CN109901576A - The long-range control method of road roller, tele-control system and road roller - Google Patents
The long-range control method of road roller, tele-control system and road roller Download PDFInfo
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- CN109901576A CN109901576A CN201910132782.7A CN201910132782A CN109901576A CN 109901576 A CN109901576 A CN 109901576A CN 201910132782 A CN201910132782 A CN 201910132782A CN 109901576 A CN109901576 A CN 109901576A
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Abstract
The invention proposes the long-range control methods of a kind of road roller, tele-control system and road roller, wherein road roller includes: car body；Communication device is set on car body, and communication device is for receiving teleinstruction and sending signal；Driving system is connected with communication device；Sensor-based system is connected with driving system and communication device, and sensor-based system is used to incude the driving information of road roller；Guiding device, for determining the location information and course information of road roller, wherein road roller receives teleinstruction by communication device, the location information of the driving information and road roller that are travelled with controlling driving system, and sensor-based system is incuded passes through communication device to external feedback.According to the technical solution of the present invention, for unpiloted road roller, a kind of remote driving mode is increased, solves the problems, such as that road roller is driven a vehicle hardly possible from parking position to operating area, and radar barrier avoiding function and position guiding function are used, improve the convenience that road roller drives, guides.
Description
Technical field
The present invention relates to unmanned technical field, in particular to a kind of road roller, a kind of tele-control system,
A kind of long-range control method of road roller.
Background technique
Unmanned road roller mostly uses semi-automatic driving mode, i.e., using automatic in the operating area for having planned path
It drives, and when road roller reaches the starting point of operating area from parking stall, using pilot steering；Since construction site is big, field
Engineering truck in ground is more, and environment is complicated, and safety is low.Driver walks in the venue, and there are biggish security risks.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
In view of this, it is an object of the present invention to provide a kind of road rollers.
It is another object of the present invention to provide a kind of tele-control systems.
It is another object of the present invention to provide a kind of long-range control methods of road roller.
To achieve the goals above, the technical solution of first aspect present invention provides a kind of road roller, comprising: car body；
Communication device is set on car body, and communication device is for receiving teleinstruction and sending signal；Driving system, with communication device phase
Even；Sensor-based system is connected with driving system and communication device, and sensor-based system is used to incude the driving information of road roller；Guiding dress
It sets, for determining the location information and course information of road roller, wherein road roller receives teleinstruction by communication device, with
The location information of driving information and road roller that control driving system is travelled, and sensor-based system is incuded passes through communication dress
It sets to external feedback.
It in the technical scheme, can be by the driving information of road roller, position by the setting of communication device and sensor-based system
Confidence ceases in real time to external feedback, and receives remote control commands by communication device, so as to realize that the remote control of road roller is driven
It sails, avoids driver and road roller is reached to the starting point of operating area from parking stall in person, and then avoid driver
In on construction ground the case where walking, reduce the quantity for walking personnel in construction site, reduces security risk, and drive
Personnel need to only be remotely controlled operation indoors, reduce labor intensity.
In the above-mentioned technical solutions, communication device includes: wireless bridge, for receiving teleinstruction and sending signal；It leads
Include: positioning antenna and course antenna to device, be set on car body, positioning antenna is used to determine the location information of road roller；
Course antenna, for determining the course information of road roller.
In the technical scheme, communication device includes wireless bridge, can reduce the interference of electromagnetic signal, accurate to receive far
Cheng Zhiling, guiding device can accurately provide the location information of road roller, to guarantee the standard of remote driving by positioning antenna
True property and timeliness；By course antenna, it is capable of providing the course of road roller, consequently facilitating determining the boat of remote driving road roller
To whether correctly, to be adjusted in time.
In the above-mentioned technical solutions, driving system includes: engine, is connected with communication device, and engine is in teleinstruction
Control under start or flame-out；Steering system is set on car body, and steering system is used for the steering of road roller；Constant-speed cruising device,
It is travelled for controlling road roller according to pre-set velocity.
