CN110499696A - A kind of autonomous pavement construction robot - Google Patents

A kind of autonomous pavement construction robot Download PDF

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Publication number
CN110499696A
CN110499696A CN201910763402.XA CN201910763402A CN110499696A CN 110499696 A CN110499696 A CN 110499696A CN 201910763402 A CN201910763402 A CN 201910763402A CN 110499696 A CN110499696 A CN 110499696A
Authority
CN
China
Prior art keywords
controller
road roller
construction
autonomous
pavement construction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910763402.XA
Other languages
Chinese (zh)
Inventor
王东
张为公
肖作栋
储灿灿
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Southeast University
Original Assignee
Southeast University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southeast University filed Critical Southeast University
Priority to CN201910763402.XA priority Critical patent/CN110499696A/en
Publication of CN110499696A publication Critical patent/CN110499696A/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22Machines, 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
    • E01C19/23Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/26Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22Machines, 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
    • E01C19/23Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/26Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
    • E01C19/262Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles pedestrian-controlled, e.g. with safety arrangements for operator
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22Machines, 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
    • E01C19/23Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/282Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22Machines, 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
    • E01C19/23Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/282Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
    • E01C19/283Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit pedestrian-controlled, e.g. with safety arrangements for operator
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0022Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Abstract

The invention discloses a kind of autonomous pavement construction robots, including road roller Airborne Control Unit, positioning device and wireless communication device.Wherein, road roller Airborne Control Unit controls all driving functions of road roller by the circuit signal of each controller in adapter tube road roller cockpit;Positioning device provides positioning posture information by location navigation satellite for autonomous construction;Wireless communication device realizes the remote driving and independently construction function of road roller by remote human-machine's interaction, can not only make one the driving of remote control road roller, moreover it is possible to so that robot is based on construction demand under the control of people and independently complete construction operation.The present invention is applicable not only to the road roller of different model, the special construction operation being also adapted under adverse circumstances.

Description

A kind of autonomous pavement construction robot
Technical field
The invention belongs to technical field of engineering machinery, in particular to a kind of autonomous pavement construction robot.
Background technique
In engineering construction field, engineering truck is a kind of vital construction equipment.Engineering truck is towards work Cheng Jianshe service, engineering truck automation is a step crucial in engineering construction automation, therefore presently, there are improve engineering The demand of vehicle the degree of automation.
As the crucial vehicle in road engineering, vibrated roller is efficiently compacted using self gravity with mechanical oscillation Road-making material is widely used in the soil compaction of the Larger Engineering Projects such as common road, highway, railway and airfield runway Operation, by making to be rolled layer generation permanent deformation to achieve the effect that closely knit.Road construction operation also has engineering construction Common disadvantage: the construction duration is long, operation repeatability is high and working environment is severe etc..For example, vibrated roller is being applied Working hour has strong vibration and strong noise, and construction personnel must stay in always vehicle operation in construction whole process, be chronically at this Harm can be generated to the health of construction personnel under environment, therefore pavement compaction operation is not appropriate for human driver's progress.
Domestic and international project field of mechanical technique there is no the pavement construction robot that can independently construct at present.
Summary of the invention
Goal of the invention: in view of the foregoing drawbacks, the present invention provides a kind of autonomous pavement construction robot, not only has remote control and drives The function of sailing can make one equipment remote control road roller driving by wireless communication;It is also equipped with the ability of autonomous pavement construction, In It is based on construction demand under the control of people and independently completes construction operation;And the present invention is applied widely, can be suitably used for different model Road roller, moreover it is possible to be used under the various pavement compaction engineerings such as highway, railway, tunnel, airport, be especially suitable for adverse circumstances etc. Special construction operating environment.
Technical solution: the present invention proposes a kind of autonomous pavement construction robot, including road roller Airborne Control Unit, positioning Device, wireless communication device and road roller cockpit control panel, the positioning device, wireless communication device and road roller drive Cabin control panel is connect with road roller Airborne Control Unit respectively.
