CN105137997B - Water conservancy construction vibroroller cmpacting machine automatic drive system and method - Google Patents
Water conservancy construction vibroroller cmpacting machine automatic drive system and method Download PDFInfo
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- CN105137997B CN105137997B CN201510609822.4A CN201510609822A CN105137997B CN 105137997 B CN105137997 B CN 105137997B CN 201510609822 A CN201510609822 A CN 201510609822A CN 105137997 B CN105137997 B CN 105137997B
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Abstract
Water conservancy construction vibroroller cmpacting machine automatic drive system and method, system include long-distance monitorng device and airborne automaton, and long-distance monitorng device plans operating area, navigation circuit according to the 3D mathematical models man-machine interaction of construction project；Self-navigation data and instruction are sent by data and operating environment video informations such as the position of wireless communication mode reception roller, speed, steerings, while to airborne automaton；Situation man-machine interaction remote control roller can also be asked according to emergent management is received；Self-navigation instruction that airborne automaton real-time reception long-distance monitorng device is sent, remote driving information, and compared with the information such as the position with the detection of the instrument such as airborne RTK GPS, sensor, speed, steering angle, deviation is sent to the executive components such as electric steering wheel, dynamoelectric accelerograph and electric brake braking after pid algorithm adjusts, and control vibrating roller press completes desired rolling operation；Automatic Pilot of the present invention is compatible with pilot steering.
Description
Technical field
The invention belongs to water conservancy construction field of mechanical technique, more particularly to a kind of water conservancy construction vibroroller cmpacting machine automatic drive
System and method for.
Background technology
China's hydraulic engineering construction has been carried out mechanization, for reclamation works such as the cubic metre of earth and stone, grinding coagulation soil, due to shaking
Dynamic roller has the advantages that consolidation effect is good, production efficiency is high and is widely applied.But construction of hydro project complex process,
Operating condition difference and operation are single uninteresting, and operational error or error easily occurs in vibrating roller press operator, causes operation
Face dam material compacted density deficiency, influences construction quality.
In order to reduce vibrating roller press labor intensity of operating staff, improve roller construction quality, earliest Changsha mine is ground
Study carefully institute drone has been succeeded in developing in nineteen ninety-five and weigh 19 tons of large-scale vibrating road roller, and built applied to mine road
If.For this unmanned equipment by the radio transmitting apparatus transmission signal of console, airborne device receives signal and control machine
Device completes various operations.Foreign countries occur 2 tons of deadweight nobody for only 1998 without corresponding heavy unmanned roller
Drive road roller.The subsequent National Defence University combines with Xiangtan, Hunan Province Jiang Lu engineering machinery Co., Ltd in independent development success in 2000
Weight is 12.6 tons of unmanned vibrated rollers of high-performance, can independently complete to light a fire in boundary of works area, start to walk, speed change,
The basic operations such as steering, reversing, parking, especially vibration class can be adjusted according to the soft or hard degree of construction site, effectively
Improve efficiency of construction and compaction quality.The domestic two kinds of unmanned vibrating roller press developed of the above require that operating personnel exist
Possesses sighting condition remote operation within the scope of hundred meters.Because unmanned vibrating roller press does not have self-navigation function, traveling
TRAJECTORY CONTROL precision is not high, and can not realize long-distance remote control function.
In recent years, BMW, 31 heavy industrys etc. both at home and abroad business research using vibration parameters auto-adjustment control technology as core,
Based on computer, communication network and GPS, compacting real time information sampling, processing, analysis and management comprehensive vibrating roller are carried out
Press system.This intelligent compact technique compacting operation process and environment are carried out by sensor-based system on machine continuous control and
Certain analysis, optimization control parameter is automatically extracted, and consolidation effect is judged in implementation process, be modified, so that pressure
Implementation industry is in optimum state all the time.Usual scene layout test compaction quality be difficult find softer and more rigid ground region and its
With the difference between average hardness, and whole scope of operation compaction quality can be made continuously to be supervised using Continuous compacting control technology
Survey and control.
In order to solve the problem that hydraulic engineering earth and rockfill dam placement grinding work progress lacks continuous monitoring technique, Wuhan is big
Learn, University Of Tianjin successively have developed native stone reclamation work construction quality differential GPS monitoring system.This technology is ground by earth and stone material
The number of rolling of compaction of earth rock material needs is determined in advance in pressure experiment, then by monitoring the streams of the GPS on roller in real time
Dynamic station, and per second will detect position, driving trace, number of rolling that data are vibrating roller press successively and can highly precisely remember
Record, storage, the particularly important is can analyze detection data, calculate and roll parameter.Monitored and vibrated by GPS system
Roller compacting operation reduces construction interference, improves efficiency of construction.This technology is in China's earth and rockfill dam, grinding coagulation
Succeeded in the filling constructions such as earth dam application.Recently, Tsing-Hua University has invented a kind of intelligence and has rolled robot, based on GPS, soil
Building stones compactness online measuring technique and compacting new theory, can rolling material similar to people's foundation like that, adaptively adjustment rolls
Machine vibration parameter, there is intelligent feature.