In the technical scheme, by the way that engine is connected with communication device, convenient for directly controlling hair by teleinstruction
The starting of motivation is flame-out, promotes the convenience of remote control；Driving system includes steering system, constant-speed cruising device, is convenient for
The steering of long-range regulation speed and road roller, promotes the flexibility of remote control.
In any of the above-described technical solution, sensor-based system includes: obstacle avoidance sensor, set on car body front side and/or after
Side, obstacle avoidance sensor are connected with driving system, and obstacle avoidance sensor is used to detect the obstacle information before and after road roller；Wherein, until
A few obstacle avoidance sensor is located at the front side of car body.
In the technical scheme, by the way that the obstacle avoidance sensor that is connected with driving system is arranged, and before and after detecting road roller
Barrier is conducive to that road roller is made to automatically adjust driving status according to detected obstacle information by obstacle avoidance sensor,
To active dodge barrier, reduce the workload of remote control operation, improves the safety of road roller traveling；At least one is kept away
The front side that barrier sensor is located at car body further improves pressure convenient for detecting the barrier in driving direction in the process of moving
The safety of road machine traveling.
Wherein, obstacle information includes at least one or more of distance, size, form of barrier.
In the above-mentioned technical solutions, obstacle avoidance sensor is millimetre-wave radar, ultrasonic sensor, laser radar, image biography
Any one or a few in sensor.
In the technical scheme, obstacle avoidance sensor includes millimetre-wave radar, ultrasonic sensor, laser radar, image biography
Any one or a few in sensor, is conducive to the concrete model according to road roller, operating environment requirements etc., selects different biographies
Sensor promotes the flexibility of sensor-based system setting.
Preferably, select millimetre-wave radar as obstacle avoidance sensor, sensitivity is small, and strong antijamming capability is conducive to
The construction site work that the fine particles such as dust, flue dust are more, vibration is big, avoids road roller from frequently slowing down, stagnation of movement, promotes pressure road
The working efficiency of machine.
In the above-mentioned technical solutions, driving information includes at least: obstacle information, speed, oil level, oil pressure, oil temperature, Chinese herbaceous peony
Image information in any one or the combination of several of them.
In the technical scheme, driving information includes at least obstacle information, speed, oil level, oil pressure, oil temperature, Chinese herbaceous peony
Any one or the combination of several of them in image information when being convenient for remotely controlling, grasps the detailed vehicle condition of road roller in real time,
To carry out more targeted manipulation.
It is to be appreciated that may also can include barrier, but only show the figure of barrier in the image information of Chinese herbaceous peony
Picture does not show the distance and size of barrier.
The technical solution of second aspect of the present invention provides a kind of tele-control system, comprising: controller local area network uses
In transmission signal；Wireless bridge is connected with controller local area network；Remote driving platform passes through wireless bridge, controller local
The road roller of any one of network and above-mentioned first aspect technical solution is connected, and to issue teleinstruction to road roller, and receives
The driving information and location information of road roller feedback.
In the technical scheme, remote driving platform passes through controller local area network and wireless bridge and any of the above-described skill
The road roller of art scheme is connected, so as to issue teleinstruction to road roller, and receive road roller feedback driving information and
Location information, and then realize the long-range control to road roller, remote driving is realized to road roller in other words, avoids driver
Walking at the construction field (site), improves safety, reduces the labor intensity of driver.
In the above-mentioned technical solutions, remote driving platform includes: memory, for recording the driving trace of road roller；It is aobvious
Show device, for showing the driving information of road roller, the location information of the image information at front-rear position and road roller；Control
Device is connected with display, memory, and controller is used to adjust the driving status of road roller according to the driving information of road roller.
In the technical scheme, by the setting in memory, display and controller, be conducive to promotion remote control and drive
Sail the convenience of road roller.
In the above-mentioned technical solutions, tele-control system further include: base station is connected with road roller and remote driving platform,
Base station is used to form electronic map；Navigation module is set on remote driving platform, and navigation module is connected with base station, navigation module
For guiding road roller to travel to predeterminated position.
