CN105887627A - Automatic operation system of vibrating roller and using method of automatic operation system - Google Patents
Automatic operation system of vibrating roller and using method of automatic operation system Download PDFInfo
- Publication number
- CN105887627A CN105887627A CN201610063981.3A CN201610063981A CN105887627A CN 105887627 A CN105887627 A CN 105887627A CN 201610063981 A CN201610063981 A CN 201610063981A CN 105887627 A CN105887627 A CN 105887627A
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- Prior art keywords
- vibrating roller
- automatic operation
- operation system
- vehicle controller
- valve
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012806 monitoring device Methods 0.000 claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 4
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 9
- 230000001276 controlling effect Effects 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000004886 process control Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000009490 roller compaction Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 208000019622 heart disease Diseases 0.000 description 1
- 208000019423 liver disease Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/41—Apparatus having both rolling tools and ramming, tamping, or vibrating tools
Abstract
The invention discloses an automatic operation system of a vibrating roller and a using method of the automatic operation system. The automatic operation system comprises a hydraulic steering control device, a travel control device, a GPS positioning device, a monitoring device and a vehicle-mounted controller. The hydraulic steering control device, a speed control device, the travel brake control device, the GPS positioning device and the monitoring device are connected with the vehicle-mounted controller. The hydraulic steering control device comprises an electromagnetic stop valve, a proportional throttle valve and an electromagnetic exchange valve which are connected in sequence. The electromagnetic stop valve is connected with the vehicle-mounted controller and a steering pump at the same time, and the electromagnetic exchange valve is connected with a steering oil cylinder. The travel control device comprises a proportional electromagnetic valve which is connected with a travel drive pump and an emergency brake valve. The vehicle-mounted controller comprises a signal collecting and processing unit, a logical operation unit and an output unit. The monitoring device comprises a real-time monitoring device and a remote control device. Automatic operation and active control of the vibrating roller can be achieved, the control precision of the vibrating roller is improved, the process is controllable, and the construction efficiency is high.
Description
Technical field
The present invention relates to a kind of vibrating roller automatic operation system and using method thereof, be specifically related to a kind of vibrating roller automatic operation system and using method thereof.
Background technology
Vibrating roller, as the efficient compacting machinary of one, is increasingly widely used in the construction of road, dam；But vibrating roller is for meeting compacting job requirement, at work, himself with exciting agency complete machine can be made to produce violent vibration, operator is chronically at the resonance easily causing internal body organs in such working environment, thus causes the various digestive tract disease of human body, heart disease, hepatic disease etc.；Nervous system is also had a certain impact by mechanical vibration in addition, and therefore its working environment is more severe relative to for other engineering machinery, and the improvement to vibrating roller operator's working environment is the most necessary；But existing vibrating roller typically all needs manually to operate.
Summary of the invention
The present invention provides a kind of vibrating roller automatic operation system and using method thereof.
The technical solution used in the present invention is: a kind of vibrating roller automatic operation system, controls device, travel controlling system, GPS positioner, supervising device and Vehicle Controller including fluid-link steering；Described fluid-link steering controls device, speed control unit, travelling brake control device, GPS positioner and supervising device and is connected with Vehicle Controller respectively；Described fluid-link steering controls electromagnet cut off valve, proportional throttle valve and the solenoid directional control valve that device includes being sequentially connected with, and electromagnet cut off valve is simultaneously connected with Vehicle Controller and steering pump, and solenoid directional control valve connects steering cylinder；Described travel controlling system includes proportional solenoid, and proportional solenoid connects traveling and drives pump and emergency brake；Described Vehicle Controller includes signals collecting and processing unit, ALU and output unit；Described supervising device includes real-time monitoring device and remote control.
Further, also including ultrasonic sensor, ultrasonic sensor is arranged on vibrating roller, is connected to Vehicle Controller.
Further, also including angular encoder, obliquity sensor and pressure transducer, angular encoder, obliquity sensor and pressure transducer are arranged on vibrating roller, are simultaneously connected to Vehicle Controller.
Further, described remote control includes point transceiver, main transceiver and the remote controller being sequentially connected with；Transceiver is divided to be also connected to Vehicle Controller.
Further, described real-time monitoring device includes industrial computer, and industrial computer is linked by CAN interface and picks up set controller.
Further, described GPS positioner is gps signal Acquisition Instrument, turns CAN communication adapter by RS232 and connects Vehicle Controller.
Further, also include velocity sensor, be arranged on vibrating roller, be simultaneously connected with speed control unit and Vehicle Controller.
