CN105068474A - Intelligent RF matched muck dumping control method based on fully closed dump trucks - Google Patents
Intelligent RF matched muck dumping control method based on fully closed dump trucks Download PDFInfo
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- 239000002689 soil Substances 0.000 claims description 102
- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The present invention relates to an intelligent RF matched muck dumping control method based on fully closed dump trucks. Based on the characteristics of the fully closed vehicle of an existing dump truck, the RF matching communication technology is introduced, combined with a newly designed control strategy, with the shortest time that the fully closed dump trucks drive to a designated muck dumping point as a basis, the starting and stopping of first RF modules in the fully closed dump trucks are intelligently controlled, the intelligent signal matching with the second RF module arranged at the designated muck dumping point is realized, thus the fully closed dump trucks dump muck at the designated muck dumping point, while the random dumping of muck is avoided, the long time working of the first RF modules in the fully closed dump trucks is effectively avoided, on one hand, the service life of the RF module is ensured, on the other hand the threat of the health of vehicle occupants by the long time working of an RF signal is avoided.
Description
Technical field
The present invention relates to
onecontrol method toppled over by the intelligent RF coupling dregs of planting based on totally-enclosed slag-soil truck, belongs to intelligent building engineering technical field.
Background technology
Along with the development of urban construction, increasing building is just rised sheer from level ground, it is corresponding that what bring is a large amount of dregs produced in process of construction, along with the uncivil behavior of workmen, dregs arbitrarily topple over the hygienic conditions having had a strong impact on city, to this, all levels of management personnel and related personnel are in continuous effort, formulate a set of policies and measure, make great efforts the problem that control dregs is arbitrarily toppled over, this wherein, except policy being set up and specifies pour(ing) point, the design manufacturer of vehicle is also in continuous effort, make every effort to the problem of arbitrarily toppling over from technological innovation aspect solution dregs, such as number of patent application: 201020633700.1, disclose a kind of architecture sediment haulage vehicle leak-proof device, its right-angle triangle being hollow by three cross sections forms.Longer, width A be less than vehicle rear board width or equal compartment tail end bottom panel width as base plate, two height B equal with compartment tail end-side sideboard height with vehicle rear board or be less than as side plate, two side plate right angles are fixed on base plate two ends outwardly relatively, be fixed to following inner side or the vehicle car tail end of vehicle rear board after being integrally connected again, keep two lateral extents impartial.The leak-proof device of technique scheme design, reduce the crack size of vehicle rear board and compartment tail end, effectively prevent dregs water clock, thus effectively prevent roadway pollution, build clean and tidy graceful bad border, city, its structure is simple, easy to usely need not to operate, with low cost, long service life, need not transform vehicle appearance.
Also has the patent No.: 201520004508.9, disclose the anti-cheating railway carriage or compartment of a kind of urban dregs transport vehicle and cover sensing equipment, it comprises non-contacting sensor I, non-contacting sensor II and Logic control module, the input end of non-contacting sensor I, non-contacting sensor II and Logic control module is connected with power supply, the output signal of non-contacting sensor I and non-contacting sensor II passes to two input ends of Logic control module, and the output signal of Logic control module passes to car-mounted terminal.The Logic control module when railway carriage or compartment, compartment lid progressive contact non-contacting sensor I, non-contacting sensor II is only had just to export correct signal.Sensing equipment is covered in the anti-cheating railway carriage or compartment of urban dregs transport vehicle of technique scheme design; fundamentally stop artificial means and change sensor-output status; truly can reflect that urban dregs conveying carriage lid puts in place state; meet the needs of supervising platform remote supervisory; achieve to reduce and pollute, the object of protection of the environment.
As can be seen from above-mentioned prior art, in the measure that control dregs is arbitrarily toppled over, people are bold in innovation, multi-prongedly carry out governance, while achieving great achievement, we have to notice, in this process, still there is place not fully up to expectations, some uncultivated workmens, in order to obtain maximum interests, still topple over not in accordance with the pour(ing) point of specifying, and adopt the mode of arbitrarily toppling over dregs, have a strong impact on the hygienic conditions in city.