In the technical scheme, by setting base station, be conducive to form easy electronic map at the construction field (site), it is such
Electronic map signal is strong, after combining navigation module, more readily identifies, and travels convenient for guidance road roller to predeterminated position,
When especially there are multiple road rollers at scene, such Simple electronic map is more conducive to multiple road rollers while carrying out position
Set guidance.
The technical solution of third aspect present invention provides a kind of long-range control method of road roller, is used for above-mentioned technical side
The road roller and tele-control system of case, comprising: receive long-range enabled instruction, start the engine of road roller；According to default ginseng
Number control road roller traveling；Acquire the driving information of road roller；According to the driving information of road roller, the traveling shape of road roller is adjusted
State.
In the technical scheme, start engine by receiving long-range enabled instruction, and control and press according to parameter preset
Road machine traveling, while the driving information for also acquiring road roller is easy to grasping road conditions and vehicle condition in real time when encountering emergency case
Processing, and adjust driving status in time, such as adjust the speed of road roller, driving direction etc., it realizes more conveniently long-range
It drives.
In the above-mentioned technical solutions, the long-range control method of road roller further include: set up base station；It establishes using base station as origin
Coordinate system；Obtain the coordinate of road roller current location and the coordinate of target position；According to the coordinate of road roller current location and
The coordinate of target position, guidance road roller are travelled by current location to target position.
In the technical scheme, setting up by base station, establish using base station as the coordinate system of origin, can be formed in this way with
Simple electronic map based on coordinate system, it is all more simple for the positioning of road roller current location and target position, favorably
It is travelled by current location to target position in guidance road roller, especially when there is multiple road rollers, uses and this be with coordinate system
The Simple electronic map on basis navigates more convenient.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Fig. 1 shows the structural schematic block diagram of road roller according to an embodiment of the invention；
Fig. 2 shows the structural schematic block diagrams of tele-control system according to an embodiment of the invention；
Fig. 3 shows the structural schematic diagram of remote driving platform according to an embodiment of the invention；
Fig. 4 shows the communication scheme of tele-control system and road roller according to an embodiment of the invention；
Fig. 5 shows guidance schematic diagram in position according to an embodiment of the invention；
Fig. 6 shows the flow diagram of long-range control method according to an embodiment of the invention；
Fig. 7 shows the flow diagram of long-range control method according to another embodiment of the invention.
Wherein, corresponding relationship of the Fig. 1 into Fig. 7 between appended drawing reference and component names are as follows:
10 road rollers, 100 car bodies, 102 communication devices, 104 driving systems, 106 sensor-based systems, 108 guiding devices, 20 is remote
Process control system, 200 controller local area networks, 202 wireless bridges, 204 remote driving platforms, 2040 video viewing areas, 2042
Drive boot section, 2044 Driving control areas, 30 base stations, 40 target positions.
Specific embodiment
It is with reference to the accompanying drawing and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
According to some embodiments of the present invention referring to Fig. 1 to Fig. 7 description.
As shown in Figure 1, the road roller 10 of the one embodiment proposed according to the present invention, comprising: car body 100；Communication device
102, it is set on car body 100, communication device 102 is for receiving teleinstruction and sending signal；Driving system 104 is filled with communicating
102 are set to be connected；Sensor-based system 106 is connected with driving system 104 and communication device 102, and sensor-based system 106 is for incuding pressure road
The driving information of machine 10；Guiding device 108, for determining the location information and course information of road roller 10, wherein road roller 10
Teleinstruction is received by communication device 102, is travelled with controlling driving system 104, and sensor-based system 106 is incuded
The location information of driving information and road roller 10, course information pass through communication device 102 to external feedback.