The using method of a kind of vibrating roller automatic operation system based on GPS, it is characterised in that comprise the following steps:
Vibrating roller positional information is obtained by gps signal Acquisition Instrument；
Vibrating roller peripheral obstacle information is obtained by ultrasonic sensor；
Vehicle Controller plans initial travel route after receiving vibrating roller positional information and obstacle information；
Started by tele-control system；
In driving process, obtain vibrating roller driving parameters by angular encoder, obliquity sensor and pressure transducer；
According to vibrating roller driving parameters, peripheral obstacle information, positional information, controlling device by fluid-link steering and control vibrating roller travel direction, Negotiation speed controls device and controls vibrating roller travel speed.
Further, further comprising the steps of: real-time monitoring device can show the position of vibrating roller, travel speed and travel direction information in real time.
The invention has the beneficial effects as follows:
(1) present invention use GPS positioner combine fluid-link steering control device vibrating roller is remotely operated and automatically controls, fulfil assignment in the case of unmanned, the working environment of constructor can be effectively improved, can construct at any time thus lengthen working hours；
(2) present invention gathers vibrating roller by multiple sensors and uses parameter, uses parameter to combine GPS alignment system by vibrating roller and adjusts the motion of vibrating roller in real time, improve the precision of vibrating roller, it is achieved that process control；
(3) control of the present invention is actively to control, and can be prevented effectively from and process afterwards, carry out actively control during the course, be accurately controlled travel speed, it is to avoid repeat to roll, effectively reduce and do over again, it is provided that disposably roll qualification rate, improve efficiency of construction.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Fig. 2 is that fluid-link steering of the present invention controls apparatus structure schematic diagram.
Detailed description of the invention
The present invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, a kind of vibrating roller automatic operation system, control device, travel controlling system, GPS positioner, supervising device and Vehicle Controller including fluid-link steering；Described fluid-link steering controls device, speed control unit, travelling brake control device, GPS positioner and supervising device and is connected with Vehicle Controller respectively；Described fluid-link steering controls electromagnet cut off valve, proportional throttle valve and the solenoid directional control valve that device includes being sequentially connected with, and electromagnet cut off valve is simultaneously connected with Vehicle Controller and steering pump, and solenoid directional control valve connects steering cylinder；Described travel controlling system includes proportional solenoid, and proportional solenoid connects traveling and drives pump and emergency brake；Described Vehicle Controller includes signals collecting and processing unit, ALU and output unit；Described supervising device includes real-time monitoring device and remote control.
Fluid-link steering controls device all-hydraulic steering gear original with vibrating roller and exists simultaneously, by electromagnet cut off valve according to difference construction operating mode and construction requirement control electromagnet cut off valve dead electricity, it is achieved manually steering hydraulic system and the switching of automatic turning hydraulic system；Fluid-link steering controls device can control turning to and turning velocity of vibrating roller；Rotation direction is realized by solenoid directional control valve, turning velocity passing ratio throttle valve control；Supervising device can realize the remotely monitoring to vibrating roller duty and control.
Further, also including ultrasonic sensor, ultrasonic sensor is arranged on vibrating roller, is connected to Vehicle Controller；Utilize ultrasonic sensor detection vibrating roller around whether have object close, when detected within the specific limits object near time, vibrating roller can be automatically stopped operation, until object away from after continue to fulfil assignment.
Further, also including angular encoder, obliquity sensor and pressure transducer, angular encoder, obliquity sensor and pressure transducer are arranged on vibrating roller, are simultaneously connected to Vehicle Controller；Gather vibrating roller operative signals by angular encoder, obliquity sensor and pressure transducer, according to the job parameter of vibrating roller, the working path of vibrating roller is set.
Further, described remote control includes point transceiver, main transceiver and the remote controller being sequentially connected with；Transceiver is divided to be also connected to Vehicle Controller；Can realize easily remotely controlling by being wirelessly transferred.
Further, it is characterised in that described real-time monitoring device includes industrial computer, industrial computer is linked by CAN interface and picks up set controller；Kinestate and the positional information of vibrating roller can be monitored in real time by industrial computer.
Further, also include velocity sensor, be arranged on vibrating roller, be simultaneously connected with speed control unit and Vehicle Controller；The movement velocity of vibrating roller accurately measured by Negotiation speed sensor, in order to adjust the motion of vibrating roller in time.
Further, described GPS positioner is gps signal Acquisition Instrument, turns CAN communication adapter by RS232 and connects Vehicle Controller.
The using method of a kind of vibrating roller automatic operation system, it is characterised in that comprise the following steps:
Vibrating roller positional information is obtained by gps signal Acquisition Instrument；
Vibrating roller peripheral obstacle information is obtained by ultrasonic sensor；
Vehicle Controller plans initial travel route after receiving vibrating roller positional information and obstacle information；
Started by tele-control system；
In driving process, obtain vibrating roller driving parameters by angular encoder, obliquity sensor and pressure transducer；
According to vibrating roller driving parameters, peripheral obstacle information, positional information, controlling device by fluid-link steering and control vibrating roller travel direction, Negotiation speed controls device and controls vibrating roller travel speed.
