet terminal may include: the information import interface is used for receiving marking drawing information set by a user through third-party software; in order to realize the marking drawing information generation process set by the user, the vehicle-mounted integrated tablet terminal can comprise: a user interaction platform; the user interaction platform is used for acquiring geographic information of a target road section, displaying and setting the geographic information, and receiving a moving track set by a user according to the geographic information as automatic driving track information; and receiving the reticle drawing information set by the user according to the geographic information and the reticle drawing standard.
In addition, the vehicle-mounted integrated tablet terminal may be further configured to: receiving vehicle physical parameter information; wherein the physical parameter information includes a relative positional relationship between the positioning and orienting member and the scribing nozzle; the marking vehicle model is generated according to the physical parameter information, the setting function of the physical parameters of the marking vehicle is realized, the marking vehicle model can also directly receive the import of the marking vehicle model, and the generation mode of the marking vehicle model is not limited.
In addition to being responsible for information interaction with the user and with the background server system, the vehicle-mounted integrated tablet terminal may further perform simple calculation of the original data, for example, difference calculation between the actual position of the vehicle and the preset motion trajectory may be performed, which is not limited herein.
The controller 9 is installed on the vehicle body of the scribing vehicle, is connected with the vehicle-mounted integrated flat panel terminal, is connected with the automatic scribing machine, and is used for receiving scribing control instructions and controlling the automatic scribing machine to perform marking drawing according to a preset marking drawing mode according to the scribing control instructions.
Specifically, the process of realizing automatic marking drawing by the intelligent marking vehicle is as follows: the vehicle-mounted integrated flat panel terminal acquires road parameters, and sets information (as automatic driving track information), line types at different geographic positions, line widths and the like (as marking line drawing information) on the basis of acquired geographic information through client software in the vehicle-mounted integrated flat panel terminal according to national marking line drawing standards and design requirements, or sets information (as marking line drawing information) of marking line positioning track information, different geographic line types, line widths and the like according to the geographic information of the road section in third-party software, and leads the information into the vehicle-mounted integrated flat panel terminal.
The method comprises the steps that a model is built in client software according to the relative positions of a positioning and orienting component (mainly two satellite antennas) and a scribing nozzle through the client software installed on a vehicle-mounted integrated panel terminal, a marking vehicle model is generated (the marking vehicle model built in third-party software can also be directly led into the vehicle-mounted integrated panel terminal), the marking vehicle model indicates the structure of an intelligent marking vehicle, the position relation between the scribing nozzle and the positioning and orienting component in an automatic scribing machine is included, real-time positioning information obtained by the positioning and orienting component points to the position of the positioning and orienting component, and the position relation between the positioning and orienting component and the scribing nozzle can be determined according to the intelligent marking vehicle model, so that accurate position information of the scribing nozzle is further determined according to the position relation between the positioning and orienting component and the scribing nozzle.
According to the set automatic driving track information and the positioning information of the scribing nozzle of the scribing car, automatic driving is carried out by controlling an automatic driving part (mainly an electric control steering wheel), the underline nozzle can pass through a region to be scribed according to the track driving, and the controller needs to control the automatic scribing machine to draw the marked line through the scribing nozzle when the vehicle reaches the region to be scribed in the process of controlling the vehicle to drive according to the preset track, so that the automatic marked line can be realized.
In addition, the intelligent marking vehicle introduced in the embodiment can be realized on a newly-built riding type marking vehicle, can also be realized by modifying an existing riding type marking vehicle, a vehicle-mounted type marking vehicle and the like, does not limit the power source, is not only suitable for being realized on the marking vehicle taking fuel as power, but also can be realized on the marking vehicle taking electric power as power; the number of the wheels is not limited, and the device is not only suitable for being realized on a four-wheel marking vehicle, but also can be realized on a three-wheel or multi-wheel marking vehicle.
Based on the introduction, the intelligent marking vehicle that this embodiment provided utilizes technologies such as directional guide of satellite positioning, autopilot and control information interaction, provides one kind and leads autopilot intelligent marking vehicle device through the satellite, and the device passes through big dipper satellite guide vehicle, realizes autopilot through automatically controlled steering wheel system, controller automatic control marking, thereby each part combines together and can realize automatic marking, the purpose of using manpower sparingly cost and time cost, and easy operation is swift and work efficiency is high, and application scope is wide.