It in this embodiment, can be by the traveling of road roller 10 by the setting of communication device 102 and sensor-based system 106
Information, location information receive remote control commands by communication device 102 in real time to external feedback, so as to realize pressure road
The remote driving of machine 10 avoids the starting point that road roller 10 is reached operating area by driver from parking stall in person, in turn
Avoid driver on construction ground in walking the case where, reduce the quantity for walking personnel in construction site, reduce
Security risk, and driver need to only be remotely controlled operation indoors, reduce labor intensity.
In the above-described embodiments, communication device 102 includes: wireless bridge 202, for receiving teleinstruction and sending letter
Number；Guiding device 108 includes: positioning antenna and course antenna, is set on car body 100, and positioning antenna is for determining road roller
10 location information；Course antenna, for determining the course information of road roller 10.
In this embodiment, communication device 102 includes wireless bridge 202, can reduce the interference of electromagnetic signal, accurately connect
Teleinstruction is received, guiding device 108 can accurately provide the location information of road roller 10, to guarantee distant by positioning antenna
Control the accuracy and timeliness driven；By course antenna, it is capable of providing the course of road roller 10, consequently facilitating determining that remote control is driven
Whether the course for sailing road roller 10 is correct, to be adjusted in time.
In the above-described embodiments, driving system 104 includes: engine, is connected with communication device 102, engine is long-range
Start under the control of instruction or flame-out；Steering system is set on car body 100, and steering system is used for the steering of road roller 10；Constant speed
Cruising device is travelled for controlling road roller 10 according to pre-set velocity.
In this embodiment, by the way that engine is connected with communication device 102, convenient for directly controlling hair by teleinstruction
The starting of motivation is flame-out, promotes the convenience of remote control；Driving system 104 includes steering system, constant-speed cruising device, just
In the steering of long-range regulation speed and road roller 10, the flexibility of remote control is promoted.
Optionally, steering system includes electro-hydraulic proportional valve.
In some embodiments, road roller 10 receives remote control command, such as passes through CAN (Controller Area
Network, CAN controller local area network) starting of bus signal control engine and flame-out, pass through electro-hydraulic proportional valve control pressure
Road machine 10 turns to, and is travelled according to the speed of setting, to realize the purpose that remote control drives.
In any of the above-described a embodiment, sensor-based system 106 includes: obstacle avoidance sensor, set on car body 100 front side and/
Or rear side, obstacle avoidance sensor are connected with driving system 104, obstacle avoidance sensor is used to detect the barrier letter of 10 front and back of road roller
Breath；Wherein, at least one obstacle avoidance sensor is located at the front side of car body.
In this embodiment, by the way that the obstacle avoidance sensor being connected with driving system 104 is arranged, and 10 front and back of road roller is detected
Barrier, be conducive to make by obstacle avoidance sensor road roller 10 according to detected obstacle information automatic adjustment traveling shape
State improves the safety of the traveling of road roller 10 so that active dodge barrier, reduces the workload of remote control operation；At least
The front side that one obstacle avoidance sensor is located at car body further mentions convenient for detecting the barrier in driving direction in the process of moving
The safety of the traveling of road roller 10 is risen.
Wherein, obstacle information includes at least one or more of distance, size, form of barrier.
In the above-described embodiments, obstacle avoidance sensor is millimetre-wave radar, ultrasonic sensor, laser radar, image sensing
Any one or a few in device is conducive to the concrete model according to road roller 10, operating environment requirements etc. in this way, selects different
Sensor, promoted sensor-based system 106 be arranged flexibility.
Preferably, select millimetre-wave radar as obstacle avoidance sensor, sensitivity is small, and strong antijamming capability is conducive to
The construction site work that the fine particles such as dust, flue dust are more, vibration is big, avoids road roller 10 from frequently slowing down, stagnation of movement, promotes pressure
The working efficiency of road machine 10.
In some embodiments, the front and back of road roller 10 is separately installed with millimetre-wave radar, and millimetre-wave radar is for detecting
10 front and back barrier of road roller reduces speed according to the distance apart from barrier, it is ensured that road roller 10 when an obstacle is detected
Driving safety.
