CN111794052A - Unmanned road roller capable of realizing cluster construction - Google Patents
Unmanned road roller capable of realizing cluster construction Download PDFInfo
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- CN111794052A CN111794052A CN202010754613.XA CN202010754613A CN111794052A CN 111794052 A CN111794052 A CN 111794052A CN 202010754613 A CN202010754613 A CN 202010754613A CN 111794052 A CN111794052 A CN 111794052A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
- E01C19/262—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles pedestrian-controlled, e.g. with safety arrangements for operator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
The invention relates to an unmanned road roller capable of realizing cluster construction, belonging to the technical field of engineering machinery. Data sharing and transmission channels are arranged between the road roller body and the other road rollers in the machine group, and data such as rolling speed of each road roller, size and tonnage of each road roller, real-time position of each road roller, amplitude and vibration frequency of each road roller during operation are mutually transmitted. The invention can make each road roller interact information with the rest road rollers in the cluster, control each other, and sense and control each road roller, and converge to an optimal road roller movement track through algorithm, so as to realize cooperative work.
Description
Technical Field
The invention relates to an unmanned road roller capable of realizing cluster construction, belonging to the technical field of engineering machinery.
Background
In the prior art, compaction equipment is widely applied to the construction of basic facilities such as roads, water conservancy projects, railways, aviation airports, ports, large-scale sites and the like, and multiple pieces of compaction equipment generally work coordinately according to a certain sequence and operation parameters in compaction operation. The existing unmanned road roller technical scheme and product mainly realize a single-machine unmanned technology, the main scheme mainly adopts multiple sensors such as GNSS, laser radar, camera, millimeter wave radar and the like to realize positioning and environment perception, compaction operation is carried out according to an artificial preset inherent compaction track, each road roller is independently controlled by a control center upper computer, and no data interaction exists among the road rollers under construction. Because the road roller must keep rolling speed stable and the indentation width of overlapping unanimous in each rolling process, in order to avoid each road roller reciprocal rolling in-process collision, its horizontal safe distance often sets up great, still need wait in not rolling the region sometimes, compares traditional manual driving road roller each machine link up not compactly, has caused the reduction of compaction efficiency. Because the real-time data of all the extension sets cannot be effectively utilized, the improvement of the working efficiency and the safety performance is limited.
The road roller mainly has two working modes: one is that several road rollers roll a fixed length operation section according to a certain order; and the other is that several road rollers roll alternately with the spreading machine in certain order while constructing the asphalt surface layer, and the rolling speed of each time is kept constant and the overlapping width is kept consistent.
For example, chinese patent publication No. CN110331639A discloses an intelligent road roller system capable of autonomous operation, which includes a road roller body, a machine control layer for controlling the movement of the road roller body, a perception decision layer, and a management planning layer; high-precision positioning and course measurement are realized by adopting a carrier phase differential technology GNSS; the millimeter wave radar is arranged on the vehicle body to realize the detection of the obstacles around the vehicle body; the vehicle body is provided with a laser radar and a camera and is used for high-precision map construction and slope detection of a rolling area, so that a management planning end can plan rolling operation; the on-line detection technology of the degree of compaction on the machine is adopted to realize the on-line detection of the degree of compaction in a full coverage way, and a basis is provided for frequency modulation and amplitude modulation; a private system and a big data system are arranged in the management planning end, and rolling planning can be automatically carried out according to the characteristics of the compacted material in the construction site, the parameters of the road roller, the compaction degree information and a high-precision map, so that cluster compaction data sharing and cooperative operation are realized; the road roller can adjust vibration energy output in real time according to the compaction process, and effectively improves the compaction quality and efficiency.
However, the above patent is that a private system and a big data system are built in a management planning end, and rolling planning can be automatically performed according to characteristics of a material to be compacted in a construction site, parameters of a road roller, compaction information and a high-precision map, so that cluster compaction data sharing and cooperative operation are realized; that is, it is equivalent to analyze the rolling route, real-time status, etc. of each road roller through the built-in expert system and big data system of the management planning end, rather than forming a synergistic effect through mutual perception and mutual control of each road roller.
