CN216999186U - Autonomous navigation driving double-preposition feedback working device and paver - Google Patents
Autonomous navigation driving double-preposition feedback working device and paver Download PDFInfo
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Abstract
The utility model provides a double preposed feedback working device for autonomous navigation driving, which comprises: the preposed navigation state sensor is arranged on an edge baffle of the ironing device of the paver and is used for acquiring and obtaining real-time path data of the paver; the signal processor is connected with the heading preposed state sensor and is used for processing the real-time path data to obtain information data of a track to be traveled; and the self-pilot navigation controller is connected with the signal processor and is used for judging whether the track to be traveled of the paver has deviation or not by combining preset traveling track data based on the information data of the track to be traveled, and if the deviation exists, generating a correction instruction in advance. The utility model fully considers the complexity and changefulness of site construction, compares the real-time state information of the traveling direction of the paver with the preset path track, and carries out advanced monitoring intervention. The long-time continuous construction operation can be realized, and the control precision is higher; the labor intensity of site drivers and constructors can be greatly reduced.
Description
Technical Field
The utility model relates to the technical field of paver equipment application, in particular to an autonomous navigation driving double-front-mounted feedback working device and a paver.
Background
In the prior art, when the paver is used for construction, a driver controls the running direction of the paver to be traditional operation, and after the technology is upgraded, autonomous navigation driving of the paver is realized, the control by the driver is not needed, and the scheme is that the running track of the paver is recorded in advance and is input into a paver control system to further control the running direction of the paver.
However, the above control scheme has a certain technical weakness, that is, when there is a certain deviation between the track recorded in advance and the real-time driving state, there is no real-time supervision deviation rectifying function. In the paving process, equipment can cause the paver to be blocked by the barrier because the direction is not corrected in time, can't continue to move ahead, leaves the construction site after needing a series of manual correction operations of the paver, restarts a work progress.
Therefore, aiming at the problems in the prior art, the utility model provides an autonomous navigation driving double-front-mounted feedback working device and a paver.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problems of the prior art, the present invention provides a dual front-end feedback device for autonomous navigation driving, comprising:
the preposed navigation state sensor is arranged on an edge baffle of the ironing device of the paver and is used for acquiring and obtaining real-time path data of the paver;
the signal processor is connected with the heading preposed state sensor and is used for processing the real-time path data to obtain information data of a track to be traveled;
and the self-pilot navigation controller is connected with the signal processor and is used for judging whether the track to be driven of the paver has deviation or not by combining preset driving track data based on the information data of the track to be driven, and if the deviation exists, generating an advance correction instruction.
According to one embodiment of the utility model, the apparatus comprises:
the installation mechanism of the heading preposed state sensor is used for fixing the heading preposed state sensor, is connected with the side baffle mechanical mechanism of the ironing device of the paver and has a telescopic function.
According to one embodiment of the utility model, the navigation forward state sensor comprises:
the left sensor is arranged on a left side baffle of the ironing device of the paver and used for acquiring left real-time path data of the paver;
and the right side sensor is arranged on a right side baffle of the ironing device of the paver and is used for acquiring right side real-time path data of the paver.
According to one embodiment of the utility model, the navigational forward state sensor comprises:
and the GPS positioning difference device is used for acquiring positioning information data and course information data of the paver.
According to one embodiment of the utility model, the navigational forward state sensor comprises:
and the ultrasonic sensing device is used for monitoring the relative distance between the preset fixed point of the paver and the two sides of the constructed roadbed under the condition of the first peripheral environment so as to obtain the distance numerical information data between the paver and the two sides of the roadbed.
According to one embodiment of the utility model, the navigational forward state sensor comprises:
and the visual guide device is used for monitoring the relative distance between the preset fixed point of the paver and the two sides of the construction roadbed under the condition of the second peripheral environment so as to obtain the numerical information data of the distance between the paver and the two sides of the roadbed.
According to one embodiment of the present invention, the signal processor includes:
a filter circuit for performing a filtering process on the real-time path data;
the analysis circuit is connected with the filter circuit and is used for analyzing and processing the real-time path data after the filtering processing;
the induction circuit is connected with the analysis circuit and is used for carrying out induction processing on the real-time path data after analysis processing to obtain the information data of the track to be traveled;
and the storage circuit is connected with the induction circuit and is used for storing the information data of the track to be traveled.