Although vibrating roller press assembling GPS system can according to roll track, number of rolling ensure construction quality, but without
Technical method actively avoids leakage stone roller, overlapping phenomena such as rolling occur between the adjacent scope of operation, i.e., can not travel rail to roller
Mark is accurately controlled.These problems also exist in foregoing unmanned vibrating roller press construction operation.Being ground for leakage needs
Supplement is carried out afterwards to roll, but for repeating to roll, will cause the construction problem of overvoltage.The reason for these difficult problems occur
It is that construction rolling operation is manipulated by roller driver experience completely, is used as navigation markup by scope of operation line, does not have completely
The technology auxiliary such as high accuracy navigation drives.Therefore, the automated construction technology of vibrating roller press has much room for improvement.
At present, automobile industry automatic Pilot technology is quickly grown, and especially unmanned technology has obtained vast automobile factory
Business and the attention of Internet firm, it is the most prominent with the pilotless automobile of Google.But because highway communication road conditions are complicated, related
The factors such as supporting technology facility is immature limitation, pilotless automobile does not obtain practical application also at present.Except aviation field without
Outside people's machine automatic drive technology maturation, the automatic Pilot technology development of agriculture field tractor is also more ripe.U.S. Tian Bao, open up
Pu Kang self-navigation steer is using relatively broad.Domestic Agricultural University Of South China, Feitian thunder are irrigated heavy industry and also successively successfully ground
Make and be based on RTK-GPS automatic navigation control systems, solved the bottleneck problem of " broadcast capable not straight, to connect row inaccurate ".Tractor is certainly
Dynamic control loop only needs driver to control throttle, brake brake pedal, is not required to grasp direction, navigation system is once set, for a long time
Use, realize agriculture meticulous process.
Hydraulic engineering construction is different from the fields such as agricultural tillage, aviation flight.The latter, can because operating environment is fixed
Navigation circuit is planned using cut-and-dried electronic map, the navigation way particularly formulated may be reused；And the former water
The characteristics of sharp engineering construction be scope of operation environment as engineering construction process constantly changes, cause plan navigation circuit need to track
Place scope of operation map is built, and required sitework face map is not pre-determined, it is necessary to be determined according to construction speed.
Therefore, hydraulic engineering vibrating roller press construction automated navigation system needs constantly to be planned with Active workings according to engineering construction progress
Update scope of operation map and navigation circuit.Domestic and international hydraulic engineering field is also without corresponding vibrating roller press Navigation Control at present
System and automatic Pilot technology.
The content of the invention
The shortcomings that in order to overcome above-mentioned prior art, it is an object of the invention to provide a kind of water conservancy construction vibrating roller press
Automated driving system and method, vibrating roller press precision navigation automatic Pilot and remote driving technology can be achieved, and with manually driving
Sail compatibility.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of water conservancy construction vibroroller cmpacting machine automatic drive system, including long-distance monitorng device and airborne self-navigation control
Device, long-distance monitorng device formulate navigation circuit, and real-time receivers carry the various status informations of automatic navigation control equipment feedback
With flash request information, control instruction is sent in real time to airborne automatic navigation control equipment；
Airborne automatic navigation control equipment gathers the status information of vibrating roller press and fed back to long-distance monitorng device in real time,
Receive the navigation circuit that long-distance monitorng device is sent and realize self-navigation, receive control instruction and realize remote driving；
The status information includes distance, the steering wheel angle degree of the current position of vibrating roller press, speed and barrier
Number and operating environment video image；
The upper electricity of the control instruction including vibrating roller press, igniting, startup, steering, throttle, brake and stop working.
Control object of the present invention is a common vibrating roller press, has manned steering wheel, throttle, brake, shelves
The basic devices such as position, while there is the device such as upper electricity, igniting, startup, flame-out；Can match grinding compacting degree on-line measuring device with
And roller vibration parameters self-checking device, realize intelligent compacting operation.
Between the long-distance monitorng device and airborne automatic navigation control equipment information and instruction are realized by wireless telecommunications
Transmission, between airborne automatic navigation control equipment each several part, and also by wireless telecommunications between neighbouring other construction equipments
Exchange information.Specific communication device has a two ways, it is a kind of be the construction operation slower for translational speed participate in equipment it
Between communicate, another kind be used for remote information transmission.
The long-distance monitorng device is equipped with the 3D mathematical models of current construction engineering, to enter by engineering construction progress in good time
Row man-machine interactive operation generates operation side numerical map, and is led based on scope of operation numerical map planning and designing vibrating roller press
Course line road.