Disclosure of Invention
The invention aims to solve the problems in the background, and provides an unmanned road roller capable of realizing cluster construction, which can realize cooperative work by allowing each road roller to simultaneously perform information interaction and mutual control with the remaining road rollers in a cluster, and allowing each road roller to sense and mutually control each other and converge to an optimal road roller motion track through an algorithm.
The purpose of the invention is realized as follows: an unmanned road roller capable of realizing cluster construction comprises a road roller body, a perception calculation layer, a bottom control layer and a remote planning layer;
the perception calculation layer comprises a GNSS base station, a GNSS mobile station, a millimeter wave radar, a vehicle-mounted calculation platform and a vehicle-mounted terminal 5G communication module;
the bottom control layer comprises a vehicle-mounted controller, a steering angle sensor, a speed sensor and a road roller electric control system;
the remote planning layer comprises a control center, path planning software and a planning terminal 5G communication module;
and data sharing and transmission channels are also arranged between the road roller body and the other road rollers in the machine group.
The data sharing and transmission channel enables each road roller which is successfully registered with the control center to perform information matching with the other road rollers, and sends a connection request and confirms the connection request;
after confirmation, the road roller is connected with other road rollers to realize data intercommunication.
The step of sending the connection request is RPC service, the step of confirming the connection request is RPC service, and the step of formally establishing the connection is TCP service.
The GNSS mobile station and the GNSS base station realize RTK positioning through radio station communication of a specific frequency band, and the high-precision positioning requirement of each road roller in the cluster is met.
The GNSS mobile station is arranged on a front frame of the whole road roller;
the GNSS base station is erected on an open field of a construction site by adopting manual self-walking or is served by adopting a network GNSS base station, and provides positioning and course information for the vehicle-mounted computing platform.
The steering angle sensor is arranged on a hinged shaft between a front frame and a rear frame of the road roller body and is used for measuring real-time steering angles of the front frame and the rear frame of the road roller body;
the speed sensor is arranged on the walking motor and used for measuring the real-time walking speed information of the road roller body;
the steering angle sensor and the speed sensor are respectively connected with a vehicle-mounted machine controller, the vehicle-mounted machine controller is connected with a vehicle-mounted computing platform, and the vehicle-mounted machine controller adjusts parameters of the road roller such as engine speed, working speed, steering, starting and stopping vibration, amplitude, braking and safe parking by sending control signals.
The electric control system of the road roller comprises a walking system, a braking system, a steering system, a vibration system and a safety system.
The path planning operation software is used for inputting a map of a region to be constructed and displaying the real-time position of each road roller, so that each roller is remotely monitored and controlled;
and the control center and the vehicle-mounted computing platform of the single road roller are respectively connected with respective 5G communication modules, so that the registration step of the single road roller and the control center and the information matching step between the road rollers are realized.
The control center keeps a distance with a road roller in a construction site, and remotely sends data such as a path to be compacted, compaction parameters and the like to the vehicle-mounted computing platform through the 5G communication module.
Compared with the prior art, the invention has the following advantages:
the invention is different from the common unmanned aerial vehicle formation performance, the formation performance is realized, the control center controls more than one time, and the formation of the unmanned aerial vehicle is preset; however, in the construction of the road roller cluster of the invention, each road roller simultaneously interacts and controls information with the remaining road rollers in the cluster, the whole cluster construction is not preset, but results of mutual sensing and mutual control of each road roller converge to an optimal road roller movement track through an algorithm to realize cooperative work, and data required to be mutually transmitted by each road roller comprises: the rolling speed of each road roller, the size and tonnage of each road roller, the real-time position of each road roller, and the amplitude and vibration frequency of each road roller during operation.
Drawings
Fig. 1 is a system architecture diagram of a single unmanned road roller of the present invention.
FIG. 2 is a schematic diagram of the present invention in situ construction.
Fig. 3 is an architecture diagram of the operation of a plurality of unmanned road roller clusters according to the invention.
Fig. 4 is a diagram illustrating the steps of the invention for communication between a roller and a compactor.
Fig. 5 is a schematic view of the structure of the roller of the invention.
Wherein: 1. a GNSS base station; 2. A GNSS rover station; 3. A millimeter wave radar; 4. The vehicle-mounted terminal 5G communication module; 5. A vehicle-mounted computing platform; 6. A vehicle-mounted controller; 7. A speed sensor; 8. A steering angle sensor; 9. road roller body.
