CN109542105A - A kind of subgrade and pavement Intelligent unattended rcc system - Google Patents
A kind of subgrade and pavement Intelligent unattended rcc system Download PDFInfo
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- 238000009490 roller compaction Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
The present invention provides a kind of subgrade and pavement Intelligent unattended rcc systems, including roll the airborne intelligent arithmetic system of machine control system, unmanned roller sensory perceptual system, high-accuracy position system, wireless network communications system, roller and long-distance intelligent cloud service system.Unmanned roller sensory perceptual system perceives roller ambient enviroment, and feeds back to the airborne intelligent arithmetic system of roller；The unmanned roller total system of the airborne intelligent arithmetic system intelligent control of roller, and the motion state that control signal controls roller is issued to machine control system is rolled；High-accuracy position system provides high accuracy positioning data；Wireless network communications system builds high-speed radiocommunication link；The realization of long-distance intelligent cloud service system remotely monitors unmanned roller and distance dynamic controls, the cluster Collaborative planning management of more unmanned rollers is supported simultaneously, the present invention has the characteristics that cloud computing and storage, more roller cluster work compounds, and has the function of adaptive working scene.
Description
Technical field
The invention belongs to trackbed inspection technical field, in particular to a kind of subgrade and pavement Intelligent unattended rcc system,
It can be used for the control of the fields such as highway, railway, airport, dykes and dams, bridge, harbour, tunnel subgrade and pavement placement grinding quality.
Background technique
The roller compaction construction operation of trackbed inspection is the process taken time and effort very much together, and each layer that fills requires to grind
Pressure, so rolling through entire filling construction process.And the construction period of large-scale trackbed inspection is longer, at present substantially
Vibrating roller press, which is operated, by driver carries out operation.Driving vibrating roller press is a Xiang Fanchong, duplicate high-intensitive manual work,
Operator is easy fatigue, operating environment is affected to operator's health, and vibrating roller press operator is easy to appear
Operation error or error cause subgrade and pavement compacted density insufficient or poor compacting uniformity, seriously affect subgrade and pavement and apply
Work construction quality.
In order to reduce vibrating roller press labor intensity of operating staff, improve trackbed inspection roller compaction construction quality, it is based on
The automatic navigation control system of GPS technology and automatic control technology becomes a solution.Changsha Mine Inst is in 1995
Year have developed with distant control function nobody roll vibrated roller, and be applied to mine road and build.2000, Xiang Tan Jiang Lu
Nobody rolls vibrated roller for Mechanology Inc. and University of Science and Technology, state joint research and development W1102DZ type high-performance, can when testing at the scene
It is autonomous to complete the basic operations such as igniting, starting, speed change, steering, reversing, parking.For the wider earth and stone material of particle size distribution range,
Liu Tianyun etc. has developed a kind of water conservancy construction vibration automated driving system, which can effectively solve earth and rockfill dam and fill the adjacent work of layer
It repeated between industry face, leak and grind, intersect the problems such as rolling.In addition, the country also achieves certain research achievement in agriculture field.South China
Agriculture university and thunder irrigate heavy industry and have developed the automatic navigation control system based on RTK-GPS technology, solve farmland sowing and " broadcast row
It is not straight, to connect row inaccurate " bottleneck problem.Rice transplanter, RTK-GPS technology and automatic control technology are slept based on XDNZ630 type, it is big
It benefits the nation etc. and to have developed rice transplanter self-navigation steering system, which has the function of automatically turning to row navigation and the edge of a field.