Based on the above embodiment, the mobile station receiver may further include an inertial navigation component in addition to the base station acquisition module and the receiver main board.
The inertial navigation component is mainly used for generating inertial navigation positioning and orientation information under the current time node according to the positioning and orientation information of the previous time node;
correspondingly, the vehicle-mounted integrated tablet terminal is also used for: and performing auxiliary positioning and orientation according to inertial navigation positioning and orientation information generated by the inertial navigation part.
The auxiliary positioning and orientation mainly comprises: when base station signals and satellite signals are normally acquired, positioning calibration is carried out based on inertial navigation positioning orientation information and positioning orientation information generated based on the base station signals and the satellite signals, specifically, the positioning orientation information generated based on the base station signals and the satellite signals is used as accurate positioning orientation information if the deviation between the two positioning orientation information is not greater than a threshold value, and positioning adjustment is carried out if the deviation between the two positioning orientation information is greater than the threshold value; when the acquisition of the base station signal and the satellite signal fails, the inertial navigation positioning can be realized.
The inertial navigation module can ensure the smoothness of the lineation, and can ensure that the inertial navigation of the marking vehicle is realized within a certain time under the condition that the satellite signal of the marking vehicle is weakened or the ground base station information is lost through the sheltering object, thereby ensuring the stability of the vehicle operation.
Because the inertial navigation module mainly realizes the positioning function, the inertial navigation module is arranged in a mobile station receiver of a positioning and orientation component for facilitating component management. Accordingly, a mobile station receiver may comprise: the system comprises a receiver mainboard, a radio station module (for receiving signals of a radio station base station), a 4G module (for receiving signals of a network base station), an inertial navigation module, a wireless receiving antenna and the like. At this time, the mobile station receiver is configured to acquire a carrier phase observation value (acquired by the dual-satellite antenna), acquire a carrier phase observation value transmitted from a ground base station (a network base station (4G module) or a radio base station (radio module)) via the wireless receiving antenna, calculate a high-precision position of the satellite antenna by using a carrier phase division algorithm, and calculate high-precision position information of the scribing nozzle of the scribing car via the established model. The mobile station receiver is also connected with a vehicle-mounted integrated flat panel terminal installed on the body of the driving line marking vehicle through a data line, so that data interaction is realized.
Referring to fig. 4, fig. 4 is a flowchart of an intelligent marking vehicle control method for guiding automatic driving through a beidou satellite according to this embodiment, where the method is based on the intelligent marking vehicle provided in the above embodiment, and the intelligent marking vehicle device is provided with a positioning and orienting component for receiving information of a satellite and a ground base station, an automatic driving component for controlling automatic driving of the intelligent marking vehicle, an automatic marking machine (including a marking nozzle) for realizing automatic marking drawing, a controller for controlling each component, and a vehicle-mounted integrated tablet terminal for human-computer interaction. The intelligent line marking vehicle control method for guiding automatic driving through the Beidou satellite mainly comprises the following steps:
step s110, acquiring a satellite positioning and orientation signal and a base station positioning and orientation signal of the intelligent line marking vehicle;
step s120, determining real-time position information of a scribing nozzle in the automatic scribing machine according to the intelligent marking vehicle model, the satellite positioning and orientation signal and the base station positioning and orientation signal;
the intelligent marking vehicle model can be established in client software according to the relative positions of the two satellite antennas and the marking nozzle by inputting vehicle physical parameters, and the specific generation mode of the intelligent marking vehicle model is not limited in the embodiment.
After the model is established, the high-precision position information of the vehicle can be obtained through the satellite positioning directional signal and the base station positioning directional signal, and the positioning information of the scribing nozzle is further obtained according to the intelligent marking vehicle model. It should be noted that the intelligent line marking vehicle model can be reused after being established.