Detailed Description
The invention is described below with reference to the accompanying drawings and specific embodiments:
as shown in fig. 1 to 5, an unmanned road roller capable of realizing cluster construction includes a road roller body 9, a perception calculation layer, a bottom control layer and a remote planning layer;
the perception calculation layer comprises a GNSS base station 1, a GNSS mobile station 2, a millimeter wave radar 3, a vehicle-mounted calculation platform 5 and a vehicle-mounted end 5G communication module 4;
the bottom control layer comprises a vehicle-mounted controller 6, a steering angle sensor 8, a speed sensor 7 and an electric control system of the road roller;
the remote planning layer comprises a control center, path planning software and a planning terminal 5G communication module;
and data sharing and transmission channels are also arranged between the road roller body 9 and the other road rollers in the machine group.
The data sharing and transmission channel enables each road roller which is successfully registered with the control center to perform information matching with the other road rollers, and sends a connection request and confirms the connection request;
after confirmation, the road roller is connected with other road rollers to realize data intercommunication.
In this embodiment, as shown in fig. 3, the steps of data sharing and registration of the road roller to the control center by each road roller of the present invention are as follows:
the first step is as follows: starting and registering the unmanned road roller at the road section;
after the construction is started, a plurality of road rollers needing cluster combined operation are ignited and started, the vehicle-mounted computing platform 5 of each road roller immediately registers to the control center after the road rollers are started, and after the registration steps of each road roller are confirmed by an operator according to actual conditions, the registration steps of each road roller are successful (since the road rollers with a plurality of other operation tasks work in a construction site, the confirmation steps of the operator are necessary for preventing other road rollers from being mixed into the cluster and interfering cluster operation), the road rollers which are successfully registered can realize data transmission and instruction issuing with the control center;
the second step is that: the cluster which is successfully registered carries out information matching;
each road roller which is successfully registered can be matched with the information of the other road rollers, and the step provides a data sharing and transmission channel for each road roller in the cluster;
the third step: sending a connection request, wherein the step is RPC service;
the fourth step: confirming a connection request, wherein the step is also RPC service;
the fifth step: the road roller formally establishes connection with the rest road rollers, and the process is TCP service; through the first five steps, a data sharing and transmission channel is successfully established between the road roller and the other road rollers;
and a sixth step: data transmission;
when each road roller in the machine group is in construction operation, the road rollers can share the path to be rolled, the current position, the rolling speed, the compaction parameters, the safety distance and the like of the road roller in real time; the two road rollers share respective real-time positions, so that the distances from other road rollers in the cluster to the two road rollers can be known, and related paths can be planned or avoided in advance (for example, under the condition that one road roller in the cluster retreats and rolls, the other road roller advances and rolls in a next gate of the other road roller, the two road rollers are a relatively common operation mode in normal construction, and after data sharing, the two road rollers can successfully avoid the dangerous condition of collision, so that the construction safety is ensured).
The GNSS mobile station 2 and the GNSS base station 1 realize RTK positioning through radio station communication of a specific frequency band, and the high-precision positioning requirement of each road roller in the cluster is met.
The GNSS mobile station 2 is arranged on a front frame of the whole road roller;
the GNSS base station 1 is erected on an open field of a construction site by adopting manual self-walking or is served by adopting a network GNSS base station, and provides positioning and course information to the vehicle-mounted computing platform 5.
The steering angle sensor 8 is arranged on a hinged shaft between a front frame and a rear frame of the road roller body 9 and is used for measuring the real-time steering angles of the front frame and the rear frame of the road roller body 9;
the speed sensor 7 is arranged on the walking motor and is used for measuring the real-time walking speed information of the road roller body 9;
the steering angle sensor 8 and the speed sensor 7 are respectively connected with a vehicle-mounted machine controller, the vehicle-mounted machine controller is connected with the vehicle-mounted computing platform 5, and the vehicle-mounted machine controller adjusts parameters of the road roller such as engine speed, working speed, steering, starting and stopping vibration, amplitude, braking and safe parking by sending control signals.