Further, further comprising the steps of: real-time monitoring device can show the position of vibrating roller, travel speed and travel direction information in real time.
For realizing automatic running and the speed controlling of vibrating roller, pump is driven to transform former traveling；Former manual operation valve changes travel controlling system into, the electric current controlling proportional solenoid one end-coil changes the displacement travelling driving pumpage regulating piston, and then change the pivot angle travelling driving pump swash plate, adjust and travel the output flow driving pump, it is achieved the travel speed regulation of vibrating roller；Returning to middle position by control proportional solenoid simultaneously, make traveling drive pump delivery regulating piston to return to middle position, the wandering of driving motors is down to zero, and vibrating roller is out of service, i.e. completes travelling brake；Electromagnetic proportional valve is also connected with emergency brake simultaneously, it is possible to achieve brake hard.
The present invention controls device by fluid-link steering and realizes automatic steering control, can also retain pilot steering steering control system simultaneously；Electromagnet cut off valve is utilized to realize the switching of former car steering hydraulic system and auto-steering；In original system, steering pump connects steering cylinder by hydraulic steering gear；When electromagnet cut off valve no power, it is the artificial steering mode of former car；During electromagnet cut off valve energising, steering pump output fluid arrives steering cylinder after proportional throttle valve and solenoid directional control valve；The aperture of proportional throttle valve can be changed, it is achieved the regulation of turning velocity by controlling the electric current of proportional throttle valve coil；Obtain electric by the coil controlling solenoid directional control valve two ends different, control the flexible of steering cylinder, it is achieved the control turned to；When electromagnetic switch valve core is in middle position, stop turning to；The angle of vibrating roller is acquired by angular encoder, then sends signal to Vehicle Controller.
Vehicle Controller, as the core component of operating system, receives and processes signal, forms instruction and controls the operation of other devices；The realization of signals collecting and process function can not affect the operating function of former vibrating roller, therefore increases with two-position switch, it is achieved on the spot/remotely control；In order to coordinate hydraulic pressure steering control device, original mechanical handle replacing with an electric control handle, the analog value of Vehicle Controller collection handle output carries out the control of forward/backward judgement and travel speed；Negotiation speed sensor realizes the real-time monitoring to operating speed, and the travel speed Real-time Feedback to vibrating roller, controls the speed of vibrating roller；By ultrasonic sensor detection vibrating roller around whether have object close, when detected within the specific limits object near time, vibrating roller can be automatically stopped operation, until object away from after can continue to fulfil assignment；Vibrating roller completes to automatically control by remote controller, industrial computer and Vehicle Controller.
The present invention utilizes gps data collection to combine fluid-link steering control system and remotely operates vibrating roller, and can realize automatically controlling by arranging construction parameter in advance, make it can complete automatic job in the case of unmanned, can not only effectively improve the working environment of constructor, and be advantageously implemented automatization and the Based Intelligent Control that dam dam material rolls；The present invention, compared with the roller compaction construction method of traditional pilot steering vibrating roller, improves the precision of the process control such as the rolling apparatus speed of travel, number of rolling；The fluctuation range of above-mentioned parameter is greatly reduced, achieve process control, efficiently solve Traditional Man operation and control present in vibrating roller work progress that travel speed fluctuation is big, roll track pass exists superpressure, leakage pressure phenomenon, improve roller compaction processes quality and efficiency of construction；The present invention effectively achieves process and accurately controls, original passive monitoring control to be actively control, and efficiency of construction is higher；Use apparatus of the present invention and method can reduce the labor intensity of constructor simultaneously, effectively reduce the damage to human body under vibration environment, reduce the waste of human resources.
Claims (9)
1. a vibrating roller automatic operation system, it is characterised in that include that fluid-link steering controls device, travel controlling system, GPS positioner, supervising device and Vehicle Controller；Described fluid-link steering controls device, speed control unit, travelling brake control device, GPS positioner and supervising device and is connected with Vehicle Controller respectively；Described fluid-link steering controls electromagnet cut off valve, proportional throttle valve and the solenoid directional control valve that device includes being sequentially connected with, and electromagnet cut off valve is simultaneously connected with Vehicle Controller and steering pump, and solenoid directional control valve connects steering cylinder；Described travel controlling system includes proportional solenoid, and proportional solenoid connects traveling and drives pump and emergency brake；Described Vehicle Controller includes signals collecting and processing unit, ALU and output unit；Described supervising device includes real-time monitoring device and remote control.