Optionally, in some embodiments, obstacle avoidance sensor is camera, is set on car body 100, and and communication device
102 are connected；Camera is used to acquire the environmental information and obstacle information around road roller 10, wherein at least one camera
Positioned at the front side of car body 100.
In this embodiment, obstacle avoidance sensor is camera, convenient for by the ambient enviroment of the acquired road roller 10 of camera
The remote operator of distant place is fed back to video or graphic form in real time, an especially at least camera is located at car body
100 front side, even if so that remote operator distance farther out, also has impression on the spot in person, is convenient for remote operator straight
The ambient enviroment that road roller 10 is experienced on ground is seen, the convenience and accuracy of manipulation are promoted.
In some embodiments, former and later two cameras are installed in side respectively before and after the driver's cabin of road roller 10, are used for
Remote control obtains the video information driven.The video data of camera passes through 202 high-speed transfer of wireless bridge to remote driving platform
At 204.
In the above-described embodiments, driving information includes at least: obstacle information, speed, oil level, oil pressure, oil temperature, Chinese herbaceous peony/
Any one or the combination of several of them in afterwards/left/right image information.
In this embodiment, driving information include at least obstacle information, speed, oil level, oil pressure, oil temperature, vehicle it is front/rear/
Any one or the combination of several of them in the image information of left/right when being convenient for remotely controlling, grasps road roller 10 in real time
Detailed vehicle condition, to carry out more targeted manipulation.
It is to be appreciated that vehicle it is front/rear/image information of left/right in, may also can include barrier, but only show
The image of barrier does not show the distance and size of barrier.
As shown in Fig. 2, the embodiment of second aspect of the present invention provides a kind of tele-control system 20, comprising: controller
Local area network 200, is used for transmission signal；Wireless bridge 202 is connected with controller local area network 200；As shown in figure 4, remote control is driven
Platform 204 is sailed, the pressure road of any one of wireless bridge 202, controller local area network 200 and above-mentioned first aspect embodiment is passed through
Machine 10 is connected, and to issue teleinstruction to road roller 10, and receives the driving information and location information of the feedback of road roller 10.
In this embodiment, remote driving platform 204 by controller local area network 200 and wireless bridge 202 with it is above-mentioned
The road roller 10 of any one embodiment is connected, and so as to issue teleinstruction to road roller 10, and receives the feedback of road roller 10
Driving information and location information, and then realize long-range control to road roller 10, remote control, which is driven, to be realized to road roller 10 in other words
It sails, avoids driver's walking at the construction field (site), improve safety, reduce the labor intensity of driver.
In the above-described embodiments, remote driving platform 204 includes: memory, for recording the driving trace of road roller 10；
Display, for showing the driving information of road roller 10, the location information of the image information at front-rear position and road roller 10；
Controller is connected with display, memory, and controller is used to adjust the traveling of road roller 10 according to the driving information of road roller 10
State.
In this embodiment, by the setting in memory, display and controller, be conducive to promote remote control driving
The convenience of road roller 10.
In some embodiments, remote driving platform 204, which is mainly responsible for, issues remote control instruction, and record road roller 10
Driving trace.On remote driving platform 204, it is equipped with operation panel, operation panel is equipped with engine start, stops working, is preceding
Into the function keys such as retrogressing, parking and steering；Or display is equipped with and drives guidance interface, drives guidance interface and is equipped with and starts
Machine starts, is flame-out, advancing, the function keys such as retrogressing, parking and steering, at this point, display is touch screen.When switching to remote control mode
When, road roller 10 is sent a command to by remote driving platform 204, road roller 10 executes corresponding instruction.Realize remote control
It controls road roller 10 and target position 40 is driven to by current location.
Meanwhile road roller 10 uploads travel speed, oil level, oil pressure, the status informations such as oil temperature and front-rear position in real time
Display interfaces of the video information to remote driving platform 204, the driving condition of real-time display road roller 10.