The electric control system of the road roller comprises a walking system, a braking system, a steering system, a vibration system and a safety system.
The path planning operation software is used for inputting a map of a region to be constructed and displaying the real-time position of each road roller, so that each roller is remotely monitored and controlled;
and the control center and the vehicle-mounted computing platform 5 of the single road roller are respectively connected with respective 5G communication modules, so that the registration step of the single road roller and the control center and the information matching step between the road rollers are realized.
In this embodiment, as shown in fig. 2, the control center may maintain a certain distance from the road roller in the construction site, and remotely issue data such as a path to be compacted, compaction parameters, and the like to the vehicle-mounted computing platform 5 through the 5G communication module;
because the requirement of the communication between the control center and the vehicle-mounted computing platform 5 on the real-time performance is high, the time for transmitting the command issued by the control center to the vehicle-mounted computing platform 5 is required to be kept within 20ms, and the 5G communication module is a better choice; at the present stage, along with the large-scale erection of a government on a 5G communication base station, 5G communication is basically commercialized, and the invention can use 5G service only by purchasing a related 5G communication module, thereby realizing low-delay and high-rate communication between a control center and an on-board controller 6.
Meanwhile, when each road roller rolls in different passes, the position of each road roller is fed back to the path planning operation software in real time, so that a constructor can remotely check the all-round condition of a site, and the construction efficiency and safety are guaranteed.
In this embodiment, as shown in fig. 4, the local cluster and the control center form a local area network by using 5G communication.
Before construction, a compaction parameter and a global plan are issued to a control center through an expert system and a construction map, the control center intelligently arranges a compaction operation task according to the number of the road rollers which are successfully registered in the road section, and simultaneously issues an actual operation path of each road roller to a vehicle-mounted computing platform 5 of each road roller through a 5G communication module;
and each road roller in the cluster can acquire the coordinates and the positions of the peripheral road rollers, the path of each road roller is pre-judged in advance according to the operation path planning by combining the data of the millimeter wave radar 3, and each road roller decides an obstacle avoidance strategy.
Meanwhile, information such as the running state, the position, the rolling speed, the vibration frequency and amplitude, the compaction degree real-time data and the like of each machine is transmitted back to the cloud big data center for storage;
because the step of returning the cloud has lower real-time requirement, a mobile cellular communication module can be adopted for returning data; the cloud big data center can completely reserve the compaction process and parameters for a long time, so that the inspection and acceptance of subsequent projects are facilitated, and meanwhile, relevant basis is provided for future pavement maintenance.
The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a can realize unmanned road roller of cluster construction, includes the road roller body, its characterized in that: the system also comprises a perception calculation layer, a bottom control layer and a remote planning layer;
the perception calculation layer comprises a GNSS base station, a GNSS mobile station, a millimeter wave radar, a vehicle-mounted calculation platform and a vehicle-mounted terminal 5G communication module;
the bottom control layer comprises a vehicle-mounted controller, a steering angle sensor, a speed sensor and a road roller electric control system;
the remote planning layer comprises a control center, path planning software and a planning terminal 5G communication module;
and data sharing and transmission channels are also arranged between the road roller body and the other road rollers in the machine group.
2. The unmanned road roller capable of realizing cluster construction according to claim 1, wherein: the data sharing and transmission channel enables each road roller which is successfully registered with the control center to perform information matching with the other road rollers, and sends a connection request and confirms the connection request;
after confirmation, the road roller is connected with other road rollers to realize data intercommunication.
3. The unmanned road roller capable of realizing cluster construction according to claim 2, wherein: the step of sending the connection request is RPC service, the step of confirming the connection request is RPC service, and the step of formally establishing the connection is TCP service.
4. The unmanned road roller capable of realizing cluster construction according to claim 1, wherein: the GNSS mobile station and the GNSS base station realize RTK positioning through radio station communication of a specific frequency band, and the high-precision positioning requirement of each road roller in the cluster is met.
5. The unmanned road roller capable of realizing cluster construction according to claim 4, wherein: the GNSS mobile station is arranged on a front frame of the whole road roller;
the GNSS base station is erected on an open field of a construction site by adopting manual self-walking or is served by adopting a network GNSS base station, and provides positioning and course information for the vehicle-mounted computing platform.