Step s130, controlling an automatic driving component to drive the marking vehicle body on a target road section according to the position information and the preset marking track information;
the marking track information needs to be set according to the geographic information of the road section to be marked. Specifically, the generation of the scribing trajectory information may include two steps: obtaining geographic information of the road section to be scribed, and setting information such as scribing tracks and line types of the road section to be scribed. The geographic information of the road section to be marked can be acquired through the unmanned aerial vehicle, the marking vehicle or other means, and the specific acquisition mode is not limited herein. After the geographic information of the road section to be scribed is obtained, scribing positioning track information, line types at different geographic positions, line widths and other information can be set on the basis of the obtained geographic information through client software of the vehicle-mounted integrated tablet terminal according to national scribing standards and design requirements. Or the third-party software can set information such as marking positioning track information, different geographic line types, line widths and the like according to the geographic information of the road section, and then the information is directly imported into the vehicle-mounted integrated tablet terminal.
And step s140, controlling the automatic line marking machine to draw the marked line during the running of the target road section according to the preset marked line drawing information.
According to the set or imported information such as the marking track and the positioning information of the marking nozzle of the intelligent marking vehicle, the automatic driving of the electric control steering wheel is controlled through the set marking speed, and the automatic marking machine is controlled to achieve the purpose of automatic marking.
The control method for the intelligent marking vehicle capable of automatically driving guided by the Beidou satellite introduces the intelligent marking vehicle capable of automatically driving guided by the satellite, and the intelligent marking vehicle comprises a vehicle body part, a positioning and orienting component, an automatic driving component, an automatic marking machine and a controller and can comprise a vehicle-mounted integrated flat terminal. In the method, the vehicle is guided through the satellite, automatic driving is realized through the automatic driving component, and the controller automatically controls marking, so that the following advantages can be realized: (1) and processes such as dotting and waterline marking are not needed. (2) A reference object is not needed, and the work is simple and convenient; (3) the scribing speed is improved in multiples, the problems that the working efficiency of workers is low, the manpower is easy to fatigue and make mistakes are solved, and the scribing machine is specially used under severe conditions; (4) the operation is not limited by time, and the operation efficiency and quality can be ensured at night; (5) time cost and labor cost are reduced, and operation cost is further reduced.
It should be noted that the method for controlling the intelligent line marking vehicle guided by the Beidou satellite for automatic driving described in this embodiment may refer to the description of the intelligent line marking vehicle in the above embodiments, and the two parts may refer to each other and are not described herein again.
Based on the embodiment, since the coordinate systems adopted by each project may be inconsistent, in order to simplify the processing of the positioning data, before the real-time position information of the scribing nozzle in the automatic scribing machine is determined according to the model of the line marking vehicle, the satellite positioning and orientation signal and the base station positioning and orientation signal, the coordinate system can be further converted according to the coordinate system adopted by the intelligent line marking vehicle. And converting the currently acquired positioning coordinates into coordinates of the current construction unit in a coordinate system. In the case where the base station to be contacted does not change or move, the point correction operation is only required to be performed once.
The present embodiment discloses a readable storage medium, on which a program is stored, and the program, when executed by a processor, implements the steps of the control method for an intelligent line marking vehicle guided by a Beidou satellite for automatic driving as described in the above embodiments, and specifically refers to the description of the control method for an intelligent line marking vehicle guided by a Beidou satellite for automatic driving in the above embodiments.
