CN117758566A

CN117758566A - Control method and device of road roller, readable storage medium and electronic equipment

Info

Publication number: CN117758566A
Application number: CN202311781778.6A
Authority: CN
Inventors: 雷军; 王泽龙; 张长城; 任小亮; 贾帅帅; 刘伟
Original assignee: Weichai Power Co Ltd
Current assignee: Weichai Power Co Ltd
Priority date: 2023-12-21
Filing date: 2023-12-21
Publication date: 2024-03-26

Abstract

The application provides a control method, a control device, a readable storage medium and electronic equipment of a road roller, wherein an eccentric block of the road roller is arranged inside the road roller, and the control method comprises the following steps: acquiring an initial position of a road roller and a starting road pressing position of the road roller, wherein the starting road pressing position is a starting position of a road section to be pressed, and the road section to be pressed is a road section of the road roller for executing road pressing work; acquiring a first preset position of the eccentric block of the road roller, wherein the first preset position is the preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position; and controlling the operation of the road roller so that the position of the eccentric block of the road roller is positioned at a first preset position when the road roller is operated from the initial position to the initial road pressing position, and thus, the total vertical pressure of each position point in the road section to be pressed of the road roller is positioned in a preset range. According to the method, the position of the eccentric block required by the road section to be pressed is calculated, and the position of the eccentric block is identified and adjusted through the controller, so that the uniform compaction of the road surface is realized.

Description

Control method and device of road roller, readable storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of control of a road roller, and in particular, to a control method of a road roller, a control device of a road roller, a computer readable storage medium, and an electronic device.

Background

At present, the vibration of the steel wheel is realized by driving the eccentric block through the vibration motor, and the vibration road roller is generally a round vibration road roller. The round vibratory roller has horizontal forward force in most of the time in the compaction process, and on one hand, the round vibratory roller does not contribute to the pavement compaction operation, and on the other hand, the horizontal forward force can push pavement soil forward to damage the pavement. There are significant drawbacks in compacting operations.

In addition, for a dual eccentric mass vibratory roller, by virtue of the opposite circular motion of the two eccentric masses, horizontal forces are eliminated during operation, and only vertical downward forces are retained. However, since the double eccentric mass is complex in structure on the one hand, the following disadvantages also exist on the other hand: the vertical downward force is uneven in size, uniform compaction of the pavement cannot be achieved, and compaction of the pavement can only be achieved by probability.

Therefore, the vertical downward force of the existing road roller is unevenly distributed in the road compacting process, and even compaction of the road surface cannot be realized.

Disclosure of Invention

The main object of the present application is to provide a control method of a road roller, a control device of a road roller, a computer readable storage medium and an electronic device, so as to at least solve the problem that the road roller in the prior art cannot achieve uniform compaction of a road surface.

To achieve the above object, according to one aspect of the present application, there is provided a control method of a road roller, in which an eccentric mass of the road roller is installed inside the road roller, the method comprising: acquiring an initial position of a road roller and a starting road pressing position of the road roller, wherein the starting road pressing position is a starting position of a road section to be pressed, and the road section to be pressed is a road section of the road roller for executing road pressing work; acquiring a first preset position of an eccentric block of a road roller, wherein the first preset position is a preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position; and controlling the running of the road roller so that the position of the eccentric block of the road roller is positioned at the first preset position when the road roller runs from the initial position to the initial road pressing position, and thus, the total vertical pressure of the road roller to each position point in the road section to be pressed is positioned in a preset range.

Optionally, controlling the operation of the road roller so that the position of the eccentric block of the road roller is located at the first preset position when the road roller is operated from the initial position to the initial road pressing position, including: acquiring the current speed of the road roller and the initial eccentric block position, wherein the initial eccentric block position is the position of the eccentric block of the road roller when the road roller is positioned at the initial position; determining a linear path between an initial position of the road roller and a starting road pressing position of the road roller as a target distance; determining the motor rotating speed of the road roller according to the current speed of the road roller, the target distance, the first preset position and the initial eccentric block position; and controlling the running of the road roller by adopting the motor rotating speed of the road roller, so that the position of the eccentric block of the road roller is positioned at the first preset position when the road roller runs to the initial road pressing position.