Further, the road roller Airborne Control Unit include embedded controller and its I/O, steering controller, after Relay matrix plate and CAN communication equipment;
The positioning device includes locating base station and onboard satellite position receiver unit;
The wireless communication device includes wireless transmitting-receiving equipments and wireless terminal device;
The road roller cockpit control panel include steering wheel controller, ignition switch controller, traffic controller, Motor speed controller, gear position controller, parking braking controller, emergency braking controller, vibrating compacting controller, Cistern controller drives handle controller and speed setting controller.
Further, the embedded controller transmits digital signal and analog signal by I/O as master controller, by CAN communication equipment transmits CAN bus signal;The digital signal of the I/O output is connected to relay matrix plate, by relay square Battle array plate output has the digital signal of burning voltage.
Further, the digital signal of the relay matrix plate output and the igniting in road roller cockpit control panel Switch controller, traffic controller, motor speed controller, gear position controller, parking braking controller, urgent system Movement controller, vibrating compacting controller and Cistern controller connection.
Further, the analog signal of the I/O output and the driving handle in road roller cockpit control panel control Device and speed setting controller connection;In the CAN bus signal and road roller cockpit control panel of the CAN communication equipment output Steering wheel controller connection.
Further, the phase letter that the satellite positioning receiver group receives location navigation satellite and locating base station provides Number, high accuracy positioning is realized by carrier phase difference technology, satellite positioning position is inputted to embedded controller by serial ports I/O Appearance data.
Further, the wireless transmitting-receiving equipments are connected to embedded controller by serial ports I/O, with wireless terminal device Establish communication, wireless signal transmitted in both directions.
The wireless terminal device has human-computer interaction host computer interface, and interface is operated by people, including remote driving, The function of operating condition setting, Construction State control and construction data record.
The road roller Airborne Control Unit is installed on road roller, and there is igniting to open for itself in the cockpit of road roller Close controller, traffic controller, motor speed controller, gear position controller, parking braking controller, emergency braking Controller, Cistern controller, drives handle controller, speed setting controller and steering wheel controller at vibrating compacting controller;
Wherein, the steering controller is mounted on steering wheel controller, passes through the control of electric signal adapter tube steering wheel;
Circuit signal is connected to institute by I/O, relay matrix plate and CAN communication equipment by the embedded controller It states in each controller in the cockpit of road roller, realizes the control to each controller of road roller.
Wherein, remote driving function refers to through people to remote driving in wireless terminal device in the wireless terminal device The operation at interface remotely sends the corresponding control instruction of remote driving to embedded controller, it is made to execute ignition switch by order Switching, signal lamp state switching, engine speed switching, gear position switching, parking braking, emergency braking, vibrational state are cut It changes, the switching of watering state, the control that moves forward and backward, speed adjusts and the function of left and right turn.
Wherein, operating condition set-up function refers to that embedded controller is based on construction demand in the wireless terminal device, passes through After satellite positioning pose data calculation relative pose information, according to the job area contexture by self construction site region defined, Thereafter embedded controller is autonomous to formulate construction operation route and design corresponding technique traversal according to the construction area planned Mode;
Wherein, the relative pose information is resolved using coordinate transformation method, and detailed process is: being led under satellite positioning network It crosses coordinate transfer function and the longitude and latitude that satellite positioning receiver group obtains is converted into road surface opposite to road roller with course angle information Cartesian coordinate system.
Wherein, Construction State control function refers in the wireless terminal device, by people to applying in wireless terminal device The operation at work interface remotely sends corresponding control instruction of constructing to embedded controller, makes it by the autonomous construction of order beginning, temporarily The function of stopping independently construction, stop autonomous construction and emergency braking;
Wherein, the autonomous construction refers to that embedded controller using relative pose information, is believed according to the steering angle of feedback Breath and positioning pose information realization closed-loop control, independently along prepared construction operation route running, and independently according to technique time The mode of going through takes construction technology to complete pavement construction.