As shown in figure 3, including video viewing area on the display of remote driving platform 204 in some embodiments
2040 and boot section 2042 is driven, so that long-range driver has intuitive impression；Video viewing area 2040 and driving guidance
The lower section in area 2042 is additionally provided with Driving control area 2044, in order to the operation of long-range driver, sets in Driving control area 2044
There are engine start, flame-out, advance, the function keys such as retrogressing, parking and steering；Display is touch screen.
As shown in figure 4, in the above-described embodiments, tele-control system 20 further include: base station 30, with road roller 10 and remote control
Driving platform 204 is connected, and base station 30 is used to form electronic map；Navigation module is set on remote driving platform 204, and navigate mould
Block is connected with base station 30, and navigation module is for guiding the traveling of road roller 10 to predeterminated position.
In this embodiment, by the way that base station 30 is arranged, be conducive to be formed at the construction field (site) as shown in Figure 5 with coordinate system
Easy electronic map, the origin of coordinate system is base station 30；Such electronic map signal is strong, is combining navigation module
Afterwards, it more readily identifies, convenient for guidance road roller 10 traveling to predeterminated position, when especially there are multiple road rollers 10 at scene, this
The Simple electronic map of sample is more conducive to multiple road rollers 10 while carrying out position guidance, so that road roller 10 is from stopping
The start position of parking stall to operating area can travel in such a way that remote control drives, after in place, then with automatic Pilot
Mode carries out operation.
In some embodiments, GNSS (Global Navigation Satellite System, worldwide navigation are used
Satellite system) differential antennae technology, realize that the Centimeter Level of road roller 10 is fixed by carrier phase difference (RTK) dynamic positioning principle
Position.It is fixed that GPS (Global Positioning System, global positioning system) is installed on the driver's cabin on road roller 10
Position antenna.GPS positioning base station 30 is mounted near remote driving platform 204.Using wireless between road roller 10 and base station 30
The bridge joint of network is being wirelessly communicated using wireless transmission method realization.One base station 30 can lead to simultaneously with more road rollers 10
News.
As shown in fig. 6, the embodiment of third aspect present invention provides a kind of long-range control method of road roller 10, packet
It includes:
Step S100: receiving long-range enabled instruction, starts the engine of road roller；
Step S102: according to parameter preset control road roller traveling；
Step S104: the driving information of road roller is acquired；
Step S106: according to road roller driving information, the driving status of road roller is adjusted.
In this embodiment, start engine by receiving long-range enabled instruction, and control pressure road according to parameter preset
Machine 10 travels, while also acquiring the driving information of road roller 10, easy when encountering emergency case to grasp road conditions and vehicle condition in real time
In processing, and adjust driving status in time, such as adjust the speed of road roller 10, driving direction etc., it realizes more conveniently
It is long-range to drive.
As shown in fig. 7, in the above-described embodiments, the long-range control method of road roller 10 further include:
Step S200: base station is set up；
Step S200: it establishes using base station as the coordinate system of origin；
Step S200: the coordinate of road roller current location and the coordinate of target position are obtained；
Step S200: according to the coordinate of the coordinate of road roller current location and target position, guide road roller by present bit
Traveling is set to target position.
In this embodiment, setting up by base station 30, establishing with base station 30 is the coordinate system of origin, can be formed in this way
Simple electronic map based on coordinate system, it is all more simple for the positioning of 10 current location of road roller and target position 40
It is single, be conducive to that road roller 10 is guided to be travelled by current location to target position 40, especially when there are multiple road rollers 10, using this
Simple electronic map of the kind based on coordinate system, navigates more convenient.
As shown in fig. 7, in certain embodiments, using GPS positioning technology, on remote driving platform 204, exploitation
Road roller 10 drives guidance control interface.The interface is coordinate origin with base station 30, connects into grid with the point in reference axis
Simple electronic map.The current location information and course information and target position 40 that road roller 10 can be shown on map are believed
Breath and the parking direction needed.In practice of construction, the parking stall coordinate that target position 40 is road roller 10, or compacting may be selected
The starting point coordinate of work.