Specifically, long-distance monitorng device is made up of the computer system equipped with engineering construction 3D mathematical models, remote control procedure,
The work progress of whole compacting operation can be commanded, controlled in the terminal away from operation field；Real-time reception vibrating roller press state,
The information such as position, remote job scene video；It is long-range to send the telecommand such as electricity on roller, igniting, startup, flame-out；Operation
When running into barrier needs to change operating direction, regulation travel speed, early warning request signal is sent, is sent and grasped by man-computer cooperation
Control the telecommand of the devices such as the steering of vibrating roller press, throttle, brake；Entered according to the 3D mathematical models of engineering with construction
Degree, in good time cutting 3D mathematical models obtain scope of operation numerical map, plan vibroroller cmpacting machine operation straight line, curve navigation circuit,
And transmitted in real time with wireless communication mode to airborne automatic control system.
The transport condition and surrounding enviroment video of the long-distance monitorng device real-time display feedback, in urgent or special circumstances
Lower progress man-machine interaction remote control vibroroller cmpacting machine operation.
The airborne automatic navigation control equipment includes：
RTK-GPS base stations and rover station, for obtaining vibrating roller press current location coordinate value.Specifically, base station
Receive gps satellite signal and determine transmitting carrier phase difference, the gps signal and base station that rover station receives according to oneself in real time
The carrier phase difference signal high precision of transmission determines the position of vibrating roller press.
Ground velocity radar, for obtaining vibrating roller press present speed；
Range radar, for obtaining the distance of vibrating roller press and barrier；
Radar uses three kinds of sound wave, light wave and millimeter wave, be respectively used to detect periphery barrier, maintain safe distance anticollision and
Cruise measures travel speed.
Steering angle sensor, for obtaining the vibrating roller press steering wheel angle number of degrees；
Camera, for obtaining vibroroller cmpacting machine operation ambient video image and its working condition instrument；
And self-navigation controller and the executive component of control vibrating roller press behavior.
The airborne automatic navigation control equipment compares deviation between traveling-position and navigation target in real time, is adjusted through PID
Vibrating roller press steering wheel is controlled, realizes target；Deviation relatively between travel speed and target speed value in real time, through PID
Adjustment control roller E-Gas；Check in real time, judge operating environment information, automatically control electric brake element and realize and stop
Car, operation and emergency processing.
Specifically, self-navigation controller real-time reception telecommand, navigation information, electric steering wheel, electricity are controlled in real time
The performs devices such as dynamic throttle, electric brake, realize accurate self-navigation, automatically speed up, automatic brake functions.First, apply
RTK-GPS determines roller position, and the deviation of judgement and operation navigation circuit, according to deviation by size of current control electricity
Dynamic wheel steering angle.Second, the roller travel speed and the travel speed of telecommand obtained using velocity radar, or
Range radar measurement obstacle distance automatically controls dynamoelectric accelerograph and braked with electric brake, automatically adjusts roller travel speed.
3rd, according to telecommand, start roller igniting and conversion gear.4th, mutually transfer behavior and situation by vehicle-to-vehicle
Data message, automatically control and judge and determine in advance, reduce detection blind area caused by danger.
Executive component includes electric steering wheel, E-Gas, deceleration of electrons brake and electronic transferred the files.Wherein described is electronic
Steering wheel manipulates roller wheel steering angle by inputting precision current size with direction；Described E-Gas passes through
Precision current size is inputted to manipulate roller throttle；Described deceleration of electrons brake is aided in by inputting precision current size
Manipulate roller braking brake；Described electronic gear converts roller gear by inputting precision current size.
Invention also provides a kind of water conservancy construction vibroroller cmpacting machine automatic drive method：
Navigation circuit is formulated using long-distance monitorng device and is provided to airborne automatic navigation control equipment, is led automatically by airborne
The control device that navigates controls the action executing of vibrating roller press according to navigation circuit, realizes self-navigation；
The various status informations of vibrating roller press are gathered in real time using airborne automatic navigation control equipment and are fed back to long-range
Supervising device, long-distance monitorng device send corresponding control instruction according to these information to airborne automatic navigation control equipment, real
Existing remote driving；
The status information comprises at least the current position of vibrating roller press, speed, rotated with the distance of barrier, steering
Angle number and operating environment video image；
The upper electricity of the control instruction including vibrating roller press, igniting, startup, steering, throttle, brake and stop working.
If the steering wheel angle number of degrees of adjustment, speed exceed the limiting value of setting, then airborne automatic navigation control equipment
Send steering error message；Such as find that obstacle distance pace of change is more than setting, then sent promptly to long-distance monitorng device
Processing request.
Function for Automatic Pilot is shielded if remote driving；
Such as pilot steering intervention, then automatic Pilot and remote driving function are shielded；
That is, self-navigation driving priority is less than remote driving, and remote driving priority is less than pilot steering.
Compared with prior art, the beneficial effects of the invention are as follows：
1st, vibroroller cmpacting machine automatic drive can arbitrarily switch three kinds of automatic Pilot, remote driving and pilot steering operation moulds
Formula.