Optionally, determining the motor rotation speed of the road roller according to the current vehicle speed of the road roller, the target distance, the first preset position and the initial eccentric block position includes: constructing a rotation speed calculation formulaWherein r is the motor rotating speed of the road roller, L ₀ For the target distance, v is the current speed of the road roller, θ' is the first preset position, θ (x) is the initial eccentric block position, k ₁ Not less than 1, saidThe first preset position is an included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial road pressing position, and the initial eccentric block position is an included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial position; and determining the motor rotation speed of the road roller according to the rotation speed calculation formula.

Optionally, acquiring the first preset position of the eccentric block of the road roller includes: obtaining target pressure and angular frequency of the road roller, wherein the target pressure is a preset value of the road roller on total vertical pressure of all position points in the road section to be pressed; acquiring the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller; and determining a first preset position of the eccentric blocks of the road roller according to the target pressure, the angular frequency of the road roller, the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller.

Optionally, the mass of each eccentric block of the road roller is the same, and determining the first preset position of the eccentric block of the road roller according to the target pressure, the angular frequency of the road roller, the number of eccentric blocks of the road roller and the mass of each eccentric block of the road roller includes: building a position calculation formula F ₀ ＝k ₂ ×m×ω ² X cos (θ'), wherein F ₀ For the target pressure, k ₂ For the number of the eccentric blocks of the road roller, m is the mass of the eccentric blocks of the road roller, ω is the angular frequency of the road roller, θ' is a first preset position of the eccentric blocks of the road roller, and the first preset position is an included angle between the acting force direction of the eccentric blocks and the vertical downward direction when the road roller is located at the initial road pressing position; and determining a first preset position of the eccentric block of the road roller according to the position calculation formula.

Optionally, the magnetic sensor is installed on the road roller, and the magnetic sensor is used for collecting the position of the eccentric block of the road roller in real time, and the intermediate value of the preset range is the target pressure.

Optionally, the number of compactions of the roller is N, and the process of moving the roller from the initial road pressing position to the final road pressing position is one compaction, after controlling the operation of the roller so that the position of the eccentric block of the roller is located at the first preset position when the roller moves from the initial position to the initial road pressing position, the method further includes: obtaining a plurality of compaction forces at a certain position point in the section to be compacted, wherein the compaction forces respectively generate vertical pressure to the position point when the road roller performs compaction operation each time; the sum of all the compaction forces is determined as the total vertical pressure at the location point.

According to another aspect of the present application, there is provided a control device for a roller, an eccentric mass of the roller being mounted inside the roller, the device comprising: the road roller comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring an initial position of a road roller and a starting road pressing position of the road roller, the starting road pressing position is a starting position of a road section to be pressed, and the road section to be pressed is a road section of the road roller for executing road pressing operation; the second acquisition unit is used for acquiring a first preset position of the eccentric block of the road roller, wherein the first preset position is the preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position; and the control unit is used for controlling the road roller to run so that when the road roller runs from the initial position to the initial road pressing position, the position of the eccentric block of the road roller is positioned at the first preset position, and therefore the total vertical pressure of the road roller to all the position points in the road section to be pressed is in a preset range.

According to another aspect of the present application, there is provided a computer readable storage medium, the computer readable storage medium including a stored program, wherein when the program is run, the apparatus in which the computer readable storage medium is located is controlled to execute any one of the control methods of the road roller.

According to another aspect of the present application, there is provided an electronic device including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising a control method for executing any one of the road rollers.