Summary of the invention
For above-mentioned technical matters, technical matters to be solved by this invention is to provide a kind of intelligent RF based on totally-enclosed slag-soil truck coupling dregs and topples over control method, based on the regulation of existing slag-soil truck structure and existing appointment dregs pour(ing) point, introduce the radio-frequency match communication technology, and in conjunction with location path measuring and calculating technology, Based Intelligent Control radio-frequency module works, by setting up the coupling of radiofrequency signal between totally-enclosed slag-soil truck and two radio-frequency modules of appointment dregs pour(ing) point separately, automatic decision dregs pour(ing) point, effectively can ensure that carrying out dregs at appointment dregs pour(ing) point topples over.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention devises a kind of intelligent RF based on totally-enclosed slag-soil truck coupling dregs and topples over control method, wherein, dregs inclining controller is set in totally-enclosed slag-soil truck, for controlling the cargo hold work of totally-enclosed slag-soil truck; Also comprise the second radio-frequency module being arranged at and specifying dregs pour(ing) point, and be separately positioned on the first radio-frequency module, control enclosure, the electric control lock on each totally-enclosed slag-soil truck; Control enclosure comprises box body and lid, and undertaken sealed by electric control lock between lid and box body or open, the dregs inclining controller on corresponding totally-enclosed slag-soil truck is arranged in control enclosure; Control method toppled over by described intelligent RF coupling dregs, comprises the steps:
The totally-enclosed slag-soil truck of step 001. loads dregs in building ground, and the cargo hold operating totally-enclosed slag-soil truck is in full closeding state, and the electric control lock of operation setting on control enclosure is in locked state, makes dregs inclining controller be closed in control enclosure; Meanwhile, initialization first radio-frequency module keeps closed condition, and the second radio-frequency module is in running order, enters step 002;
Step 002. obtains the present co-ordinate position of totally-enclosed slag-soil truck, and according to specifying the coordinate position of dregs pour(ing) point, obtain totally-enclosed slag-soil truck and go to the shortest path of specifying dregs pour(ing) point, again in conjunction with the F-Zero standard of road section traffic volume rule regulation each in this shortest path, obtain totally-enclosed slag-soil truck and travel the shortest time of extremely specifying dregs pour(ing) point, enter step 003;
Step 003. is timing from 0, until when timing reaches this shortest time, enter step 004;
It is in running order that step 004. opens the first radio-frequency module, enters step 005;
Step 005. judges whether the first radio-frequency module searches out and carries out radiofrequency signal matching operation with it, and the second radio-frequency module that the match is successful, be represent that totally-enclosed slag-soil truck arrives and specify dregs pour(ing) point, and enter step 006; Otherwise close the first radio-frequency module, and return step 002;
Step 006. controls electric control lock and unlocks, and opens control enclosure, and operating personnel can operate dregs inclining controller and realize toppling over of dregs.
As a preferred technical solution of the present invention: in described step 002, the present co-ordinate position of totally-enclosed slag-soil truck is obtained by satellite positioning module, and according to specifying the coordinate position of dregs pour(ing) point, obtain totally-enclosed slag-soil truck by path planning module and go to the shortest path of specifying dregs pour(ing) point, path planning module in conjunction with the F-Zero standard of road section traffic volume rule regulation each in this shortest path, obtains totally-enclosed slag-soil truck and travels the shortest time of extremely specifying dregs pour(ing) point again.
As a preferred technical solution of the present invention: described step 002 specifically comprises the steps:
Step 00201. opens satellite positioning module work, obtains the present co-ordinate position of totally-enclosed slag-soil truck, then closes satellite positioning module, and enter step 00202;
Step 00202. opens path planning module work, according to the present co-ordinate position of totally-enclosed slag-soil truck, the coordinate position of appointment dregs pour(ing) point, obtain totally-enclosed slag-soil truck by path planning module and go to the shortest path of specifying dregs pour(ing) point, and, by the F-Zero standard of path planning module in conjunction with road section traffic volume rule regulation each in this shortest path, obtain totally-enclosed slag-soil truck and travel the shortest time of extremely specifying dregs pour(ing) point, then Turn Off Path planning module, and enter step 003.
As a preferred technical solution of the present invention: described satellite positioning module is the one in GPS locating module, Big Dipper locating module or Galileo locating module.
As a preferred technical solution of the present invention: described first radio-frequency module is a 2.4G radio-frequency module, described second radio-frequency module is the 2nd 2.4G radio-frequency module.