According to one embodiment of the utility model, the autonomous navigation controller comprises:
the track simulation circuit is used for carrying out track simulation processing on the information data of the track to be traveled to obtain the track to be traveled of the paver;
and the track pre-judging circuit is connected with the track simulating circuit and is used for comparing the track to be driven of the paver with the preset driving track data, judging whether the track to be driven of the paver has deviation or not and obtaining a judgment result.
According to one embodiment of the utility model, the autonomous navigation controller comprises:
and the track correction circuit is used for generating the advanced correction instruction when the track of the paver to be driven has deviation so as to control the traveling device of the paver to correct the track.
According to another aspect of the utility model, the utility model further provides a paver, wherein the paver is provided with the autonomous navigation driving double-front-mounted feedback working device.
Compared with the traditional operation of the autonomous navigation driving double-preposed feedback working device and the paver, the design of the utility model fully considers the complexity and changeability of site construction, compares the real-time state information of the driving direction of the paver with the preset path track, and performs advanced monitoring intervention. And has the following advantages:
the method has the advantages that: the long-time continuous construction operation can be realized, and the control precision is higher;
the method has the advantages that (2): the labor intensity of site drivers and constructors can be greatly reduced;
the method has the advantages that: the situation that the paver is stuck and cannot advance due to poor direction control and needs to be paved again for starting is avoided, and the construction quality and the construction efficiency are improved.
Advantage 4: the system integrates the technologies of state monitoring (such as visual identification), distance monitoring (such as ultrasonic sensing), RTK positioning navigation and the like, realizes technical innovation of construction application, can transmit the field condition to a background central control room through images, and provides basic data for digital construction management.
Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model. The objectives and other advantages of the utility model will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model. In the drawings:
FIG. 1 is a block diagram of an autonomous navigation driving dual feedforward operation system according to one embodiment of the present invention; and
fig. 2 is a block diagram illustrating a dual feedforward operation device for autonomous navigation driving according to another embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the utility model. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details or with other methods described herein.
In the prior art, when the paver is used for construction, a driver controls the running direction of the paver to be traditional operation, and after the technology is upgraded, autonomous navigation driving of the paver is realized, the control by the driver is not needed, and the scheme is that the running track of the paver is recorded in advance and is input into a paver control system to further control the running direction of the paver.
However, the above control scheme has a certain technical weakness, that is, when there is a certain deviation between the track recorded in advance and the real-time driving state, there is no real-time supervision deviation rectifying function. In the paving process, equipment can cause the paver to be blocked by the barrier because the direction is not corrected in time, can't continue to move ahead, leaves the construction site after needing a series of manual correction operations of the paver, restarts a work progress.
Therefore, aiming at the problems in the prior art, the utility model provides the autonomous navigation driving double-preposed feedback working device and the paver.
Fig. 1 shows a block diagram of a dual feedforward operation device for autonomous navigation driving according to an embodiment of the present invention.
As shown in FIG. 1, an autonomous navigation driving dual-foreward feedback working device 100 comprises a heading foreward state sensor 101, a signal processor 102 and an autonomous navigation controller 103.
As shown in fig. 1, the heading front state sensor 101 is disposed on an edge guard of an ironing device of the paver 104, and is configured to acquire and obtain real-time path data of the paver.
In one embodiment, heading front state sensor 101 comprises: and the GPS positioning difference device is used for acquiring positioning information data and course information data of the paver 104. Specifically, the GPS positioning differential device acquires: the system comprises a GPS positioning difference device, a GPS positioning difference device and a GPS positioning difference device, wherein the GPS positioning difference device preferably obtains data of a roll name, an X coordinate, a Y coordinate, an elevation, an attribute code, a point storage state (a fixed solution or a floating solution), a plane precision HRMS, an elevation precision VRMS, a satellite number, a PDOP value, an observation date and time, a default value, an antenna and the like.
In one embodiment, the heading forward state sensor 101 includes: and the ultrasonic sensing device is used for monitoring the relative distance between a preset fixed point of the paver 104 and two sides of the construction roadbed under the condition of the first peripheral environment so as to obtain the distance numerical information data between the paver 104 and two sides of the roadbed.