By applying the technical scheme, the eccentric block of the road roller is arranged in the road roller, the initial position of the road roller and the initial road pressing position of the road roller are firstly obtained, the initial road pressing position is the initial position of a road section to be pressed, and the road section to be pressed is the road section of the road roller for executing road pressing work; then, a first preset position of the eccentric block of the road roller is obtained, wherein the first preset position is the preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position; and finally, controlling the operation of the road roller so that the position of the eccentric block of the road roller is positioned at a first preset position when the road roller is operated from the initial position to the initial road pressing position, and thus, the total vertical pressure of each position point in the road section to be pressed of the road roller is positioned in a preset range. According to the method, the position of the eccentric block required by the road section to be pressed is calculated, the position of the eccentric block is identified and adjusted through the controller, so that uniform compaction of the road surface is realized, and the problem that the road surface cannot be uniformly compacted by the road roller in the prior art is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 shows a schematic flow chart of a method for controlling a road roller according to an embodiment of the present application;

FIG. 2 shows a schematic diagram of a control method of a road roller according to an embodiment of the present application;

FIGS. 3 (a) - (b) are schematic diagrams showing the principle of action of a circular vibratory roller and a vertical vibratory roller, respectively;

FIG. 4 shows a schematic structural view of a road roller provided according to an embodiment of the present application;

FIG. 5 is a flow chart of another method of controlling a compactor according to an embodiment of the present disclosure;

fig. 6 shows a block diagram of a control device for a road roller according to an embodiment of the present application.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As described in the background art, in the prior art, the eccentric block is driven by the vibrating motor to vibrate the steel wheel, typically a circular vibratory roller. The round vibratory roller has horizontal forward force in most of the time in the compaction process, and on one hand, the round vibratory roller does not contribute to the pavement compaction operation, and on the other hand, the horizontal forward force can push pavement soil forward to damage the pavement. Therefore, there is an obvious defect in compacting operation, and in order to solve the problem that the road roller in the prior art cannot achieve uniform compaction of the road surface, embodiments of the present application provide a control method of the road roller, a control device of the road roller, a computer readable storage medium and an electronic device.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the present embodiment, there is provided a method of controlling a road roller operating on a hydraulic controller of an engine or similar computing device, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and although a logical sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than that shown.

Fig. 1 is a flowchart of a control method of a road roller according to an embodiment of the present application. As shown in fig. 1, the eccentric mass of the road roller is installed inside the road roller, and the method comprises the following steps:

step S201, acquiring an initial position of a road roller and a starting road pressing position of the road roller, wherein the starting road pressing position is a starting position of a road section to be pressed, and the road section to be pressed is a road section of the road roller for executing road pressing operation;

in particular, a roller is an engineering machine for compacting roads, sites and other soil surfaces. The compaction device is generally composed of a road roller main body, a vibration system and a road pressing wheel, and the compaction degree and the bearing capacity of soil are improved through vibration and compaction, so that the compaction device is more suitable for driving and construction. The road roller is widely applied to the fields of road construction, bridge engineering, airport construction and the like. As shown in fig. 2, a is an initial position of the road roller, b is a start road pressing position of the road roller, c is a stop road pressing position of the road roller, and x is a road section to be pressed. The adjusting road section is a road section between the initial position of the road roller and the initial road pressing position of the road roller and is used for adjusting the position of the eccentric block of the road roller, so that the total vertical pressure of the road roller on each position point in the road section to be pressed is in a preset range.

In addition, as shown in fig. 3, fig. 3 (a) is a schematic diagram of the principle of operation of the circular vibratory roller, and fig. 3 (b) is a schematic diagram of the principle of operation of the vertical vibratory roller. The position of the eccentric block of the road roller and the arrow indicating the acting force of the eccentric block of the press can be obviously distinguished by adopting gray scales in fig. 3, and the following problems exist in the compaction process of the circular vibration road roller: when the gravity center of the eccentric wheel is vertically up and down, only vertical downward force exists; in the rest position of the eccentric, there is a horizontal force directed forward, except for a vertical downward force. The horizontal forward force exists in most of the time in the compaction process, so that the horizontal forward force does not contribute to the pavement compaction operation, and the horizontal forward force can push the pavement soil forward to damage the pavement. There are significant drawbacks in compacting operations.