2nd, vibroroller cmpacting machine automatic drive employs output information duplex feedback mode, and with equipment room wireless telecommunications,
Automatic start, adjustment gear, acceleration and brake function.
3rd, operating area, Design Navigation circuit are planned using construction project 3D mathematical models, with reference to RTK-GPS positioning signals
Realize accurate self-navigation, avoid scope of operation leakage pressure, overlapping the problem of rolling, improve compacting operation construction matter
Amount.
4th, vibroroller cmpacting machine automatic drive is not limited by distance, light, can be realized 24 hours and remotely be worked continuously round the clock,
Effectively increase machine utilization rate.
5th, the application of the common road roller of vibroroller cmpacting machine automatic drive technology deconditioning, be also particularly well suited for it is severe,
Construction operation under hazardous environment.
6th, vibroroller cmpacting machine automatic drive technology and common road roller system compatible, it is installed in addition with control element conveniently, does not influence
Former complete machine structure and performance.
Therefore, the present invention feeds back to airborne automatic controller and remote monitor respectively to vibrating roller press state output,
Possesses efficient man-machine compound control mode.The vibroroller cmpacting machine automatic drive technology of the present invention is compatible with pilot steering mode,
And automatic Pilot, Remote and pilot steering can arbitrarily switch at any time, it both ensure that vibrating roller press in special, urgent operation
In the case of convenient, safe construction, solve the problems, such as that leakage is ground between the adjacent scope of operation again, overlapping roll.It can apply to water
The cumulose soil stone compacting engineering such as profit, highway, railway, airport, harbour, is especially suitable for the compacting operations such as hazardous environment, maximum conditions
It is required that.
Brief description of the drawings
Fig. 1 is the structure chart of one embodiment of the present of invention.
Fig. 2 is the vibrating roller press automatic control system block diagram of the present invention.
Fig. 3 is airborne automatic control system flow chart.
Fig. 4 is long-distance monitorng device workflow diagram.
Embodiment
With reference to embodiment and accompanying drawing, the technology and method of the present invention are described in further detail.Following examples
It is used to illustrate that the technology of the present invention is formed with accompanying drawing, but is not intended to limit the scope of the present invention.
Fig. 1 show the structure chart of one embodiment suitable for vibroroller cmpacting machine automatic drive technology of the present invention, its
Mainly include long-distance monitorng device 15 and airborne automatic navigation control equipment two parts.
Long-distance monitorng device 15 mainly includes：Control computer, wireless communication antenna.Monitoring is stored with control computer
Program, the 3D mathematical models of construction project, construction schedule program, navigation programming program.Monitoring programme can remotely refer to simultaneously
Wave and control the whole rolling operation process of multi-shaker vibration roller.First, monitoring programme sends electricity on vibrating roller press, started
Or flame-out instruction, receive the signals such as the roller situation of vibrating roller press transmission, position, travel speed, ambient video in real time, and
It is shown on screen；Secondly, construction schedule program is cut into slices to engineering 3D mathematical models by progress, forms current work field
Face；Navigation programming program automatically generates covering entirely according to operation scene in slice map and the operating direction of setting, working width
The operation navigation circuit of operation scene, and navigation control data is formed with leading line vector data format；By current work scene
With navigation circuit in screen display simultaneously, be wirelessly transmitted to vibrating roller press.3rd, setting vibrating roller press gear, linear rows
Speed, negotiation of bends speed are sailed, and shows and is wirelessly transmitted to vibrating roller press.Skidding is sent when the 4th, compacting situation
Order.The wireless telecommunications used are communicated between remote control and airborne automatic control system as serial full duplex mode, two
Bar safety measure：First, Reliability codes, EDC error detection and correction are carried out to command signal, any error of transmission to discovery, without exception
Abandon the execution of order；Second, when remote signal interruption occurs, checked automatically, and processing of stopping in emergency.For tight
Urgency or special circumstances, system send pre-warning signal and remind monitoring personnel to be handled.