In one embodiment, the heading forward state sensor 101 includes: and the visual guide device is used for monitoring the relative distance between the preset fixed point of the paver 104 and two sides of the construction roadbed under the condition of the second peripheral environment so as to obtain the distance numerical information data between the paver 104 and two sides of the roadbed.
Further, the selection is different under different working condition scenes with respect to the use of the ultrasonic sensing device and the visual guidance device. The distance value information data obtained by monitoring by the visual guidance device is preferentially used in the second peripheral environment (weather with visibility not lower than a preset value), and the distance value information data obtained by monitoring by the ultrasonic sensing device is preferentially used in the first peripheral environment (weather with visibility lower than the preset value) or after the visual guidance device is shielded by an obstacle.
As shown in fig. 1, the signal processor 102 is connected to the heading front-end state sensor 101, and is configured to process the real-time path data to obtain information data of the upcoming driving track.
In one embodiment, the signal processor 102 includes: a filter circuit, an analysis circuit, a generalization circuit, and a storage circuit. Specifically, the filter circuit is used for filtering the real-time path data; the analysis circuit is connected with the filter circuit and is used for analyzing and processing the real-time path data after the filtering processing; the induction circuit is connected with the analysis circuit and is used for carrying out induction processing on the real-time path data after the analysis processing to obtain information data of the track to be traveled; the storage circuit is connected with the induction circuit and is used for storing the information data of the track to be traveled so as to obtain the information data of the track to be traveled of the paver 104 in advance.
As shown in fig. 1, the autonomous navigation controller 103 is connected to the signal processor 102, and is configured to determine whether a deviation exists in a track to be traveled by the paver 104 based on the information data of the track to be traveled and in combination with preset travel track data, and if the deviation exists, generate an advance correction instruction.
In one embodiment, the autonomous navigation controller 103 comprises: the track correction circuit comprises a track simulation circuit, a track prejudging circuit and a track correction circuit. Specifically, the trajectory simulation circuit is configured to perform trajectory simulation processing on the trajectory-to-be-traveled information data to obtain a trajectory on which the paving machine 104 is to travel. The track pre-judging circuit is connected with the track simulation circuit and used for comparing the track to be driven of the paver 104 with preset driving track data, judging whether the track to be driven of the paver 104 has deviation or not and obtaining a judgment result. The track correction circuit is configured to generate a correction instruction in advance when a deviation exists in a track on which the paver 104 is to travel, so as to control a traveling device of the paver 104 to correct the track.
Fig. 2 is a block diagram illustrating a dual feedforward operation device for autonomous navigation driving according to another embodiment of the present invention.
As shown in fig. 2, the heading front state sensor 101 includes: a left sensor 1011 and a right sensor 1012. Specifically, the left sensor 1011 is disposed on a left edge guard of the ironing device of the paver 104, and is configured to acquire and obtain left real-time path data of the paver 104. The right sensor 1012 is disposed on a right side edge guard of the ironing device of the paver 104 and is configured to collect and obtain right real-time path data of the paver 104.
It should be noted that the number and the setting position of the heading front-end state sensors 101 may be changed according to the actual situation, and the utility model is not limited thereto.
As shown in fig. 2, in one embodiment, an autonomous navigation driving dual pre-feedback working device 100 includes a heading pre-state sensor mounting mechanism for fixing a heading pre-state sensor 101, which is connected to an ironing device side guard mechanical mechanism of a paver 104 through a mechanical structure, and has a telescopic function.
Furthermore, the heading preposed state sensor mounting mechanism is arranged 2 meters or more in front of the side baffle mechanical mechanism and is a relatively independent mechanical mounting structure. The heading preposed state sensor mounting mechanism can stretch and retract and turn under automatic/manual control, so that the heading preposed state sensor 101 arranged on the heading preposed state sensor mounting mechanism can acquire real-time path data in the running process of the paver 104 at multiple angles and multiple positions.
As shown in fig. 2, in one embodiment, the heading leading state sensor mounting mechanism includes a left mounting structure 201 for mounting and securing the left sensor 1011, corresponding to the left sensor 1011. Corresponding to the right sensor 1012, the heading front-state sensor mounting mechanism includes a right mounting structure 202 for mounting and securing the right sensor 1012.