The principle of a circular vibratory roller is to compact and vibrate soil or pavement materials using the weight and vibration force of the machine. Soil or pavement material is compacted by weight and vibratory forces as the machine moves over the road or ground surface. The vibratory forces may help the material to better fill and remove voids, thereby improving compaction. Round vibratory rollers are typically equipped with round road wheels that are rotated and vibrated to effect compaction and vibration of the soil or pavement material.

The double eccentric block vibratory roller utilizes centrifugal force and inertial force generated by the rotary motion of the double eccentric blocks and transmits the centrifugal force and inertial force to the ground through a vibration system of the roller, thereby realizing the compaction effect on the ground. The principle mainly comprises the following aspects:

1. double eccentric blocks: vibratory systems for vibratory rollers are generally composed of two eccentric masses, which are mounted on the vibrating shaft of the roller. When the vibration shaft rotates, the rotation directions of the two eccentric blocks are opposite, and centrifugal forces in opposite directions can be generated.

2. Centrifugal force: the rotational movement of the double eccentric mass generates a centrifugal force, and a large centrifugal force is generated even if the rotational speed of the vibration shaft is relatively low. These centrifugal forces are transferred to the ground causing the ground particles to vibrate and move, thereby effecting compaction of the ground.

3. Inertial force: in addition to centrifugal force, the rotational movement of the double eccentric mass also generates inertial forces. When the eccentric mass changes direction due to rotation, inertial forces cause the roller to move in the opposite direction, which also produces a vibratory effect on the ground.

Through centrifugal force and inertial force generated by the rotary motion of the double eccentric blocks, the vibratory roller can realize the effective compaction effect on the ground, thereby improving the compactness and bearing capacity of the ground.

Currently, dual eccentric vibratory rollers are designed, as shown in fig. 3 (b). By the opposite circular movement of the two eccentric masses, horizontal forces are eliminated during operation, only vertical downward forces remain. However, since the double eccentric mass is complex in structure on the one hand, the following disadvantages also exist on the other hand: the vertical downward force is uneven in size, uniform compaction of the pavement cannot be achieved, and compaction of the pavement can only be achieved by probability.

Therefore, the vertical vibratory roller is adopted in the embodiment, and the position of the eccentric block is intelligently identified, so that the uniformity of compaction operation is ensured, the intelligent level of vibration compaction is effectively improved, and the compaction efficiency and the compaction quality are improved.

The magnetic sensor is used for collecting the position of the eccentric block of the road roller in real time, and the middle value of the preset range is the target pressure.

Specifically, the positions of the eccentric blocks of the road roller at all positions of the road roller can be accurately obtained through the magnetic sensor, so that a data foundation is laid for subsequent calculation. As shown in fig. 4, the eccentric mass position sensor 1 and the eccentric mass position sensor 2 in fig. 4 are two magnetic force sensors that detect the positions of the eccentric masses of the two engines, respectively.

The magnetic force sensor is a sensor capable of detecting the intensity of a surrounding magnetic field. They are commonly used to measure the magnitude and direction of magnetic fields, as well as to detect the position and movement of objects. The working principle of the magnetic sensor is based on the law of magnetic induction, and measurement is realized by detecting the influence of a magnetic field on the sensor. Common types of magnetic force sensors include hall effect sensors, magneto-electric sensors, magneto-resistive sensors, and the like. The magnetic sensor may be used to detect the position of the eccentric mass of the road roller. The magnetic force sensor can sense the magnetic field of the eccentric mass, thereby determining the position thereof. Through installing magnetic force sensor on the road roller to be connected with corresponding monitoring system, the position of eccentric block can be monitored in real time to the operator, ensures that it is in correct position in order to ensure the normal operating and the compaction effect of road roller. This technique can improve the work efficiency and safety.

Step S202, obtaining a first preset position of an eccentric block of a road roller, wherein the first preset position is a preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position;

specifically, when the road roller is located at the initial road pressing position, the eccentric block of the road roller is located at the first preset position, so that the total vertical pressure applied by each position point on the road to be pressed is almost the same when the road roller works on the road to be pressed. Therefore, in order to achieve a uniform compaction of the section to be compacted, it is necessary to control the rotation speed of the roller motor in the adjustment section so that the eccentric of the roller is in a first preset position when the roller is in the starting compacting position.