Trackbed inspection construction is different from the fields such as agricultural tillage, aviation flight, hydraulic engineering.The latter is due to operation ring
Border is fixed, and can plan that navigation circuit, the navigation routine especially formulated can repeat using cut-and-dried electronic map
It uses；And the characteristics of the former trackbed inspection construction is work surface environment as engineering construction process constantly converts, and causes to advise
It draws navigation circuit and needs to track construction place work surface map, and required working space working face map is not to be determined in advance
, it needs to be determined according to construction speed.Therefore, trackbed inspection vibrating roller press automated navigation system needs are built according to engineering
If progress and working space, which are constantly planned, updates work surface map and navigation circuit.In addition, existing vibrating roller press is automatic at present
Control loop belongs to separate unit construction operation mode, can not carry out cluster association by the more vibrating roller press with automated driving system
Same operation, this will be unable to the progress demand for meeting extensive trackbed inspection construction.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of subgrade and pavement Intelligent unattended stone rollers
Pressure system, the system can perceive roller ambient enviroment, and by the signal perceived around unmanned roller feedback to rolling
The airborne intelligent arithmetic system of machine issues corresponding control signal to the movement shape of roller by the airborne intelligent arithmetic system of roller
State is controlled, and is remotely monitored to unmanned roller by long-distance intelligent cloud service system and distance dynamic controls, together
When support the management of cluster Collaborative planning and schedule job of more unmanned rollers, and high-accuracy position system and wireless network are logical
Letter system provides high-precision location data and high-speed radiocommunication link for entire unmanned rcc system；With intelligence, height
The features such as effect, real-time, more clusters, it can be achieved that remote intelligent the unmanned rolling operation of more clusters.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of subgrade and pavement Intelligent unattended rcc system characterized by comprising
Unmanned roller sensory perceptual system acquires the real time data of unmanned roller ambient enviroment object；
High-accuracy position system, the spatial position in geographical location and site operation machinery to operating area carry out high-precision
Degree positioning；
Wireless network communications system is the data link layer of whole system, provides the communication channel of real time high-speed, ensures nothing
The group operation of people's roller；
Machine control system is rolled, accelerator control device, shift-position control apparatus and control for brake comprising unmanned roller
Device realizes the operation operation control of unmanned roller；
Long-distance intelligent cloud service system monitors the unmanned roller of remote job in real time, and realizes more rollers
Swarm intelligenceization dynamic management and roller geographic movements track data generate, to realize the unmanned roller of maximal efficiency
Operation；
The airborne intelligent arithmetic system of roller, the airborne intelligent arithmetic system of roller, is the core system of unmanned roller,
It realizes and comprehensively control is carried out to unmanned roller airborne equipment.By the number of unmanned roller sensory perceptual system and high-accuracy position system
Accordingly and unmanned roller real time kinematics status data carries out Hybrid Decision-making analysis, and combines the geographic movements track of roller
Data generate and generate advance, deflection angle, turn command, to guarantee to move according to motion trace data, radar, infrared, camera
Equal detecting sensors data instruct to generate brake, braking, deflection deflection etc., with guarantee driving safety, the above various movements
Control instruction is operated, is supplied to and rolls machine control system realization motor performance.
The unmanned roller sensory perceptual system mainly sets the barrier of ambient enviroment, pedestrian and movement all around
It is standby to carry out data capture, perception static state and dynamic environment object, while identification people and object in real time.
The unmanned roller sensory perceptual system is mainly to the barrier of ambient enviroment, pedestrian, mobile device all around
Capture data are carried out, real time environmental data is supplied to the airborne intelligent arithmetic system of roller and is used to divide the intelligence of ambient enviroment
Analysis, and then realize to front pedestrian braking, barrier is carried out the response such as to avoid.It is the set of multiple sensors device, main
It to include that the left and right sides ultrasonic distance measuring radar for being arranged in unmanned roller two sides, the forward direction for being arranged in unmanned roller front are super
Sound ranging radar and infrared camera, are arranged in nobody at the backward ultrasonic distance measuring radar for being arranged in unmanned roller rear portion
64 line laser radars at the top of roller and the inertial sensor being arranged on unmanned roller, wherein each ultrasonic distance measurement thunder
Up to being mainly used for perceiving the object of short distance around roller, 64 line laser radars be mainly used for perceiving long range to rolling road
Condition to ensure that unmanned roller is rolled on the road surface of opposed flattened rule, while perceiving remote barrier and nobody
Roll a group of planes；Inertial sensor is mainly used for perceiving the motion state of unmanned roller, and infrared camera is mainly used for front
Personage and moving target fast Acquisition, the image data of capture carries out intelligent recognition point by unmanned roller sensory perceptual system
Class, the specific corresponding roller behaviour of progress in kind that the airborne intelligent arithmetic system of roller will be identified according to each sensing module
Control.
The unmanned roller sensory perceptual system will carry out real-time perception from static and dynamic environment object, while to people and object
With real-time identification function, is conducive to airborne intelligent arithmetic system and carries out carrying out manipulation of taking exercises rapidly to unmanned roller
Decision.
The high-accuracy position system is based on the RTK high-precision of global positioning system (GPS) or BEI-DOU position system (BDS)
Location structure, realizing has the positioning accuracy of Centimeter Level, provides high-precision geography for the working path planning of unmanned roller
Location information data, while according to its high-precision location data, the operating area geography position of the engineering of entire project will be obtained
Confidence breath, provides authentic data for gridding region and unmanned roller motion profile.