6. The unmanned road roller capable of realizing cluster construction according to claim 1, wherein: the steering angle sensor is arranged on a hinged shaft between a front frame and a rear frame of the road roller body and is used for measuring real-time steering angles of the front frame and the rear frame of the road roller body;
the speed sensor is arranged on the walking motor and used for measuring the real-time walking speed information of the road roller body;
the steering angle sensor and the speed sensor are respectively connected with a vehicle-mounted machine controller, the vehicle-mounted machine controller is connected with a vehicle-mounted computing platform, and the vehicle-mounted machine controller adjusts parameters of the road roller such as engine speed, working speed, steering, starting and stopping vibration, amplitude, braking and safe parking by sending control signals.
7. The unmanned road roller capable of realizing cluster construction according to claim 1, wherein: the electric control system of the road roller comprises a walking system, a braking system, a steering system, a vibration system and a safety system.
8. The unmanned road roller capable of realizing cluster construction according to claim 1, wherein: the path planning operation software is used for inputting a map of a region to be constructed and displaying the real-time position of each road roller, so that each roller is remotely monitored and controlled;
and the control center and the vehicle-mounted computing platform of the single road roller are respectively connected with respective 5G communication modules, so that the registration step of the single road roller and the control center and the information matching step between the road rollers are realized.
9. The unmanned road roller capable of realizing cluster construction according to claim 8, wherein: the control center keeps a distance with a road roller in a construction site, and remotely sends data such as a path to be compacted, compaction parameters and the like to the vehicle-mounted computing platform through the 5G communication module.
10. The unmanned road roller capable of realizing cluster construction according to claim 1, wherein: and the control center and the field cluster form a local area network through 5G communication.
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| CN202010754613.XA CN111794052B (en) | 2020-07-31 | 2020-07-31 | Unmanned road roller capable of realizing clustered construction |
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| CN111794052A true CN111794052A (en) | 2020-10-20 |
| CN111794052B CN111794052B (en) | 2023-07-14 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113671948A (en) * | 2021-07-27 | 2021-11-19 | 北京科技大学 | Cooperative intelligent operation control method for earth and rock engineering unmanned rolling machine group |
| CN114439071A (en) * | 2022-02-24 | 2022-05-06 | 徐工集团工程机械股份有限公司道路机械分公司 | Automatic water adding system of unmanned aerial vehicle group road construction road roller and operation method |
| EP4332302A1 (en) * | 2022-08-29 | 2024-03-06 | MOBA Mobile Automation AG | Compactor |
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| CN109898391A (en) * | 2019-03-19 | 2019-06-18 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Roadbed intelligence debulking systems based on unmanned and information-based detection technique |
| CN110331639A (en) * | 2019-07-08 | 2019-10-15 | 长安大学 | One kind can AUTONOMOUS TASK intelligent roller system |
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2020
- 2020-07-31 CN CN202010754613.XA patent/CN111794052B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109898391A (en) * | 2019-03-19 | 2019-06-18 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Roadbed intelligence debulking systems based on unmanned and information-based detection technique |
| CN110331639A (en) * | 2019-07-08 | 2019-10-15 | 长安大学 | One kind can AUTONOMOUS TASK intelligent roller system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113671948A (en) * | 2021-07-27 | 2021-11-19 | 北京科技大学 | Cooperative intelligent operation control method for earth and rock engineering unmanned rolling machine group |
| CN113671948B (en) * | 2021-07-27 | 2023-08-22 | 北京科技大学 | Unmanned rolling machine cluster cooperative intelligent operation control method for earthwork engineering |
| CN114439071A (en) * | 2022-02-24 | 2022-05-06 | 徐工集团工程机械股份有限公司道路机械分公司 | Automatic water adding system of unmanned aerial vehicle group road construction road roller and operation method |
| CN114439071B (en) * | 2022-02-24 | 2024-03-01 | 徐工集团工程机械股份有限公司道路机械分公司 | Automatic water adding system of unmanned aerial vehicle group road construction road roller and operation method |
| EP4332302A1 (en) * | 2022-08-29 | 2024-03-06 | MOBA Mobile Automation AG | Compactor |
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