Airborne Navigation Control Unit mainly includes：Airborne navigation controller 5, the RTK-GPS of built-in navigation control program connect
Receipts machine 8, RTK-GPS receiver antennas 2, data radio station, data radio station antenna 3, car car communicator, ground velocity radar 12, anticollision thunder
Up to 11, steering angle sensor, camera 1, wireless communication antenna 4 etc..Airborne navigation controller 5 is embedded system, navigation control
Processing procedure sequence is responsible for receiving and sends control data information.Navigation control program receives the order of the transmission of long-distance monitorng device 5 in real time
With input aim parameter, receive RTK-GPS location datas, ground velocity radar data, range radar data, steering angle sensor number in real time
According to.Navigation control program is first carried out on electricity, startup or flame-out telecommand on vibrating roller press.Navigation control program calls
Course changing control subprogram, compare navigation target input quantity and the deviation of RTK-GPS positions, it is determined that it is expected steering angle；Compare expectation
Steering angle and deflecting roller actual steering angle difference, and automatic steering wheel arrangement is controlled by pid control algorithm output current, so that
Vibrating roller press rotates according to predetermined direction.Navigation control program calling automatically speeds up subprogram and compares expectation travel speed input
Value, ground velocity radar surveying velocity amplitude, self-actuating brake operation conditions etc., while other vehicle shapes nearby are referred to according to car car communicator
Condition, auto-throttle performs device is controlled by pid algorithm output current, so that vibrating roller press hopes speed travel on schedule.Lead
Boat control program calls self-actuating brake subprogram to compare range radar obstacle distance intensity of variation, and passes through car inter-vehicle communication
Other vehicle kinematics near acquisition, according to pid algorithm output current control brake pedal, so that vibrating roller press drops
Low velocity, or even stop.Navigation control program sends vibrating roller press running state information, position to long-distance monitorng device in real time
Put, the information such as travel speed, automatic control state, ambient video.Navigation Control Unit actively detects vehicle distances nearby, with prison
The safe spacing and speed for controlling system specialization are foundation, suitably adjust throttle and brake, and then adapt to peripheral situation
Function for Automatic Pilot.
The numerical control performs device of vibrating roller press includes electric steering wheel 6, electronics is transferred the files 7, E-Gas 9 and deceleration of electrons
Brake 10, the steering wheel with vibrating roller press, throttle, shifting system and brake brake pedal system are in parallel respectively, and response is airborne
The control signal that Navigation Control Unit is sent adjusts vibrating roller press travel direction, travel speed.Described electric steering wheel 6 connects
The data signal sent by airborne navigation controller 5, is converted to electric current, motor is accurately controlled by size of current and direction,
Motor carries out auxiliary adjustment to the steering mechanical part of roller steering wheel, realizes predetermined turning function.Described electronics
Throttle 9 receives the data signal that airborne navigation controller 5 sends regulation travel speed, and data signal is converted into control engine
The electric signal of air throttle, electronic control unit ECU is sent to, realizes roller throttle adjustment function.Described deceleration of electrons is stopped
Car 10 receives the braking brake data signal that airborne navigation controller 5 is sent in real time, is roller by this digital signal transition
The electric signal of braking brake control unit, and control unit is passed, high-pressure and hydraulic control unit then can be according to different driving works
Condition automatically adjusts the brake pressure of wheel, realizes running speed-reduction, or even stop.
EHB (EHB) is developed on the basis of traditional liquid braking device.The present invention manipulates
Mechanism instead of traditional hydraulic braking pedal with an electronic type brake pedal, eliminate bulky vacuum booster.
This integrated electronic pedal sensor can accurately perceive the order of importance and emergency of driver's control pedal, and be converted to electric signal transmission
To control unit, high-pressure and hydraulic control unit can then automatically adjust the brake pressure of wheel according to different driving cycles.This
System shortens the reaction time, it also avoid hydraulic machinery brakes effect counter-force caused by vibrations and cause driver not from
Feel that ground reduces the danger of brake force.Pressure regulator of the executing agency in one comprehensive brake module substitution conventional brake
And ABS module, this synthetical restraint module include the parts such as motor, pump, battery, it can produce and store brake pressure,
And the braking moment of 4 tires individually can be adjusted respectively.Compared with traditional liquid braking device, EHB, which has, significantly to be entered
Step:
E-Gas is for former bracing wire throttle, and traditional bracing wire throttle is directly stepped on throttle with thin steel rope
Plate is connected with solar term, and gas pedal steps on that the depth is directly corresponding with the folding size of solar term, and E-Gas does not have bracing wire,
By being converted into the resistance of resistance, the electricity of automobile in the built-in potentiometer (variable resistor) of pedal, the depth that throttle is stepped on
Subsystem determines the depth of gas pedal by sampling the resistance value indirectly, finally, solar term is controlled by ecu Driving Stepping Motors
The aperture of door, compared by principle it is seen that, be simple system the characteristics of bracing wire throttle, control is direct, gas pedal and section
Gas aperture is 1:1；And the characteristics of E-Gas is gas pedal only characterizes the operation purpose of driver, and final solar term
Gate control power has given ecu.
Most automobile substituted for conventional bracing wire throttle using E-Gas (ECM).E-Gas (ECM) is stepped on by throttle
The plate depth causes engine to provide matching power to control electronic signal to send instruction.
Steering wheel motorized adjustment is exactly that the regulation of finger direction disk is adjusted by motor, only need to be by adjusting on steering wheel
Adjusting knob, you can according to the regulation for needing to complete steering wheel of driver.Steering wheel motorized adjustment is a comfortableness configuration, is used
Electronic mode adjust steering wheel can substantially reduce driver adjust steering wheel difficulty, steering wheel motorized adjustment typically equipment compared with
In vehicle for top grade.