The machine control system that rolls is controlled primarily by the airborne intelligent arithmetic system of roller, mainly includes that roller is automatic
Igniter, roller speed control unit, roller brake control, roller front-wheel are biased to control device, according to phase
The control instruction answered such as is started, is accelerated, being turned, being advanced, being retreated at the controls manipulation, realize to apparatus above by command signal to
The implementation of concrete operations.
It is described roll machine control system have it is very high integrated, other systems will need directly to pass through instruction according to scene
The manipulation that roller can efficiently be carried out rapidly, facilitates the flexible access of other intelligence systems.
The geographic movements track data of the swarm intelligenceization dynamic management and roller generates, and is by high accuracy positioning system
The high-precision geographic coordinate data for the complete operating area that system obtains wait the gridding cutting in regions, becomes multiple griddings
Operating area is not rolled then according to the position where the unmanned roller of current idle according to the distribution of minimum distance principle
Operating area gridding task data carry out intelligentized reciprocal rolling operation after unmanned roller receives this data；Institute
Stating motion trace data will be generated by the geographical coordinate of net region, unmanned roller along net region axis route
Diameter is back and forth rolled.
The unmanned roller carries out multipass number according to operating area gridding task data and reasonably rolls until reaching stone roller
Expected effect is pressed, then the long-distance intelligent cloud service system redistributes new operating area periodically again and rolls path
Data, until entirely rolling project completion.
The airborne intelligent arithmetic system of the roller, has artificial intelligence feature, using sensory perceptual system data in real time into
Row motion analysis simultaneously makes movement manipulation decision, fully ensures that the unmanned manipulation efficiency of roller.
The long-distance intelligent cloud service system realizes remotely intelligently monitoring function, user is made not limited progress by distance
The intelligent operation of long-range unmanned roller cluster, while the intelligent dispatch of the cluster of the unmanned roller in more operation areas, thus
It substantially increases and rolls efficiency.
Compared with current prior art, Intelligent unattended rcc system of the invention has cloud computing and storage, more rollers
The characteristics of cluster work compound, and have the function of adaptive working scene.
Detailed description of the invention
Fig. 1 is Intelligent unattended rcc system schematic diagram provided by the invention.
Fig. 2 is the structural block diagram of unmanned roller airborne equipment system provided by the invention.
Fig. 3 is each intelligent system apptss assembling structure schematic diagram on unmanned roller provided by the invention.
Fig. 4 is roller compaction construction operating area provided by the invention schematic diagram.
Specific embodiment
The present invention is described in detail with attached drawing combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understand the present invention, but the invention is not limited in any way.It should be pointed out that the general of this field
For logical technical staff, without departing from the inventive concept of the premise, several changes and improvements can also be made.These are belonged to
Protection scope of the present invention.
The present invention provides a kind of subgrade and pavement Intelligent unattended rcc systems, have more cluster work compounds, intelligence, height
Imitate the functions such as operation, long-range monitoring, a variety of environment self-adaptions.
According to Fig. 1 and Fig. 2 comprising roll machine control system 111, unmanned roller sensory perceptual system, high-precision fixed
The airborne intelligent arithmetic system 102 of position system, wireless network communications system, roller and long-distance intelligent cloud service system 5.In Fig. 1
The practical framework of the interactive relation and whole system between each system is specifically illustrated, two unmanned stone rollers are shown in figure
Press 1, but practical application is not limited to two；Fig. 2 main presentation structural block diagram of unmanned roller airborne equipment system；Fig. 3
Main presentation assembling structure schematic diagrams of each intelligent system apptss of unmanned roller on unmanned roller 1.
In rolling machine control system 111, mainly include roller automatic ignition device, roller speed control unit,
Roller brake control, roller front-wheel are biased to the relevant apparatus of the unmanned roller 1 of the manipulation such as control device.Roller control
System 111 processed will realize to apparatus above by the implementation of command signal to concrete operations, mainly realized in specifically manipulating with
Lower motion state, starting advance, retreat, accelerating, slowing down, turning, brake, closing the operation such as roller dynamical system.