Wherein, in the wireless terminal device construction data writing function refer to embedded controller after construction starts, Relative pose information is persistently recorded in wireless terminal device and is drawn on prepared construction operation route map, dynamic It indicates that pose variable condition and route track situation, while the above process is recorded as file.
Wherein, the autonomous construction is to be turned by embedded controller by steering controller, the engine of control road roller Fast controller, vibrating compacting controller, Cistern controller, drives handle controller and speed regulating control at gear position controller Device is realized;
Wherein, the steering controller passes through driving direction disk electricity according to control command transmitted by embedded controller The mode of machine controls the steering of road roller car body, by taking aim at construction operation route in advance in autonomous work progress, in conjunction with relative pose Information resolves steering angle deviation, adjusts control road roller car body through PID and turns to, to realize that construction operation route tracks;
Described, motor speed controller, gear position controller, speed setting controller are according to transmitted by embedded controller Control command, control pressure by way of adjusting engine speed gear, gear position gear and speed potentiometer respectively Road machine travel speed, according to construction technology from main regulation travel speed in autonomous work progress, to meet construction technology need It asks;
The vibrating compacting controller and Cistern controller are according to control command transmitted by embedded controller, distribution Realizing road roller vibration and sprinkle water function by way of the vibrating compaction device and sprinkle water function switch that drive road roller, certainly According to the autonomous start and stop corresponding function of construction technology in main work progress, to meet construction technology demand.
The driving handle controller is driven according to control command transmitted by embedded controller by adjusting road roller The mode of handle current potential controls road roller driving direction, independently switches traveling side according to construction technology in autonomous work progress To meet construction technology demand.
Wherein, the robot is suitable for the road roller of different model, and road roller Airborne Control Unit is mounted on pressure road After accessing embedded controller on machine and by quasi-controller each in road roller cockpit, robot is real by the control of adapter tube road roller Existing remote driving, the function of independently constructing.
The present invention by adopting the above technical scheme, has the advantages that
1, autonomous pavement construction robot has remote driving, independently two kinds of operating modes of construction, and can be according to practical need Ask mutual switching;
Wherein, remote driving include road roller ignition switch switching, signal lamp state switching, engine speed switching, Gear position switching, parking braking, emergency braking, vibrational state switching, the switching of watering state, the control that moves forward and backward, speed The function of adjusting and left and right turn;
Autonomous construction then passes through embedded controller contexture by self operating condition, and can be according to prepared construction operation route row Sail and take construction technology to complete pavement construction.
2, autonomous pavement construction robot has human-computer interaction interface, and equipment supports telecommunication using wireless technology, just In human intervention management;
3, autonomous pavement construction robot is applied widely, by the adapter tube to quasi-controller electric signal each in road roller, It can be mounted on the road roller of different model and use, the ability for making it have remote driving, independently constructing.
4, autonomous pavement construction robot can continue construction operation in 24 hours, mention not by environmental restrictions such as distance, illumination High engineering construction automatization level.
Therefore, autonomous pavement construction robot of the invention not only has the function of remote driving, can make one by wireless Communication equipment remote control road roller drives;It is also equipped with the ability of autonomous pavement construction, construction demand is based under the control of people It is autonomous to complete construction operation;And the present invention is applied widely, can be suitably used for the road roller of different model, moreover it is possible to be used in public affairs Under the various pavement compaction engineerings such as road, railway, tunnel, airport, it is especially suitable for the special constructions operating environments such as adverse circumstances.
Detailed description of the invention
Fig. 1 is autonomous pavement construction robot system block diagram of the invention;
Fig. 2 is control principle drawing of the invention.
Specific embodiment
Combined with specific embodiments below, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate the present invention Rather than limit the scope of the invention, after the present invention has been read, those skilled in the art are to various equivalences of the invention The modification of form falls within the application range as defined in the appended claims.