ESP electronic power assist steering systems, it is the control member using motor as system using electronic control unit as control core
Part, using various running datas as control foundation, Optimal Control thrust is drawn by calculating analysis, then passes through controlled motor
A kind of mode being controlled to motor turning machinery part.The advantages of electronic power assist steering is that control is easy, simple in construction, again
Amount is light and energy consumption is small, the power of the not direct consumption of engine of system, without hydraulic pressure transfer loop, the sorrow of no hydraulic leak, and peace
It is big to fill the free degree.
In Fig. 1, satellite 13 and GPS Base Station 14 provide positioning service, and communication terminal 16 provides long-distance radio communication service.
Fig. 2 is vibroroller cmpacting machine automatic drive system block diagram, including control object, detection feedback quantity, input quantity, controller
With executive component, wherein input quantity is the control information for being determined to send in real time by long-distance monitorng device.Control object is vibrating roller
Press；Detect feedback element by RTK-GPS detect the position of control object, ground velocity detections of radar control object speed, turn
Angle transducer detects the steering angle of control object, while detection limit is fed back to airborne automatic controller and remote monitoring respectively
Device；Remote monitor determines control object navigation circuit according to feedback quantity and construction speed, and output in real time is simultaneously controlled as automatic
The input quantity of system processed；Airborne automatic controller outputs control signals to execution according to input quantity and feedback quantity using pid algorithm
Element；Executive component receives on-board controller signal, auxiliary adjustment control object.The vibroroller cmpacting machine automatic drive system of the present invention
System has detection signal duplex feedback link, different from general automatic control system.
Fig. 3 is airborne automatic control system flow chart.As illustrated, after airborne navigation controller starts, Navigation Control journey
Sequence carries out initialization procedure first, the main connection established with remote control wireless telecommunications, establishes RTK-GPS connections, initialization
The work such as the correlation behavior parameter such as Navigation Control cycle, pid parameter.Then navigation control program starts to detect and entirely automatically controlled
The working condition of each sensing element and executive component of system, if either component can not normal work, navigation control program will
Its state parameter is recorded, and relevant information is sent to the human-computer interaction interface of Remote controlled Monitoring System, waits relevant issues to obtain
Processing, otherwise, navigation control program do not perform self-navigation operation；If System self-test is by the way that navigation control program will enter certainly
Dynamic navigation operation.Self-navigation operation is divided into a series of self-navigation processes according to the Navigation Control cycle.For arbitrarily leading automatically
Boat process has automatic steering control, automatic speed regulation, self-actuating brake to brake three subprocess.
For automatic steering control subprocess, navigation target value and navigation direction are read first, are then read RTK-GPS and are worked as
The latitude and longitude coordinates value of front position simultaneously switchs to plane coordinates, calculates current location to distance between navigation direction, i.e. lateral deviation
Value, and transversal discrepancy is scaled desired auto-steering in current control period according to roller present speed and it is expected angle
Degree；3rd, steered wheel angle sensor current steering angle is read, judges whether current steering angle reaches the pole of default
Limit value and it is less than auto-steering expected angle；Only just called less than limiting value and turn to PID control subprogram, PID control
Program carries out PID adjustment after relatively current steering angle and auto-steering expected angle, by corner deviation, calculates control electricity
Stream signal is transmitted to electric steering wheel transposition, vibrating roller press auto-steering is realized, so as to complete the auto-steering of a cycle
Control process.
For automatic speed regulation subprocess, navigation speed input desired value is read first, reads ranging for preventing collision radar signal, so
Vibrating roller press ground velocity radar surveying value is read afterwards, judges whether travel speed reaches the speed limit of default；Such as less than limit
Speed value then calls speed adjustment PID control subprogram, and PID control subprogram is in relatively current speed value and input speed desired value
Afterwards, velocity deviation is subjected to PID adjustment, calculates control electric current signal and be delivered to dynamoelectric accelerograph device, realize vibrating roller press
The adjustment of travel speed, so as to complete the adjustment process of the automatic Pilot speed in a cycle.
Subprocess is braked for self-actuating brake, point parking, work, urgent three kinds of brakes situation processed.For the operation knot that navigates
The Parking situation of beam, navigation target position coordinates is read first, then read RTK-GPS position coordinate datas, then relatively lead
Target location navigate with behind current location, according to position deviation whether in the range of systematic error, determining skidding current signal
Transmit to electrical brake device, realize brake parking task；For acceleration and deceleration service braking situation, closed when accelerator device is in
Valve state, according to vibrating roller and obstacle spacing from pace of change difference is shortened, call skidding PID subprograms, application
PID programs adjustment control skidding current signal, and transmit to electrical brake device, realize the purpose of drive speed adjustment.
For brake hard situation, stop sign is received when suddenly, maximum current signal is directly exported to braking device, realizes
Quick brake stops, so as to complete the automatic Pilot skidding process in a cycle.