In addition, the eccentric block of the road roller refers to an eccentric shaft on the road roller, and the working principle of the eccentric block is that centrifugal force is generated by utilizing the rotary motion of the eccentric shaft, and the road roller is vibrated in the advancing process by the action of the centrifugal force, so that the effects of compacting and leveling a road are achieved. The eccentric block is generally composed of an eccentric shaft, an eccentric weight and an eccentric block supporting seat. When the engine of the road roller is started, the eccentric shaft starts to rotate, and the eccentric weight rotates along with the eccentric shaft, so that different centrifugal forces are generated during rotation due to different positions of the eccentric weight relative to the eccentric shaft. These centrifugal forces are transferred to the vibratory system of the compactor to cause the compactor to vibrate at high frequencies, thereby compacting and leveling the soil or material on the road. In general, the working principle of the eccentric block of the road roller is mainly to utilize the rotation of the eccentric shaft to generate centrifugal force, and the road roller is vibrated by the action of the centrifugal force, so that the effects of compacting and flattening the road are realized.

The method for acquiring the first preset position of the eccentric block of the road roller comprises the following steps:

step S301, obtaining target pressure and angular frequency of the road roller, wherein the target pressure is a preset value of the road roller on total vertical pressure of each position point in the road section to be pressed;

Step S302, obtaining the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller;

step S303, determining a first preset position of the eccentric blocks of the road roller according to the target pressure, the angular frequency of the road roller, the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller.

Specifically, the first preset position of the eccentric block of the road roller can be accurately calculated, so that when the engine works on the section to be pressed, the total vertical pressure applied to each position point on the section to be pressed has smaller difference, and a better compaction effect is obtained. The magnitude of the target pressure is generally determined based on the desired compaction effect and number of compactions for the road segment to be compacted.

Wherein, the mass of each above-mentioned road roller eccentric block is the same, according to above-mentioned target pressure, the angular frequency of above-mentioned road roller, the quantity of above-mentioned road roller eccentric block and the mass of each above-mentioned road roller eccentric block, confirm the first default position of above-mentioned road roller eccentric block, include the following step:

step S3031, a position calculation formula F is constructed ₀ ＝k ₂ ×m×ω ² X cos (θ'), wherein F ₀ For the target pressure, k ₂ The method comprises the steps that m is the mass of the eccentric blocks of the road roller, ω is the angular frequency of the road roller, θ' is a first preset position of the eccentric blocks of the road roller, and the first preset position is an included angle between the acting force direction of the eccentric blocks and the vertical downward direction when the road roller is located at the initial road pressing position;

Step S3032, determining a first preset position of the eccentric block of the road roller according to the position calculation formula.

Specifically, the first preset position of the eccentric block of the road roller can be accurately determined, so that when the engine works on the road section to be pressed, the total vertical pressure applied to each position point on the road section to be pressed has smaller difference, and a better compaction effect is obtained.

And step 203, controlling the road roller to run so that the position of the eccentric block of the road roller is positioned at the first preset position when the road roller runs from the initial position to the initial road pressing position, and thus the total vertical pressure of the road roller to each position point in the road section to be pressed is in a preset range.

In particular, a road roller is a mechanical device dedicated to compacting soil, asphalt and other road materials. Ensure that the road roller can evenly compact the road surface, can reach following effect:

1. the durability and the stability of the pavement are improved: the uniform compaction can enable pavement materials to be tightly combined, and the generation of looseness and cracks is reduced, so that the durability and the stability of the pavement are improved.

2. Optimizing the road surface flatness: even compaction can make the road surface more level and smooth, reduces the unevenness, improves travelling comfort and security.

3. The water resistance of the pavement is improved: the porosity of the pavement can be reduced by uniform compaction, the water resistance of the pavement is improved, and the ponding and water damage are reduced.