Unmanned roller sensory perceptual system, the system are the set of multiple sensors device, mainly include left and right sides ultrasonic wave
Range radar 103, forward direction ultrasonic distance measuring radar 105, backward ultrasonic distance measuring radar 108, infrared camera 106, inertia pass
Sensor 104,64 line laser radars 107, wherein ultrasonic radar mainly perceives the object of short distance around roller,
Under unmanned 1 motion state of roller, when the left and right sides and rear have object close to when alarm, when front has barrier to lean on
Emergency brake operation is carried out when close；Before inertial sensor 104 is mainly used for movement velocity detection and the roller of roller
The detection of wheel angle degree, provides motion state data to roll machine control system；64 line laser radars 107 are mainly used for over long distances
Perceive to rolling road conditions, to ensure that unmanned roller 1 is rolled on the road surface of opposed flattened rule, while can also be with
To remote barrier and nobody roll the perception of a group of planes；Infrared camera 106 is mainly used for personage and fortune to front
The image data of capture is carried out intelligent recognition classification, roller machine by the fast Acquisition of moving-target, unmanned roller sensory perceptual system
Intelligentized alert response will be carried out according to its result by carrying intelligent arithmetic system.
High-accuracy position system is mainly made of following device, base station apparatus 2, mobile station apparatus based on GPS or BDS
Thus 110 and GPS or BDS satellite 3 will form the RTK real-time positioning system based on GPS or BDS, wherein mobile station apparatus
110 are mountable on unmanned roller 1.The high-accuracy position system will realize the positioning accuracy of Centimeter Level, pass through this high-precision
Positioning system realize drafting to the geographical coordinate in roadbed rolling operation region and nobody roll and position and roll in real time
The relevant function such as the path planning of machine is realized.
Wireless network communications system is mainly made of airborne communicator 109, communication terminal 6 etc., which is entire
Communication line provides high speed data link, this wireless communication system will be passed using powerful 2.4GHz wireless frequency signal
Defeated, bandwidth can achieve 100M or more, fully ensure that the high-speed communication of big data link；The wireless communication system is mainly used
It is monitored in unmanned 1 real-time status data of roller and nobody rolls the transmission of the Multi computer cooperation scheduling signals of cluster.
Long-distance intelligent cloud service system 5, main realize monitor long-range unmanned roller operation cluster in real time, with
And the intelligentized scheduling of each unmanned roller 1 in operating area, to realize that each operating area is efficiently rolled, each operation
The division in region is as shown in Figure 4.Before unmanned roller 1 start and rolled, Intelligent Dynamic is provided by the system and is planned
Rolling operation region and motion trace data, then unmanned roller 1 will according to this data carry out multipass number reasonably grind
Straightening rolls expected effect to reaching, and redistributes new operating area by the system periodically again at this time and rolls number of path
According to until entirely rolling project completion.
The airborne intelligent arithmetic system 102 of roller, which is that unmanned roller 1 realizes unpiloted core system,
Airborne other systems signal is carried out integrated treatment by it below will specifically bright realization to realize unpiloted function
Unpiloted process.
Firstly, the high-precision geographic coordinate data of the complete operating area of entire project is obtained by high-accuracy position system,
Long-distance intelligent cloud service system cuts the segmentation that this purpose geographic coordinate data is carried out equal region areas, becomes to have multiple
Gridding region, as shown in Figure 4；
Then, long-distance intelligent cloud service system 5 is assigned to more by each gridding area data according to minimum distance principle
The airborne intelligent arithmetic system 102 of a available roller, neighbouring idle unmanned stone roller is distributed in the region that will also do not roll
Press, which is dynamically to dynamically distribute unfinished gridding region, to realize the more clusters of dynamic high-efficiency
Operation.After unmanned roller 1 receives gridding area data, starting roller, each assembly system function for opening roller
Energy advances according to the motion profile of distribution.
When unmanned roller sensory perceptual system captures front fixed obstacle, advance of detouring will be carried out；Work as infrared photography
First 106 capture pedestrian in warning region, will trigger brake operating, stop roller, after warning region releases alarm
It moves on；When 64 line laser radars 107 scanning to road surface ahead has dell or static barrier at a distance, it will number
According to long-distance intelligent cloud service system 5 is reported to, display, and warning note work people then is marked in remote monitoring platform
Member, unmanned roller 1 will carry out selecting to detour or continue the decisions such as rolling operation according to the threshold value being arranged in advance.When nobody rolls
When machine 1 moves to the one end in gridding region, the airborne intelligent arithmetic system 102 of roller will be controlled by instruction triggers roller
System progress roller turns around to manipulate.Process is successively rolled to be sequentially completed the entire project of rolling.Pass through the real-time of more clusters
Efficiently scheduling, and then realize the high-efficient homework of long-range more clusters.