Any self-navigation cycle simultaneously, record RTK-GPS position coordinates, time, travel direction, speed, steering
The related datas such as angle, and these information real-time radios are sent to long-distance monitorng device.
Fig. 4 is long-distance monitorng device workflow diagram.As illustrated, after long-distance monitorng device starts, monitoring programme is first
Initialized, the state of display monitoring device systems, the monitored vibroroller cmpacting machine information situation of display；Secondly, by vibration
Man-machine interaction remotely sends power up commands to roller number order successively；3rd, establish the airborne automatic control with vibrating roller press
The wireless telecommunications connection of system processed；4th, receive and show video, RTK-GPS, various sensors that vibrating roller press is sent
Information, and emergency processing request etc. is shown in specific display box；5th, it is man-machine according to vibrating roller press situation
Interaction is long-range to be sent the igniting of vibrating roller press, starts order；Subsequently enter long-range 3D mathematical models Navigation Control or man-machine interaction
It is remotely controlled subprocess.
Long-range 3D digital navigations control the flow of subprocess to be：Engineering construction progress and As-Is are first depending on, to work
The man-machine interaction of journey 3D mathematical models is cut into slices, and forms current construction working facial plane numerical map；Secondly in operation plane digitized map
Upper planning vibroroller cmpacting machine operation region, operating type, vehicle line；3rd, show vibrating roller press in operation numerical map
Operating area, vehicle line, and vibrating roller press position, driving trace at present；4th, according to vibrating roller press position and speed
Degree sends navigation information to airborne automated driving system in real time in advance.
Man-machine interaction remote control subprocess flow be：First, handling needs the request of emergent management in display box；According to please
Plead condition, self-navigation pattern is changed to man-machine remote control mode, judge and send manipulate steering wheel order, manipulate throttle life respectively
Make, manipulate skidding order, and the parameter value of the corresponding command；Secondly, according to the roller operation plane video of reception, traveling
Situations such as speed, it is therefore foreseen that the man-machine interaction of property adjusts the controls such as the travel speed, throttle limit, braking distance of vibrating roller press ginseng
Number, still using self-navigation process；3rd, during for rolling operation face privileged sites and more roller work compounds,
Self-navigation process can be automatically stopped, is switched to manual remote control vibrating roller press steering wheel, throttle and braking brake, is completed special
Different job task.
Remote supervisor can replace driving model with self-navigation with man-machine interaction remote control, switch in man-machine interaction remote control
, it is necessary to change navigation target automatically during self-navigation, chattering in short-term to avoid.
Vibrating roller press in operation, take second place, and self-navigation is preferential by pilot steering highest priority, Remote priority
Level is minimum.
Vibroroller cmpacting machine operation remote monitoring, self-navigation control and pilot steering are combined into one completely by the present invention
System, realize vibrating roller press according to engineering construction progress, the accurate operation of engineering 3D mathematical models, the people in special circumstances
Machine shields self-navigation function in the case of interacting Remote or pilot steering intervention, ensures that vibroroller cmpacting function is made safely
Industry.The vibroroller cmpacting machine automatic drive technology of the present invention plans that service line is accurate according to 3D mathematical models, efficiently avoid
The leakage occurred at present during construction operation is ground, intersected, the phenomenon that repetition rolls, and considerably improves mechanical work efficiency and matter
Amount.Particularly vibrating roller press interacts supervisory function bit by automatic Pilot with remote human-machine, can be not required to driver's operation, mitigate
Or the labor intensity and skill set requirements of human pilot are liberated.Vibroroller cmpacting machine automatic drive technology passes by GPS as position
Sensor, condition can be provided for all weather operations, also be the activity duration of effectively extension vibroroller cmpacting machine operation group.
Embodiment of above is merely to illustrate the present invention, not limitation of the present invention.All equivalent technical schemes
Belong to scope of the invention, scope of patent protection of the invention there should be claim restriction.
Claims (8)
1. a kind of water conservancy construction vibroroller cmpacting machine automatic drive system, including long-distance monitorng device and airborne self-navigation control dress
Put, long-distance monitorng device formulate navigation circuit, real-time receivers carry automatic navigation control equipment feedback various status informations and
Flash request information, control instruction is sent in real time to airborne automatic navigation control equipment；
Airborne automatic navigation control equipment gathers the status information of vibrating roller press and fed back to long-distance monitorng device in real time, receives
The navigation circuit that long-distance monitorng device is sent realizes self-navigation, receives control instruction and realizes remote driving；
The status information include the current position of vibrating roller press, speed, with the distance of barrier, the steering wheel angle number of degrees with
And operating environment video image；
The upper electricity of the control instruction including vibrating roller press, igniting, startup, steering, throttle, brake and stop working；
Characterized in that,
The long-distance monitorng device sends upper electricity, startup or flame-out instruction, the machine to airborne automatic navigation control equipment first
Carry automatic navigation control equipment and transmit roller position, speed and operating environment video image to the long-distance monitorng device；
The long-distance monitorng device is equipped with the 3D mathematical models of current construction engineering, and engineering 3D mathematical models are cut by progress
Piece, form current work scene；Covering is automatically generated according to operation scene in slice map and the operating direction of setting, working width
The operation navigation circuit of whole operation scene, and navigation control data is formed with leading line vector data format；By current work
Scene and navigation circuit simultaneously, are wirelessly transmitted to vibrating roller press in screen display；Set vibrating roller press gear, straight-line travelling
Speed, negotiation of bends speed, and show with being wirelessly transmitted to vibrating roller press, and skidding life is sent when compacting situation
Order.