4. And the maintenance cost is reduced: the uniform compaction can reduce the abrasion and damage of the pavement, prolong the service life of the pavement, and reduce the maintenance and repair cost.

5. Work efficiency is improved: even compaction can improve the efficiency of construction, reduces manpower and time cost, improves construction quality and speed.

Wherein, control the above-mentioned road roller to move to make when the above-mentioned road roller moves from above-mentioned initial position to above-mentioned initial pressure way position, the position of the eccentric block of above-mentioned road roller is located above-mentioned first default position, include the following step:

step S401, acquiring the current speed of the road roller and the initial eccentric block position, wherein the initial eccentric block position is the position of the eccentric block of the road roller when the road roller is positioned at the initial position;

step S402, determining a straight line path between an initial position of the road roller and a starting road pressing position of the road roller as a target distance;

step S403, determining the motor rotating speed of the road roller according to the current speed of the road roller, the target distance, the first preset position and the initial eccentric block position;

The method for determining the motor rotating speed of the road roller according to the current vehicle speed of the road roller, the target distance, the first preset position and the initial eccentric block position comprises the following steps:

step S4031, constructing a rotation speed calculation formulaWherein r is the motor rotation speed of the road roller, L ₀ For the target distance, v is the current speed of the road roller, θ' is the first preset position, θ (x) is the initial eccentric block position, k ₁ The first preset position is an included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial road pressing position, and the initial eccentric block position is an included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial position;

step S4032, determining the motor rotation speed of the road roller according to the rotation speed calculation formula.

In particular, the motor speed of the road roller during driving within the target distance (i.e. the adjustment section in fig. 2) can be accurately calculated in this way, so that the position of the engine eccentric block is located at the first preset position when the road roller is driven to the initial road pressing position.

And S404, controlling the running of the road roller by adopting the motor rotating speed of the road roller so that the position of the eccentric block of the road roller is positioned at the first preset position when the road roller runs to the initial road pressing position.

Specifically, through the controllability of eccentric block in the compaction process, the position of eccentric block in the compaction process is regulated and controlled through the controller, the uniformity of the compaction of each position of road surface is realized, and the compaction efficiency and the compaction quality are improved.

A road roller is a heavy mechanical apparatus for compacting soil, asphalt, and other road base materials. It is typically equipped with an internal combustion engine or hydraulic drive system for providing power to drive the roller into operation.

The motor speed of the road roller is usually adjusted according to the working requirement, and generally, the higher the speed is, the higher the working efficiency of the road roller is, but more fuel is consumed and more noise is generated. Lower speeds may reduce operating efficiency, but may save fuel and reduce noise.

The working principle of the road roller is to use a heavy steel roller, and soil or asphalt materials are firmer and denser through weight and vibration in the compacting process. The adjustment of the motor speed can influence the vibration frequency and compaction effect of the road roller, thereby influencing the quality and efficiency of the work.

In a road roller, motor speed and eccentric mass position are two important parameters. Motor speed refers to the speed of the motor or drive motor of the road roller, typically expressed in revolutions per minute (rpm). The motor rotation speed can directly influence the working efficiency and the compaction effect of the road roller, and generally, higher motor rotation speed can generate larger vibration force, so that the road base material can be compacted better. The eccentric block position refers to the position of the eccentric block on the road roller of the road roller. The eccentric mass is typically composed of a metal mass having an off-axis center of gravity, which generates centrifugal force when the roller rotates, thereby causing the roller to vibrate. By adjusting the position of the eccentric block, the vibration frequency and amplitude of the road roller can be changed, so that different compacting materials and compacting requirements can be met. Generally, the adjustment of the eccentric block position needs to be adjusted according to the actual working condition and requirement to achieve the best compacting effect.

The compaction frequency of the road roller is N times, the process that the road roller moves from the initial road pressing position to the final road pressing position is one compaction is controlled to operate so that the position of the eccentric block of the road roller is located at the first preset position when the road roller moves from the initial position to the initial road pressing position, and the method further comprises the following steps:

step S501, a plurality of compaction forces at a certain position point in the road section to be compacted are obtained, wherein the plurality of compaction forces respectively generate vertical pressure to the position point when the road roller performs compaction operation each time;

step S502, determining the sum of all the compaction forces as the total vertical pressure of the position points.