Claims (7)
1. a kind of subgrade and pavement Intelligent unattended rcc system characterized by comprising
Unmanned roller sensory perceptual system acquires the real time data of unmanned roller ambient enviroment object；
High-accuracy position system, the spatial position in geographical location and site operation machinery to operating area carry out high-precision fixed
Position；
Wireless network communications system is the data link layer of whole system, provides the communication channel of real time high-speed, ensures unmanned grind
The group operation of press；
Machine control system is rolled, accelerator control device, shift-position control apparatus and brake control comprising unmanned roller,
Realize the operation operation control of unmanned roller；
Long-distance intelligent cloud service system monitors the unmanned roller of remote job in real time, and realizes the collection of more rollers
The geographic movements track data of the management of colony intelligenceization dynamic and roller generates；
The airborne intelligent arithmetic system of roller, by the data of unmanned roller sensory perceptual system and high-accuracy position system and nobody
Roller real time kinematics status data carries out Hybrid Decision-making analysis, and combines the geographic movements track data of roller, generates
Motor performance control instruction is supplied to and rolls machine control system realization motor performance.
2. subgrade and pavement Intelligent unattended rcc system according to claim 1, which is characterized in that the unmanned roller perception
System mainly carries out data capture to the barrier of ambient enviroment, pedestrian and mobile device all around, perception it is static and
Dynamic environment object, while identification people and object in real time.
3. subgrade and pavement Intelligent unattended rcc system according to claim 1, which is characterized in that the unmanned roller perception
System is the set of multiple sensors device, and main includes the left and right sides ultrasonic distance measurement thunder for being arranged in unmanned roller two sides
It reaches, be arranged in the forward direction ultrasonic distance measuring radar of unmanned roller front and infrared camera, be arranged in unmanned roller rear portion
Backward ultrasonic distance measuring radar, the 64 line laser radars that are arranged at the top of unmanned roller and be arranged on unmanned roller
Inertial sensor, wherein each ultrasonic distance measuring radar be mainly used for perceive roller around short distance object, 64 line lasers
Radar be mainly used for perceive long range to road conditions are rolled, to ensure that unmanned roller is ground on the road surface of opposed flattened rule
Pressure, while perceiving remote barrier and rolling a group of planes with nobody；Inertial sensor is mainly used for perceiving the fortune of unmanned roller
Dynamic state, infrared camera are mainly used for the personage to front and the fast Acquisition of moving target, unmanned roller perception system
The image data of capture is carried out intelligent recognition classification by system, and the airborne intelligent arithmetic system of roller will be known according to each sensing module
Not Chu specific in kind carry out corresponding roller manipulation.
4. subgrade and pavement Intelligent unattended rcc system according to claim 1, which is characterized in that the high-accuracy position system
The high-precision fixed bit architecture of RTK based on global positioning system (GPS) or BEI-DOU position system (BDS), realizing has Centimeter Level
Positioning accuracy provides high-precision geographical location information data for the working path planning of unmanned roller, while according to its height
The location data of precision will obtain the operating area geographical location information of the engineering of entire project, be gridding region and nobody
Roller motion profile provides authentic data.
5. subgrade and pavement Intelligent unattended rcc system according to claim 1, which is characterized in that described to roll machine control system
It is controlled primarily by the airborne intelligent arithmetic system of roller, mainly includes roller automatic ignition device, roller speed control dress
It sets, roller brake control, roller front-wheel deviation control device, realizes to apparatus above by command signal to specific behaviour
The implementation of work.
6. subgrade and pavement Intelligent unattended rcc system according to claim 1, which is characterized in that the swarm intelligenceization dynamic
The geographic movements track data of management and roller generates, and is the high-precision of the complete operating area for obtaining high-accuracy position system
Degree geographic coordinate data wait the gridding cutting in regions, becomes the operating area of multiple griddings, then according to current empty
Position where not busy unmanned roller, the operating area gridding task data not being rolled are distributed according to minimum distance principle, when
After unmanned roller receives this data, intelligentized reciprocal rolling operation is carried out；The motion trace data will pass through grid
The geographical coordinate in region generates, and unmanned roller back and forth rolled along the axis thread path of net region.
7. subgrade and pavement Intelligent unattended rcc system according to claim 6, which is characterized in that the unmanned roller according to
Gridding task data progress multipass number in operating area, which reasonably rolls until reaching, rolls expected effect, then the long-range intelligence
Energy cloud service system redistributes new operating area periodically again and rolls path data, until entirely rolling project completion.
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