A kind of coupling of the intelligent RF based on totally-enclosed slag-soil truck dregs of the present invention is toppled over control method and is adopted above technical scheme compared with prior art, has following technique effect:
(1) control method toppled over by the coupling of the intelligent RF based on the totally-enclosed slag-soil truck dregs of the present invention's design, the feature of totally-enclosed vehicle is based on existing slag-soil truck, introduce the radio-frequency match communication technology, and in conjunction with the control strategy of brand-new design, travel to specifying the shortest time of dregs pour(ing) point for foundation with totally-enclosed slag-soil truck in good time, the open and close of the first radio-frequency module on the totally-enclosed slag-soil truck of Based Intelligent Control, specifying the second radio-frequency module of dregs pour(ing) point to realize intelligent signal to mate with being arranged on, make totally-enclosed slag-soil truck carry out dregs at appointment dregs pour(ing) point to topple over, while avoiding dregs arbitrarily to topple over, effectively prevent working long hours of the first radio-frequency module on totally-enclosed slag-soil truck, ensure that the serviceable life of radio-frequency module on the one hand, avoid radiofrequency signal on the other hand to work long hours, cause the threat to vehicle driver and crew health,
(2) coupling of the intelligent RF based on the totally-enclosed slag-soil truck dregs of the present invention's design is toppled in control method, for the coordinate position of totally-enclosed slag-soil truck, design is introduced satellite positioning module and is obtained, and for reaching the shortest path and shortest time of specifying dregs pour(ing) point, design introducing path planning module obtains, and effectively can ensure accuracy and the stability of obtained data; And the course of work in control method for satellite positioning module and path planning module, further optimal design, the open and close of Based Intelligent Control satellite positioning module and path planning module, in the guarantee data that obtain simultaneously accurately, effectively prevent working long hours of module, ensure that the mission life of module;
(3) coupling of the intelligent RF based on the totally-enclosed slag-soil truck dregs of the present invention's design is toppled in control method, for satellite positioning module, further design adopts the one in GPS locating module, Big Dipper locating module or Galileo locating module, make the scope of application of control method designed by the present invention wider, and the use of main flow global position system, can greatly improve in design proposal of the present invention, the accuracy of location, position, thus can the stability of the whole design control method practical application of limited guarantee;
(4) coupling of the intelligent RF based on the totally-enclosed slag-soil truck dregs of the present invention's design is toppled in control method, for the first radio-frequency module and the second radio-frequency module, design adopts 2.4G radio-frequency module all further, effectively can ensure that the stability that the first radio-frequency module and the second radio-frequency module work in actual applications further, and then more effectively ensure that the stability that whole design control method works in actual applications.
Accompanying drawing explanation
Fig. 1 is that the intelligent RF that the present invention designs based on totally-enclosed slag-soil truck mates the schematic flow sheet that control method toppled over by dregs.
Embodiment
Be described in further detail for the specific embodiment of the present invention below in conjunction with Figure of description.
As shown in Figure 1, control method toppled over by a kind of coupling of the intelligent RF based on totally-enclosed slag-soil truck dregs of the present invention's design, wherein, arranges dregs inclining controller in totally-enclosed slag-soil truck, for controlling the cargo hold work of totally-enclosed slag-soil truck; Also comprise the second radio-frequency module being arranged at and specifying dregs pour(ing) point, and be separately positioned on the first radio-frequency module, control enclosure, the electric control lock on each totally-enclosed slag-soil truck; Control enclosure comprises box body and lid, and undertaken sealed by electric control lock between lid and box body or open, the dregs inclining controller on corresponding totally-enclosed slag-soil truck is arranged in control enclosure; Control method toppled over by described intelligent RF coupling dregs, comprises the steps:
The totally-enclosed slag-soil truck of step 001. loads dregs in building ground, and the cargo hold operating totally-enclosed slag-soil truck is in full closeding state, and the electric control lock of operation setting on control enclosure is in locked state, makes dregs inclining controller be closed in control enclosure; Meanwhile, initialization first radio-frequency module keeps closed condition, and the second radio-frequency module is in running order, enters step 002;
Step 002. obtains the present co-ordinate position of totally-enclosed slag-soil truck, and according to specifying the coordinate position of dregs pour(ing) point, obtain totally-enclosed slag-soil truck and go to the shortest path of specifying dregs pour(ing) point, again in conjunction with the F-Zero standard of road section traffic volume rule regulation each in this shortest path, obtain totally-enclosed slag-soil truck and travel the shortest time of extremely specifying dregs pour(ing) point, enter step 003;
Step 003. is timing from 0, until when timing reaches this shortest time, enter step 004;
It is in running order that step 004. opens the first radio-frequency module, enters step 005;
Step 005. judges whether the first radio-frequency module searches out and carries out radiofrequency signal matching operation with it, and the second radio-frequency module that the match is successful, be represent that totally-enclosed slag-soil truck arrives and specify dregs pour(ing) point, and enter step 006; Otherwise close the first radio-frequency module, and return step 002;
Step 006. controls electric control lock and unlocks, and opens control enclosure, and operating personnel can operate dregs inclining controller and realize toppling over of dregs.