As shown in fig. 2, in one embodiment, the signal processor 102 includes a left signal processor 1021 corresponding to the left sensor 1011 for processing the left real-time path data to obtain left upcoming trajectory information data. Corresponding to the right sensor 1012, the signal processor 102 includes a right signal processor 1022 for processing the right real-time path data to obtain right upcoming trajectory information data.
Specifically, the left signal processor 1021 and the right signal processor 1022 are both installed in the auxiliary electric control cabinet of the paving machine 104, and respectively implement data interaction with the left sensor 1011/the right sensor 1012 through wire or wireless, and the left sensor 1011/the right sensor 1012 returns the real-time monitored data to the left signal processor 1021/the right signal processor 1022.
Further, when the left signal processor 1021/the right signal processor 1022 realizes data interaction with the left sensor 1011/the right sensor 1012 in a wired manner, data transmission is performed through a CAN BUS, and the left signal processor 1021/the right signal processor 1022 needs to perform processing such as filtering, analysis, induction, storage and the like on the received left real-time path data/right real-time path data, so as to obtain the information data of the track to be traveled of the paver 104.
As shown in fig. 2, the autonomous navigation controller 103 is installed in the auxiliary electric control cabinet of the paver 104, and is respectively connected with the left/right signal processors through wires to realize data information interaction. Specifically, the autonomous navigation controller 103 and the left/right signal processor perform data transmission through the CAN BUS, need to summarize and calibrate the received information data of the track to be traveled, simulate the track to be traveled of the paver 104, check the track with the recorded preset data of the track to be traveled before traveling, and do not intervene if the deviation does not exceed a set range; if the deviation exceeds the set range, an advance correction instruction is generated according to the actual deviation state to carry out advance correction so as to ensure that the paver 104 runs in the set track range.
As shown in fig. 2, the main controller 203 of the paver is installed in the main electronic control cabinet of the paver 104, and performs data information interaction with the main navigation controller 103. Specifically, the main controller 203 of the paver and the autonomous navigation controller 103 realize data interaction through a CAN BUS, the autonomous navigation controller 103 sends processed data to the main controller 203 of the paver, and then the main controller 203 of the paver controls the traveling electromagnetic valve 204 of the paver to realize real-time correction of the traveling direction. Meanwhile, the main controller 203 of the paver sends all the running information data (such as running direction, running speed, running mileage and the like) of the paver to the autonomous navigation controller 103, and the autonomous navigation controller 103 performs data fusion processing by combining with actually monitoring the running position information of the paver 104.
Further, the autonomous navigation controller 103 is responsible for collecting and processing real-time position data of the paver 104, the paver master controller 203 is responsible for controlling the paver 104 and collecting driving related data of the paver 104, the two are interacted, and deep data fusion processing is performed in the autonomous navigation controller 103.
As shown in fig. 2, the paver traveling solenoid valve 204 is mounted on a traveling pump of the paver 104, and the traveling pump is connected with the diesel engine through a gear box. The paver traveling solenoid valve 204 is controlled by a signal sent by the paver main controller 203. Specifically, the paver traveling solenoid valve 204 receives a PWM signal sent by the paver main controller 203, and controls the hydraulic system to drive the mechanical system, so as to drive the paver 104 to realize the traveling function.
The utility model also provides a paver, and the paver is provided with the autonomous navigation driving double-preposed feedback working device shown in figure 1 or figure 2.
In conclusion, the autonomous navigation driving double-preposed feedback working device and the paver provided by the utility model have the advantages that compared with the traditional operation, the design of the autonomous navigation driving double-preposed feedback working device fully considers the complexity and the changeability of site construction, and the real-time state information of the travelling direction of the paver is compared with the preset path track for advanced monitoring intervention. And has the following advantages:
the method has the advantages that: the long-time continuous construction operation can be realized, and the control precision is higher;
the method has the advantages that (2): the labor intensity of site drivers and constructors can be greatly reduced;
the advantages are that (3): the situation that the paver is stuck and cannot advance due to poor direction control and needs to be paved again for starting is avoided, and the construction quality and the construction efficiency are improved.