Specifically, under the condition that the compaction times of the road roller are multiple, the steps can also ensure that the total vertical pressure of the road roller to each position point in the road section to be compacted is within a preset range, so that the compaction uniformity of each position of the road surface is realized, and the compaction efficiency and the compaction quality are improved.

In addition, the number of compactions of the compactor will depend on the specific requirements of the project and the characteristics of the pavement material. In general, a road roller performs a plurality of compaction operations to ensure the firmness and flatness of the road surface. Typically, the roller will be compacted 3-5 times, but will be adjusted according to the actual situation. In actual operation, the operator can make proper adjustment and judgment according to the condition and the requirement of the road surface.

In addition, it should be noted that the compactor is repeatedly compacted during the compaction operation, i.e., after the first compaction, the compactor is moved from the end-of-compaction position of the first compaction by the target distance L in accordance with the direction of movement at that time ₀ (i.e. the target distance is the adjustment distance), and then performing a second compaction according to the reverse direction movement from the position at the current moment, i.e. the initial compaction position of the second compaction roller is the final compaction position of the first compaction roller, and likewise, the initial compaction position of the even compaction roller is the final compaction position of the odd compaction roller.

According to the control method of the road roller, the eccentric block of the road roller is arranged in the road roller, the initial position of the road roller and the initial road pressing position of the road roller are firstly obtained, the initial road pressing position is the initial position of a road section to be pressed, and the road section to be pressed is the road section of the road roller for executing road pressing work; then, a first preset position of the eccentric block of the road roller is obtained, wherein the first preset position is the preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position; and finally, controlling the operation of the road roller so that the position of the eccentric block of the road roller is positioned at a first preset position when the road roller is operated from the initial position to the initial road pressing position, and thus, the total vertical pressure of each position point in the road section to be pressed of the road roller is positioned in a preset range. According to the method, the position of the eccentric block required by the road section to be pressed is calculated, the position of the eccentric block is identified and adjusted through the controller, so that uniform compaction of the road surface is realized, and the problem that the road surface cannot be uniformly compacted by the road roller in the prior art is solved.

In order to enable those skilled in the art to more clearly understand the technical solutions of the present application, the implementation process of the control method of the road roller of the present application will be described in detail below with reference to specific embodiments.

The embodiment relates to a specific control method of a road roller, as shown in fig. 5, comprising the following steps:

step S1: finishing process programming, and determining the compaction times N and the total length of the section to be pressed;

step S2: according to a position calculation formula, calculating to obtain a preset position of the eccentric block of the road roller when the road roller is at a start road pressing position and a preset position of the eccentric block of the road roller when the road roller is at a stop road pressing position in each time of pressing;

step S3: the compaction work starts, the road roller reaches the adjusting section, and the distance of the adjusting section is calculated through the starting position sensor and the GPS sensor of the road roller to be the target distance L0;

step S4: calculating the motor rotating speed of the road roller at the adjusting section according to the preset position of the eccentric block of the road roller and the target distance L0 when the road roller is at the initial road pressing position, and entering the adjusting section to operate: the position of the eccentric block is adjusted through the operation of the adjusting section, so that the eccentric block of the road roller is positioned at a preset position when the road roller is positioned at the initial road pressing position;

Step S5: and (3) compacting the section to be compacted, repeatedly compacting for a plurality of times through forward compacting and reverse compacting, and finally finishing N times of compacting, wherein the operation is finished.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.

The embodiment of the application also provides a control device of the road roller, and the control device of the road roller can be used for executing the control method for the road roller. The device is used for realizing the above embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The following describes a control device of a road roller provided in an embodiment of the present application.