2. water conservancy construction vibroroller cmpacting machine automatic drive system according to claim 1, it is characterised in that the remote monitoring
The transmission of information and instruction, airborne self-navigation control are realized between device and airborne automatic navigation control equipment by wireless telecommunications
Between device each several part processed, and information is exchanged also by wireless telecommunications between neighbouring other construction equipments.
3. water conservancy construction vibroroller cmpacting machine automatic drive system according to claim 1, it is characterised in that the remote monitoring
The transport condition and surrounding enviroment video of device real-time display feedback, remotely grasped in urgent or in particular cases progress man-machine interaction
Control vibroroller cmpacting machine operation.
4. water conservancy construction vibroroller cmpacting machine automatic drive system according to claim 1, it is characterised in that described airborne automatic
Navigation Control Unit includes：
RTK-GPS base stations and rover station, for obtaining vibrating roller press current location coordinate value；
Ground velocity radar, for obtaining vibrating roller press present speed；
Range radar, for obtaining the distance of vibrating roller press and barrier；
Steering angle sensor, for obtaining the vibrating roller press steering wheel angle number of degrees；
Camera, for obtaining vibroroller cmpacting machine operation ambient video image；
And the executive component of control vibrating roller press behavior, executive component include electric steering wheel, E-Gas, electronics system
Dynamic brake is transferred the files with electronic.
5. water conservancy construction vibroroller cmpacting machine automatic drive system according to claim 1, it is characterised in that described airborne automatic
Navigation Control Unit compares deviation between traveling-position and navigation target in real time, and control vibrating roller press steering wheel is adjusted through PID,
Realize target；Deviation relatively between travel speed and target speed value in real time, control roller electronics oil is adjusted through PID
Door；Check in real time, judge operating environment information, automatically control electric brake element and realize at parking, operation and emergency
Reason.
A kind of 6. water conservancy construction vibroroller cmpacting machine automatic drive method：
Navigation circuit is formulated using long-distance monitorng device and is provided to airborne automatic navigation control equipment, by airborne self-navigation control
Device processed controls the action executing of vibrating roller press according to navigation circuit, realizes self-navigation；
The various status informations of vibrating roller press are gathered in real time using airborne automatic navigation control equipment and feed back to remote monitoring
Device, long-distance monitorng device send corresponding control instruction to airborne automatic navigation control equipment according to these information, realized distant
Control drives；
The status information comprises at least distance, the steering wheel angle degree of the current position of vibrating roller press, speed and barrier
Number and operating environment video image；
The upper electricity of the control instruction including vibrating roller press, igniting, startup, steering, throttle, brake and stop working；
Characterized in that,
The long-distance monitorng device sends upper electricity, startup or flame-out instruction, the machine to airborne automatic navigation control equipment first
Carry automatic navigation control equipment and transmit roller position, speed and operating environment video image to the long-distance monitorng device；
The long-distance monitorng device is equipped with the 3D mathematical models of current construction engineering, and engineering 3D mathematical models are cut by progress
Piece, form current work scene；Covering is automatically generated according to operation scene in slice map and the operating direction of setting, working width
The operation navigation circuit of whole operation scene, and navigation control data is formed with leading line vector data format；By current work
Scene and navigation circuit simultaneously, are wirelessly transmitted to vibrating roller press in screen display；Set vibrating roller press gear, straight-line travelling
Speed, negotiation of bends speed, and show with being wirelessly transmitted to vibrating roller press, and skidding life is sent when compacting situation
Order.
7. water conservancy construction vibroroller cmpacting machine automatic drive method according to claim 1, it is characterised in that if adjustment turns
Exceed the limiting value of setting to rotation angle number, speed, then airborne automatic navigation control equipment sends steering error message；Such as hair
Existing obstacle distance pace of change is more than setting, then sends emergent management request to long-distance monitorng device.
8. water conservancy construction vibroroller cmpacting machine automatic drive method according to claim 1, it is characterised in that if remote driving
Shield Function for Automatic Pilot；
Such as pilot steering intervention, then automatic Pilot and remote driving function are shielded；
That is, self-navigation driving priority is less than remote driving, and remote driving priority is less than pilot steering.
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