Implementation method of the present invention is described in more detail with reference to the accompanying drawing
A kind of autonomous pavement construction robot of the present invention as shown in Figure 1: mainly includes the airborne control dress of road roller It sets, positioning device and wireless communication device.
Wherein, road roller Airborne Control Unit includes embedded controller and its I/O, steering controller, relay matrix Plate and CAN communication equipment;Positioning device includes locating base station and onboard satellite position receiver unit;Wireless communication device packet Include wireless transmitting-receiving equipments and wireless terminal device.
Below by one embodiment, the present invention is furture elucidated.About the specific type selecting of equipment, embedded controller is adopted With BECKHOFF embedded controller;I/O uses BECKHOFF EtherCAT terminal module, including digital output Terminals Die Block, analog output terminal module, RS232 serial port module, CANopen terminal module;Steering controller is driven using electrical servo Dynamic diverter;Wireless transmitting-receiving equipments are using router and Wi-Fi RS 232 equipment;Wireless terminal device uses android system Mobile phone.
BECKHOFF embedded controller is as master controller, by Internal Control Procedure by its EtherCAT terminal module Output digit signals and analog signal receive and dispatch rs 232 serial interface signal and CAN bus signal.Wherein, digital signal is exported to relay Device matrix plate is had the digital signal of burning voltage by the output of relay matrix plate.
Road roller Airborne Control Unit is installed on road roller, itself has ignition switch control in the cockpit of road roller Device processed, traffic controller, motor speed controller, gear position controller, parking braking controller, emergency braking control Device, Cistern controller, drives handle controller, speed setting controller and steering wheel controller at vibrating compacting controller;Wherein, Steering controller is mounted on steering wheel controller, passes through the control of electric signal adapter tube steering wheel;
Each digital signal of relay matrix plate output is connected to the ignition switch control in road roller cockpit control panel Device processed, traffic controller, motor speed controller, gear position controller, parking braking controller, emergency braking control Device, vibrating compacting controller and Cistern controller, the ignition switch of realization road roller switches respectively, signal lamp state switches, Engine speed switching, gear position switching, parking braking, emergency braking, vibrational state switching and watering state switching Function.The analog signal output that BECKHOFF embedded controller is exported by analog output terminal module to road roller drives Driving handle controller and speed setting controller in the control panel of cabin realize move forward and backward control and the speed of road roller The function of adjusting.The CAN bus signal that BECKHOFF embedded controller is exported by CANopen terminal module is exported to pressure road The steering controller installed in machine cockpit, realizes the function of the left and right turn of road roller.
The phase signal that satellite positioning receiver group receives location navigation satellite and locating base station provides, passes through carrier wave phase Position differential technique realizes high accuracy positioning, positions pose data to embedded controller output satellite by RS232 serial port module.
Router is used to arrange the wireless network of construction site, and Wi-Fi RS 232 equipment is responsible for receiving from Android system The wireless signal that mobile phone of uniting is sent, exports the signal of conversion to the embedded control of BECKHOFF thereafter by RS232 serial port module Device processed.Wireless communication is directly established in BECKHOFF embedded controller and android system mobile phone, wireless signal can be two-way Transmission.
Android system mobile phone has the human-computer interaction host computer interface based on Android exploitation, and interface is grasped by people Make, the function including remote driving, operating condition setting, Construction State control and construction data record.
Fig. 2 show control principle drawing.Remote driving function refers to through people to remote driving in android system mobile phone The operation at interface remotely sends the corresponding control instruction of remote driving to BECKHOFF embedded controller, executes it by order Ignition switch switching, signal lamp state switching, engine speed switching, gear position switching, parking braking, emergency braking, vibration Dynamic state switching, the switching of watering state, the control that moves forward and backward, speed adjusts and the function of left and right turn.