Control method toppled over by intelligent RF based on the totally-enclosed slag-soil truck coupling dregs of technique scheme design, the feature of totally-enclosed vehicle is based on existing slag-soil truck, introduce the radio-frequency match communication technology, and in conjunction with the control strategy of brand-new design, travel to specifying the shortest time of dregs pour(ing) point for foundation with totally-enclosed slag-soil truck in good time, the open and close of the first radio-frequency module on the totally-enclosed slag-soil truck of Based Intelligent Control, specifying the second radio-frequency module of dregs pour(ing) point to realize intelligent signal to mate with being arranged on, make totally-enclosed slag-soil truck carry out dregs at appointment dregs pour(ing) point to topple over, while avoiding dregs arbitrarily to topple over, effectively prevent working long hours of the first radio-frequency module on totally-enclosed slag-soil truck, ensure that the serviceable life of radio-frequency module on the one hand, avoid radiofrequency signal on the other hand to work long hours, cause the threat to vehicle driver and crew health.
Topple on the basis of control method technical scheme based on above-mentioned design based on the intelligent RF coupling dregs of totally-enclosed slag-soil truck, the present invention also devises following optimal technical scheme further: in described step 002, the present co-ordinate position of totally-enclosed slag-soil truck is obtained by satellite positioning module, and according to specifying the coordinate position of dregs pour(ing) point, obtain totally-enclosed slag-soil truck by path planning module and go to the shortest path of specifying dregs pour(ing) point, path planning module is again in conjunction with the F-Zero standard of road section traffic volume rule regulation each in this shortest path, obtain totally-enclosed slag-soil truck and travel the shortest time of extremely specifying dregs pour(ing) point.And for step 002, specific design comprises the steps:
Step 00201. opens satellite positioning module work, obtains the present co-ordinate position of totally-enclosed slag-soil truck, then closes satellite positioning module, and enter step 00202;
Step 00202. opens path planning module work, according to the present co-ordinate position of totally-enclosed slag-soil truck, the coordinate position of appointment dregs pour(ing) point, obtain totally-enclosed slag-soil truck by path planning module and go to the shortest path of specifying dregs pour(ing) point, and, by the F-Zero standard of path planning module in conjunction with road section traffic volume rule regulation each in this shortest path, obtain totally-enclosed slag-soil truck and travel the shortest time of extremely specifying dregs pour(ing) point, then Turn Off Path planning module, and enter step 003.
The above-mentioned coordinate position for totally-enclosed slag-soil truck, design is introduced satellite positioning module and is obtained, and for reaching the shortest path and shortest time of specifying dregs pour(ing) point, design introducing path planning module obtains, and effectively can ensure accuracy and the stability of obtained data; And the course of work in control method for satellite positioning module and path planning module, further optimal design, the open and close of Based Intelligent Control satellite positioning module and path planning module, in the guarantee data that obtain simultaneously accurately, effectively prevent working long hours of module, ensure that the mission life of module.Also have, for satellite positioning module, further design adopts the one in GPS locating module, Big Dipper locating module or Galileo locating module, make the scope of application of control method designed by the present invention wider, and the use of main flow global position system, can greatly improve in design proposal of the present invention, the accuracy of location, position, thus can the stability of the whole design control method practical application of limited guarantee; Moreover, for the first radio-frequency module and the second radio-frequency module, design adopts 2.4G radio-frequency module all further, effectively can ensure that the stability that the first radio-frequency module and the second radio-frequency module work in actual applications further, and then more effectively ensure that the stability that whole design control method works in actual applications.