Advantage 4: the system integrates the technologies of state monitoring (such as visual identification), distance monitoring (such as ultrasonic sensing), RTK positioning navigation and the like, realizes technical innovation of construction application, can transmit the field condition to a background central control room through images, and provides basic data for digital construction management.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the utility model. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
While the foregoing examples have been provided to illustrate the principles of the utility model in one or more applications, it will be apparent to those skilled in the art that various changes in form, usage and details of implementation can be made without departing from the principles and concepts of the utility model. Accordingly, the utility model is defined by the appended claims.
It is to be understood that the disclosed embodiments of the utility model are not limited to the particular structures, process steps, or materials disclosed herein but are extended to equivalents thereof as would be understood by those ordinarily skilled in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the utility model. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the utility model. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (9)
1. An autonomous navigation driving dual feedforward operation device, comprising:
the preposed navigation state sensor is arranged on an edge baffle of the ironing device of the paver and is used for acquiring and obtaining real-time path data of the paver;
the installation mechanism of the heading preposed state sensor is used for fixing the heading preposed state sensor, is connected with the side baffle mechanical mechanism of the ironing device of the paver and has a telescopic function;
the signal processor is connected with the heading preposed state sensor and is used for filtering, analyzing, summarizing and storing the real-time path data to obtain information data of the track to be traveled;
and the autonomous navigation controller is arranged in the auxiliary electric control cabinet of the paver, is connected with the signal processor and is used for judging whether the track to be driven of the paver has deviation or not based on the information data of the track to be driven and combining preset driving track data, and if the deviation exists, generating an advance correction instruction.
2. The dual feedforward operation device of claim 1, wherein the navigational forward status sensor comprises:
the left sensor is arranged on a left side baffle of the ironing device of the paver and used for acquiring left real-time path data of the paver;
and the right side sensor is arranged on a right side baffle of the ironing device of the paver and is used for acquiring and obtaining right real-time path data of the paver.
3. The autonomous navigational driving dual feedforward operation device of claim 1, wherein the navigational forward status sensor comprises:
and the GPS positioning difference device is used for acquiring positioning information data and course information data of the paver.
4. The dual feedforward operation device of claim 1, wherein the navigational forward status sensor comprises:
and the ultrasonic sensing device is used for monitoring the relative distance between a preset fixed point of the paver and two sides of the construction roadbed under the condition of the first peripheral environment so as to obtain the numerical information data of the distance between the paver and two sides of the roadbed.
5. The dual feedforward operation device of claim 1, wherein the navigational forward status sensor comprises:
and the visual guide device is used for monitoring the relative distance between the preset fixed point of the paver and the two sides of the construction roadbed under the condition of the second peripheral environment so as to obtain the numerical information data of the distance between the paver and the two sides of the roadbed.
6. The dual feedforward operation device for autonomous navigational driving as claimed in claim 1, wherein the signal processor comprises:
a filter circuit for performing filter processing on the real-time path data;
the analysis circuit is connected with the filter circuit and is used for analyzing and processing the real-time path data after the filtering processing;
the induction circuit is connected with the analysis circuit and is used for carrying out induction processing on the real-time path data after analysis processing to obtain the information data of the track to be traveled;
and the storage circuit is connected with the induction circuit and is used for storing the information data of the track to be traveled.
7. The dual feed-forward operation device for autonomous navigational driving according to claim 1, wherein the autonomous navigational controller comprises:
the track simulation circuit is used for carrying out track simulation processing on the information data of the track to be traveled to obtain the track to be traveled of the paver;
and the track pre-judging circuit is connected with the track simulating circuit and is used for comparing the track to be driven of the paver with the preset driving track data, judging whether the track to be driven of the paver has deviation or not and obtaining a judgment result.
8. The dual feedforward operation device for autonomous navigational driving as claimed in claim 1, wherein the autonomous navigational controller comprises:
and the track correction circuit is used for generating the advanced correction instruction when the track of the paver to be driven has deviation so as to control the traveling device of the paver to correct the track.
9. A paver characterized in that an autonomous navigation driving double-front feedback working device as claimed in any one of claims 1-8 is mounted on the paver.
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| CN202123029475.8U CN216999186U (en) | 2021-12-03 | 2021-12-03 | Autonomous navigation driving double-preposition feedback working device and paver |
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| CN202123029475.8U CN216999186U (en) | 2021-12-03 | 2021-12-03 | Autonomous navigation driving double-preposition feedback working device and paver |
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