It include the function of operating condition setting, Construction State control and construction data record under autonomous Construction State.Independently apply Work refers to embedded controller using relative pose information, according to the steering angle information of feedback and positioning pose information realization closed loop Control independently along prepared construction operation route running, and independently takes construction technology to complete road according to technique traversal mode Surface construction.
Autonomous construction is passed through steering controller, the engine speed control of control road roller by BECKHOFF embedded controller Device, gear position controller, vibrating compacting controller, Cistern controller, driving handle controller and speed setting controller reality processed It is existing.Wherein, steering controller passes through driving direction coil motor according to control command transmitted by BECKHOFF embedded controller Mode control the steering of road roller car body, by taking aim at construction operation route in advance in autonomous work progress, believe in conjunction with relative pose Breath resolves steering angle deviation, adjusts control road roller car body through PID and turns to, to realize that construction operation route tracks;Start Machine rotational speed governor, gear position controller, speed setting controller are according to the life of control transmitted by BECKHOFF embedded controller It enables, controls road roller traveling by way of adjusting engine speed gear, gear position gear and speed potentiometer respectively Speed, according to construction technology from main regulation travel speed in autonomous work progress, to meet construction technology demand;Vibration pressure According to control command transmitted by BECKHOFF embedded controller, distribution passes through driving pressure for real controller and Cistern controller The mode of vibrating compaction device and the sprinkle water function switch of road machine realizes road roller vibration and sprinkle water function, in autonomous work progress The middle foundation autonomous start and stop corresponding function of construction technology, to meet construction technology demand.Drive handle controller foundation Control command transmitted by BECKHOFF embedded controller controls pressure road by way of adjusting road roller and driving handle current potential Machine driving direction independently switches driving direction according to construction technology in autonomous work progress, to meet construction technology demand.
Wherein, operating condition set-up function refers to that embedded controller is based on construction demand, using coordinate transformation method to satellite Position pose data calculation relative pose information, detailed process is: passing through coordinate transfer function under satellite positioning network for satellite The longitude and latitude that position receiver unit obtains and course angle information are converted to the cartesian coordinate system on the opposite road surface of road roller.Thereafter root According to the job area contexture by self construction site region defined, embedded controller is according to the construction area planned thereafter, According to road roller steel wheel width, construction travel speed, repeat to roll the parameters such as distance and work route spacing distance, it is autonomous to make Determine construction operation route and designs corresponding technique traversal mode;
Construction State control function refers to, the operation by people to construction interface in wireless terminal device, remotely to insertion Formula controller sends corresponding control instruction of constructing, it is made to start autonomous construction by order, the autonomous construction of pause, stop autonomous construction And the function of emergency braking;
Construction data writing function refers to that embedded controller after construction starts, persistently records in wireless terminal device Relative pose information is simultaneously drawn on prepared construction operation route map, dynamic representation pose variable condition and route with Track situation, while the above process is recorded as file.
The function that autonomous pavement construction robot of the invention has remote driving and independently constructs, can not only make one to pass through Wireless telecom equipment remote control road roller drives, additionally it is possible to independently complete construction based on construction demand under the control of people and make Industry.And the present invention is suitable for the road roller of different model, and road roller Airborne Control Unit is mounted on road roller and will be pressed In the machine cockpit of road after each quasi-controller access embedded controller, robot realizes that remote control is driven by the control of adapter tube road roller The function of sail, independently constructing.Therefore the present invention has the advantages such as independence is strong, applied widely, human intervention is few, not only makes to press Road machine has the driving ability of same human driver, and the operation for being also equipped with construction personnel is horizontal.By using of the invention Construction personnel's labor intensity can be effectively reduced in robot autonomous pavement construction, guarantees construction personnel's health, and avoid The influence that human factor generates Engineering operation improves engineering automatization level and reliability.
Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work Obtained other embodiments belong to the range that the present invention is protected.