When remote control drives the advance of road roller 10, the position coordinates of system real-time update road roller 10 guide operator
Member's driving road roller 10 is travelled by current location reaches designated position.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, according to the technical solution of the present invention, for nobody
The road roller of driving increases a kind of remote driving mode, solve road roller drive a vehicle from parking position to operating area it is difficult
Problem, and radar barrier avoiding function and position guiding function are used, improve the convenience that road roller drives, guides.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of road roller characterized by comprising
Car body；
Communication device is set on the car body, and the communication device is for receiving teleinstruction and sending signal；
Driving system is connected with the communication device；
Sensor-based system is connected with the driving system and the communication device, and the sensor-based system is for incuding the road roller
Driving information；
Guiding device, for determining the location information and course information of the road roller；
Wherein, the road roller receives teleinstruction by the communication device, is travelled with controlling the driving system, and
The location information of driving information and the road roller that the sensor-based system is incuded is by the communication device to external feedback.
2. road roller according to claim 1, which is characterized in that the communication device includes:
Wireless bridge, for receiving teleinstruction and sending signal；
The guiding device includes: positioning antenna and course antenna, is set on the car body, and the positioning antenna is for determining
The location information of the road roller；The course antenna, for determining the course information of the road roller.
3. road roller according to claim 1, which is characterized in that
The driving system includes:
Engine is connected with the communication device, and the engine starts or stopped working under the control of the teleinstruction；
Steering system is set on the car body, and the steering system is used to control the steering of the road roller；
Constant-speed cruising device is travelled for controlling the road roller according to pre-set velocity.
4. road roller according to any one of claim 1-3, which is characterized in that the sensor-based system includes:
Obstacle avoidance sensor, front side and/or rear side set on the car body, the obstacle avoidance sensor are connected with the driving system,
The obstacle avoidance sensor is used to detect the obstacle information before and after the road roller；
Wherein, at least one described obstacle avoidance sensor is located at the front side of the car body.
5. road roller according to claim 4, which is characterized in that
The obstacle avoidance sensor be millimetre-wave radar, ultrasonic sensor, laser radar, in image sensor any one or
It is several；And/or
The driving information includes at least: the obstacle information, speed, oil level, oil pressure, oil temperature, in the image information of Chinese herbaceous peony
Any one or the combination of several of them.
6. a kind of tele-control system characterized by comprising
Controller local area network is used for transmission signal；
Wireless bridge is connected with the controller local area network；
Remote driving platform, by described in any one of the wireless bridge, the controller local area network and claim 1-5
Road roller be connected, to issue teleinstruction to the road roller, and receive driving information and the position of road roller feedback
Information.
7. tele-control system according to claim 6, which is characterized in that the remote driving platform includes:
Memory, for recording the driving trace of the road roller；
Display, for showing the driving information of the road roller and the location information of the road roller；
Controller is connected with the display, the memory, and the controller is used for the driving information according to the road roller
Adjust the driving status of the road roller.
8. tele-control system according to claim 7, which is characterized in that further include:
Base station is connected with the road roller and the remote driving platform, and the base station is used to form electronic map；
Navigation module is set on the remote driving platform, and the navigation module is connected with the base station, and the navigation module is used
It travels in the guidance road roller to predeterminated position.
9. a kind of long-range control method of road roller characterized by comprising
Long-range enabled instruction is received, the engine of the road roller is started；
The road roller traveling is controlled according to parameter preset；
Acquire the driving information of the road roller；
According to the driving information of the road roller, the driving status of the road roller is adjusted.
10. the long-range control method of road roller according to claim 9, which is characterized in that further include:
Set up base station；
It establishes using the base station as the coordinate system of origin；
Obtain the coordinate of the road roller current location and the coordinate of target position；
According to the coordinate of the coordinate of the road roller current location and the target position, guide the road roller by current location
It travels to the target position.
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Application publication date: 20190618 |