The present invention's design topples over control method based on the intelligent RF coupling dregs of totally-enclosed slag-soil truck, only considers that totally-enclosed slag-soil truck normally travels by road traffic regulation, wherein, comprises by normal traffic lanes, be no more than each section F-Zero; In practical application, dregs inclining controller is set, for controlling the cargo hold work of totally-enclosed slag-soil truck in totally-enclosed slag-soil truck; Also comprise the 2nd 2.4G radio-frequency module being arranged at and specifying dregs pour(ing) point, and be separately positioned on a 2.4G radio-frequency module, control enclosure, the electric control lock on each totally-enclosed slag-soil truck; Control enclosure comprises box body and lid, and undertaken sealed by electric control lock between lid and box body or open, the dregs inclining controller on corresponding totally-enclosed slag-soil truck is arranged in control enclosure; Control method toppled over by described intelligent RF coupling dregs, comprises the steps:
The totally-enclosed slag-soil truck of step 001. loads dregs in building ground, and the cargo hold operating totally-enclosed slag-soil truck is in full closeding state, and the electric control lock of operation setting on control enclosure is in locked state, makes dregs inclining controller be closed in control enclosure; Meanwhile, initialization the one 2.4G radio-frequency module keeps closed condition, and the 2nd 2.4G radio-frequency module is in running order, enters step 00201.
Step 00201. opens satellite positioning module work, obtains the present co-ordinate position of totally-enclosed slag-soil truck, then closes satellite positioning module, and enter step 00202.
Step 00202. opens path planning module work, according to the present co-ordinate position of totally-enclosed slag-soil truck, the coordinate position of appointment dregs pour(ing) point, obtain totally-enclosed slag-soil truck by path planning module and go to the shortest path of specifying dregs pour(ing) point, and, by the F-Zero standard of path planning module in conjunction with road section traffic volume rule regulation each in this shortest path, obtain totally-enclosed slag-soil truck and travel the shortest time of extremely specifying dregs pour(ing) point, then Turn Off Path planning module, and enter step 003.
Wherein, satellite positioning module is the one in GPS locating module, Big Dipper locating module or Galileo locating module.
Step 003. is timing from 0, until when timing reaches this shortest time, enter step 004.
It is in running order that step 004. opens a 2.4G radio-frequency module, enters step 005.
Step 005. judges whether a 2.4G radio-frequency module searches out and carries out radiofrequency signal matching operation with it, and the 2nd 2.4G radio-frequency module that the match is successful, be represent that totally-enclosed slag-soil truck arrives and specify dregs pour(ing) point, and enter step 006; Otherwise close a 2.4G radio-frequency module, and return step 002.
Step 006. controls electric control lock and unlocks, and opens control enclosure, and operating personnel can operate dregs inclining controller and realize toppling over of dregs.
Above-mentioned whole process, only have when totally-enclosed slag-soil truck travels to the dregs pour(ing) point of specifying by operating personnel, toppling over of dregs could be realized, and complete after dregs topples over, without the need to operating further vehicle-mounted control terminal, totally-enclosed slag-soil truck sails go back to building ground, after completing dregs loading, initialization described before going again to perform eventually for vehicle-mounted control, and going to appointment dregs pour(ing) point to carry out dregs at totally-enclosed slag-soil truck topples in the whole process of operation, a 2.4G radio-frequency module on totally-enclosed slag-soil truck, satellite positioning module, path planning module, mode based on Intelligent time interval carries out work, and not omnidistance work, like this, not only greatly reduce the consumption of electric energy, and, avoid the long-term work of radio-frequency module, ensure that the health of driver and crew in totally-enclosed slag-soil truck, avoid being subject to radiofrequency signal dangers to health for a long time, therefore, control method toppled over by intelligent RF based on the totally-enclosed slag-soil truck coupling dregs of the present invention's design, in the middle of actual application, not only there is low energy consumption, ensure the advantage of driver and crew's health, and effectively can ensure that the dump position of dregs, what effectively prevent dregs arbitrarily topples over problem.
Be explained in detail for embodiments of the present invention in conjunction with Figure of description above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also make a variety of changes under the prerequisite not departing from present inventive concept.