A kind of vibrating roller automatic operation system the most according to claim 1, it is characterised in that also including ultrasonic sensor, ultrasonic sensor is arranged on vibrating roller, is connected to Vehicle Controller.
A kind of vibrating roller automatic operation system the most according to claim 1, it is characterized in that, also including angular encoder, obliquity sensor and pressure transducer, angular encoder, obliquity sensor and pressure transducer are arranged on vibrating roller, are simultaneously connected to Vehicle Controller.
A kind of vibrating roller automatic operation system the most according to claim 1, it is characterised in that described remote control includes point transceiver, main transceiver and the remote controller being sequentially connected with；Transceiver is divided to be also connected to Vehicle Controller.
A kind of vibrating roller automatic operation system the most according to claim 1, it is characterised in that described real-time monitoring device includes industrial computer, and industrial computer is linked by CAN interface and picks up set controller.
A kind of vibrating roller automatic operation system the most according to claim 4, it is characterised in that described GPS positioner is gps signal Acquisition Instrument, turns CAN communication adapter by RS232 and connects Vehicle Controller.
A kind of vibrating roller automatic operation system the most according to claim 1, it is characterised in that: also include velocity sensor, be arranged on vibrating roller, be simultaneously connected with speed control unit and Vehicle Controller.
8. the using method of a kind of vibrating roller automatic operation system as described in any one of claim 1-7, it is characterised in that comprise the following steps:
Vibrating roller positional information is obtained by gps signal Acquisition Instrument；
Vibrating roller peripheral obstacle information is obtained by ultrasonic sensor；
Vehicle Controller plans initial travel route after receiving vibrating roller positional information and obstacle information；
Started by tele-control system；
In driving process, obtain vibrating roller driving parameters by angular encoder, obliquity sensor and pressure transducer；
According to vibrating roller driving parameters, peripheral obstacle information, positional information, controlling device by fluid-link steering and control vibrating roller travel direction, Negotiation speed controls device and controls vibrating roller travel speed.
The using method of a kind of vibrating roller automatic operation system the most according to claim 8, it is characterised in that further comprising the steps of: real-time monitoring device can show the position of vibrating roller, travel speed and travel direction information in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610063981.3A CN105887627B (en) | 2016-01-28 | 2016-01-28 | A kind of vibrating roller automatic operation system and its application method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610063981.3A CN105887627B (en) | 2016-01-28 | 2016-01-28 | A kind of vibrating roller automatic operation system and its application method |
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| Publication Number | Publication Date |
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| CN105887627A true CN105887627A (en) | 2016-08-24 |
| CN105887627B CN105887627B (en) | 2018-03-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113741391A (en) * | 2021-08-31 | 2021-12-03 | 中交上海航道局有限公司 | Vibration rolls remote monitering system |
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- 2016-01-28 CN CN201610063981.3A patent/CN105887627B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201667016U (en) * | 2010-03-23 | 2010-12-08 | 中国水利水电第五工程局有限公司 | Intelligent construction control system of vibratory roller |
| CN201809703U (en) * | 2010-09-13 | 2011-04-27 | 三一重工股份有限公司 | Road roller and monitoring system thereof |
| CN202534136U (en) * | 2012-01-11 | 2012-11-14 | 长安大学 | 3rd generation (3G) network-based road roller remote monitoring and control system |
| CN203365683U (en) * | 2013-07-15 | 2013-12-25 | 深圳市博实结科技有限公司 | A dual mode vehicle-mounted information monitor terminal |
| CN203974668U (en) * | 2013-11-13 | 2014-12-03 | 周琴 | A kind of panorama lane shift prewarning monitoring system |
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| CN204881693U (en) * | 2015-07-21 | 2015-12-16 | 中山市拓维电子科技有限公司 | Intelligent monitoring system is rolled on road surface |
| CN105139677A (en) * | 2015-07-28 | 2015-12-09 | 苏州大学张家港工业技术研究院 | Uncontrolled intersection vehicle passing guiding system based on cooperative vehicle infrastructure and guiding method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113741391A (en) * | 2021-08-31 | 2021-12-03 | 中交上海航道局有限公司 | Vibration rolls remote monitering system |
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| CN105887627B (en) | 2018-03-27 |
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Commission number: 4W107844 Conclusion of examination: On the basis of claims 1-5 submitted by the patentee on December 13, 2018, the invention patent No. 201610063981.3 shall remain valid. Decision date of declaring invalidation: 20190515 Decision number of declaring invalidation: 39916 Denomination of invention: Automatic operation system of vibrating roller and using method of automatic operation system Granted publication date: 20180327 Patentee: SINOHYDRO BUREAU 5 Co.,Ltd.|Shanghai Tongxin Gaotai Machinery Equipment Co.,Ltd. |