The readable storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various other readable storage media capable of storing program codes.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The intelligent line marking vehicle guided to automatically drive by the Beidou satellite, the control method of the intelligent line marking vehicle guided to automatically drive by the Beidou satellite and the readable storage medium are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (10)
1. The utility model provides an intelligent marking vehicle through big dipper satellite guide autopilot which characterized in that includes: the system comprises a marking vehicle body, a positioning and orienting component, an automatic driving component, a vehicle-mounted integrated flat terminal, an automatic marking machine and a controller;
wherein the positioning and orienting member comprises: the mobile station receiver comprises a base station acquisition module and a receiver mainboard, wherein the base station acquisition module is used for acquiring a base station positioning and orientation signal, and the receiver mainboard is used for receiving the satellite positioning and orientation signal and the base station positioning and orientation signal and sending the satellite positioning and orientation signal and the base station positioning and orientation signal to the vehicle-mounted integrated flat panel terminal;
the vehicle-mounted integrated flat panel terminal is used for acquiring road parameters and generating automatic driving track information and marking line drawing information according to the road parameters; the positioning and orientation component is connected with the automatic scribing machine and used for determining real-time position information of a scribing nozzle in the automatic scribing machine according to an intelligent marking vehicle model, the satellite positioning and orientation signal and the base station positioning and orientation signal; the automatic driving component is connected with the automatic driving component and used for controlling the automatic driving component to drive according to a preset track according to the automatic driving track information and the position information; generating a marking control instruction according to the marking drawing information during driving;
the controller is connected with the vehicle-mounted integrated panel terminal and the automatic scribing machine and used for receiving the scribing control instruction and controlling the automatic scribing machine to perform marking drawing according to a preset marking drawing mode according to the scribing control instruction.
2. The intelligent sign line vehicle of claim 1, wherein the satellite antenna comprises: and the positioning antenna and the directional antenna are respectively arranged at two sides of the advancing direction.
3. The intelligent sign line vehicle of claim 1, wherein the vehicle-mounted all-in-one tablet terminal is further configured to: receiving vehicle physical parameter information; wherein the physical parameter information includes a relative positional relationship between the positioning and orienting member and the scribing nozzle; and generating the marking vehicle model according to the physical parameter information.
4. The intelligent sign line vehicle of claim 1, wherein the vehicle-mounted integrated tablet terminal comprises: and the information import interface is used for receiving the marking drawing information intelligent marking vehicle set by the user through third-party software.
5. The intelligent sign line vehicle of claim 1, wherein the vehicle-mounted integrated tablet terminal comprises: a user interaction platform;
the user interaction platform is used for acquiring geographic information of the target road section, displaying and setting the geographic information, and receiving a moving track set by a user according to the geographic information to serve as automatic driving track information; and receiving the marking drawing information intelligent marking vehicle set by the user according to the geographic information and the marking drawing standard.
6. The intelligent line marking vehicle of any one of claims 1 to 5, wherein said mobile station receiver further comprises: the inertial navigation component is used for generating inertial navigation positioning and orientation information under the current time node according to the positioning and orientation information of the previous time node;
correspondingly, the vehicle-mounted integrated tablet terminal is further used for: and performing auxiliary positioning and orientation according to the inertial navigation positioning and orientation information generated by the inertial navigation part.
7. The intelligent marking vehicle as claimed in claim 1, wherein the marking vehicle body is: a riding-type sign line vehicle body;
correspondingly, the intelligent marking vehicle automatic driving component comprises: the electric control steering wheel is used for receiving automatic driving control of the vehicle-mounted integrated panel terminal, and the manual steering wheel is used for receiving automatic driving control of the vehicle-mounted integrated panel terminal.
8. A control method of an intelligent line marking vehicle for guiding automatic driving through a Beidou satellite is characterized in that the intelligent line marking vehicle for guiding automatic driving through the Beidou satellite is based on any one of claims 1 to 7, and the method comprises the following steps:
acquiring a satellite positioning and orientation signal and a base station positioning and orientation signal of the intelligent line marking vehicle;
determining real-time position information of a scribing nozzle in the automatic scribing machine according to the intelligent marking vehicle model, the satellite positioning and orientation signal and the base station positioning and orientation signal;
controlling an automatic driving part to drive the marking vehicle body to a target road section according to the position information and the automatic driving track information;
and controlling an automatic line marking machine to draw the marked lines during the running of the target road section according to the marked line drawing information.
9. The intelligent marking vehicle control method as claimed in claim 8, before determining real-time position information of a marking nozzle in an automatic marking machine according to the intelligent marking vehicle model, the satellite positioning and orientation signal and the base station positioning and orientation signal, further comprising:
and converting a coordinate system adopted by the intelligent marking vehicle.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a program which, when being executed by a processor, realizes the steps of the intelligent marking vehicle control method according to claim 8 or 9.
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