Claims (5)
1. a control method toppled over by the intelligent RF coupling dregs based on totally-enclosed slag-soil truck, wherein, arranges dregs inclining controller in totally-enclosed slag-soil truck, for controlling the cargo hold work of totally-enclosed slag-soil truck; It is characterized in that: also comprise the second radio-frequency module being arranged at and specifying dregs pour(ing) point, and be separately positioned on the first radio-frequency module, control enclosure, the electric control lock on each totally-enclosed slag-soil truck; Control enclosure comprises box body and lid, and undertaken sealed by electric control lock between lid and box body or open, the dregs inclining controller on corresponding totally-enclosed slag-soil truck is arranged in control enclosure; Control method toppled over by described intelligent RF coupling dregs, comprises the steps:
The totally-enclosed slag-soil truck of step 001. loads dregs in building ground, and the cargo hold operating totally-enclosed slag-soil truck is in full closeding state, and the electric control lock of operation setting on control enclosure is in locked state, makes dregs inclining controller be closed in control enclosure; Meanwhile, initialization first radio-frequency module keeps closed condition, and the second radio-frequency module is in running order, enters step 002;
Step 002. obtains the present co-ordinate position of totally-enclosed slag-soil truck, and according to specifying the coordinate position of dregs pour(ing) point, obtain totally-enclosed slag-soil truck and go to the shortest path of specifying dregs pour(ing) point, again in conjunction with the F-Zero standard of road section traffic volume rule regulation each in this shortest path, obtain totally-enclosed slag-soil truck and travel the shortest time of extremely specifying dregs pour(ing) point, enter step 003;
Step 003. is timing from 0, until when timing reaches this shortest time, enter step 004;
It is in running order that step 004. opens the first radio-frequency module, enters step 005;
Step 005. judges whether the first radio-frequency module searches out and carries out radiofrequency signal matching operation with it, and the second radio-frequency module that the match is successful, be represent that totally-enclosed slag-soil truck arrives and specify dregs pour(ing) point, and enter step 006; Otherwise close the first radio-frequency module, and return step 002;
Step 006. controls electric control lock and unlocks, and opens control enclosure, and operating personnel can operate dregs inclining controller and realize toppling over of dregs.
2. control method toppled over by a kind of coupling of the intelligent RF based on totally-enclosed slag-soil truck dregs according to claim 1, it is characterized in that: in described step 002, the present co-ordinate position of totally-enclosed slag-soil truck is obtained by satellite positioning module, and according to specifying the coordinate position of dregs pour(ing) point, obtain totally-enclosed slag-soil truck by path planning module and go to the shortest path of specifying dregs pour(ing) point, path planning module is again in conjunction with the F-Zero standard of road section traffic volume rule regulation each in this shortest path, obtain totally-enclosed slag-soil truck and travel the shortest time of extremely specifying dregs pour(ing) point.
3. control method toppled over by a kind of coupling of the intelligent RF based on totally-enclosed slag-soil truck dregs according to claim 2, it is characterized in that: described step 002 specifically comprises the steps:
Step 00201. opens satellite positioning module work, obtains the present co-ordinate position of totally-enclosed slag-soil truck, then closes satellite positioning module, and enter step 00202;
Step 00202. opens path planning module work, according to the present co-ordinate position of totally-enclosed slag-soil truck, the coordinate position of appointment dregs pour(ing) point, obtain totally-enclosed slag-soil truck by path planning module and go to the shortest path of specifying dregs pour(ing) point, and, by the F-Zero standard of path planning module in conjunction with road section traffic volume rule regulation each in this shortest path, obtain totally-enclosed slag-soil truck and travel the shortest time of extremely specifying dregs pour(ing) point, then Turn Off Path planning module, and enter step 003.
4. according to Claims 2 or 3, control method toppled over by a kind of coupling of the intelligent RF based on totally-enclosed slag-soil truck dregs, it is characterized in that: described satellite positioning module is the one in GPS locating module, Big Dipper locating module or Galileo locating module.
5. control method toppled over by a kind of coupling of the intelligent RF based on totally-enclosed slag-soil truck dregs according to claim 1, and it is characterized in that: described first radio-frequency module is a 2.4G radio-frequency module, described second radio-frequency module is the 2nd 2.4G radio-frequency module.
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