Claims (7)

1. a kind of autonomous pavement construction robot, which is characterized in that including road roller Airborne Control Unit, positioning device, wireless Communication device and road roller cockpit control panel, the positioning device, wireless communication device and road roller cockpit control plane Plate is connect with road roller Airborne Control Unit respectively.
2. a kind of autonomous pavement construction robot according to claim 1, which is characterized in that the airborne control of road roller Device includes embedded controller and its I/O, steering controller, relay matrix plate and CAN communication equipment;
The positioning device includes locating base station and onboard satellite position receiver unit;
The wireless communication device includes wireless transmitting-receiving equipments and wireless terminal device;
The road roller cockpit control panel includes steering wheel controller, ignition switch controller, traffic controller, starts Machine rotational speed governor, gear position controller, parking braking controller, emergency braking controller, vibrating compacting controller, water tank Controller drives handle controller and speed setting controller.
3. a kind of autonomous pavement construction robot according to claim 2, which is characterized in that the embedded controller is made For master controller, digital signal and analog signal are transmitted by I/O, CAN bus signal is transmitted by CAN communication equipment;The I/O is defeated Digital signal out is connected to relay matrix plate, has the digital signal of burning voltage by the output of relay matrix plate.
4. a kind of autonomous pavement construction robot according to claim 2, which is characterized in that the relay matrix plate is defeated Digital signal out and the ignition switch controller in road roller cockpit control panel, traffic controller, engine speed Controller, gear position controller, parking braking controller, emergency braking controller, vibrating compacting controller and water tank control Device connection processed.
5. a kind of autonomous pavement construction robot according to claim 2, which is characterized in that the simulation of the I/O output Signal in road roller cockpit control panel driving handle controller and speed setting controller connect;The CAN communication is set The CAN bus signal of standby output is connect with the steering wheel controller in road roller cockpit control panel.
6. a kind of autonomous pavement construction robot according to claim 2, which is characterized in that the satellite positioning receiver The phase signal that group receives location navigation satellite and locating base station provides is realized high-precision fixed by carrier phase difference technology Position inputs satellite positioning pose data to embedded controller by serial ports I/O.
7. a kind of autonomous pavement construction robot according to claim 2, which is characterized in that the wireless transmitting-receiving equipments are logical It crosses serial ports I/O and is connected to embedded controller, communicated with wireless terminal device foundation, wireless signal transmitted in both directions.
CN201910763402.XA 2019-08-19 2019-08-19 A kind of autonomous pavement construction robot Pending CN110499696A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113062176A (en) * 2021-04-06 2021-07-02 中交上海航道局有限公司 Intelligent road roller and use method thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108914750A (en) * 2018-06-14 2018-11-30 天津大学 A kind of vibrating roller press Unmanned Systems
CN208183487U (en) * 2018-03-22 2018-12-04 四川川交路桥有限责任公司 A kind of unmanned road roller
CN109082976A (en) * 2018-09-27 2018-12-25 湖南中大机械制造有限责任公司 A kind of engine control system for unmanned road roller
CN109901576A (en) * 2019-02-22 2019-06-18 三一汽车制造有限公司 The long-range control method of road roller, tele-control system and road roller

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN208183487U (en) * 2018-03-22 2018-12-04 四川川交路桥有限责任公司 A kind of unmanned road roller
CN108914750A (en) * 2018-06-14 2018-11-30 天津大学 A kind of vibrating roller press Unmanned Systems
CN109082976A (en) * 2018-09-27 2018-12-25 湖南中大机械制造有限责任公司 A kind of engine control system for unmanned road roller
CN109901576A (en) * 2019-02-22 2019-06-18 三一汽车制造有限公司 The long-range control method of road roller, tele-control system and road roller

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113062176A (en) * 2021-04-06 2021-07-02 中交上海航道局有限公司 Intelligent road roller and use method thereof

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Application publication date: 20191126