Fig. 6 is a schematic view of a control device of the road roller according to an embodiment of the application. As shown in fig. 6, the device includes a first acquiring unit 10, a second acquiring unit 20, and a control unit 30, where the first acquiring unit 10 is configured to acquire an initial position of a road roller and a start road pressing position of the road roller, the start road pressing position is a start position of a road section to be pressed, and the road section to be pressed is a road section of the road roller that performs a road pressing operation; the second obtaining unit 20 is configured to obtain a first preset position of the eccentric block of the road roller, where the first preset position is a preset position of the eccentric block of the road roller when the road roller is located at the initial road pressing position; the control unit 30 is configured to control the operation of the road roller, so that when the road roller is operated from the initial position to the initial road pressing position, the position of the eccentric block of the road roller is located at the first preset position, and thus the total vertical pressure of the road roller on each position point in the road section to be pressed is within a preset range.

According to the control device of the road roller, the eccentric block of the road roller is arranged in the road roller, the device comprises the first acquisition unit, the second acquisition unit and the control unit, the first acquisition unit is used for acquiring the initial position of the road roller and the initial road pressing position of the road roller, the initial road pressing position is the initial position of a road section to be pressed, and the road section to be pressed is the road section of the road roller for executing road pressing work; the second acquisition unit is used for acquiring a first preset position of the eccentric block of the road roller, wherein the first preset position is the preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position; the control unit is used for controlling the running of the road roller so that when the road roller runs from the initial position to the initial road pressing position, the position of the eccentric block of the road roller is located at a first preset position, and therefore the total vertical pressure of each position point in the road section to be pressed of the road roller is located in a preset range. According to the method, the position of the eccentric block required by the road section to be pressed is calculated, the position of the eccentric block is identified and adjusted through the controller, so that uniform compaction of the road surface is realized, and the problem that the road surface cannot be uniformly compacted by the road roller in the prior art is solved.

In some alternative solutions, the control unit includes a first acquisition module, a first determination module, a second determination module, and a first control module, where the first acquisition module is configured to acquire a current vehicle speed and an initial eccentric block position of the road roller, where the initial eccentric block position is a position of an eccentric block of the road roller when the road roller is located at the initial position; the first determining module is used for determining the straight line path between the initial position of the road roller and the initial road pressing position of the road roller as a target distance; the second determining module is used for determining the motor rotating speed of the road roller according to the current speed of the road roller, the target distance, the first preset position and the initial eccentric block position; the first control module is used for controlling the running of the road roller by adopting the motor rotating speed of the road roller, so that the position of the eccentric block of the road roller is positioned at the first preset position when the road roller runs to the initial road pressing position. Through the controllability of eccentric block in the compaction process, the position of eccentric block in the compaction process is regulated and controlled through the controller, the uniformity of the compaction of each position of road surface is realized, and the compaction efficiency and the compaction quality are improved.

In some alternative examples, the second determining module includes a first building sub-module and a first determining sub-module, the first building sub-module configured to build the rotational speed calculation formulaWherein r is the motor rotation speed of the road roller, L ₀ For the target distance, v is the current speed of the road roller, θ' is the first preset position, θ (x) is the initial eccentric block position, k ₁ The first preset position is an included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial road pressing position, and the initial eccentric block position is an included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial position; the first determining submodule is used for determining the motor rotating speed of the road roller according to the rotating speed calculation formula. Thus, the motor rotation speed of the road roller when the road roller runs within the target distance (namely the adjustment section in fig. 2) can be accurately calculated, so that the position of the engine eccentric block is located at the first preset position when the road roller runs to the initial road pressing position.

In this embodiment, the second obtaining unit includes a second obtaining module, a third obtaining module, and a third determining module, where the second obtaining module is configured to obtain a target pressure and an angular frequency of the road roller, where the target pressure is a preset value of the road roller for a total vertical pressure of each location point in the road section to be pressed; the third acquisition module is used for acquiring the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller; the third determining module is used for determining a first preset position of the eccentric blocks of the road roller according to the target pressure, the angular frequency of the road roller, the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller. Therefore, the first preset position of the eccentric block of the road roller can be accurately calculated, so that when the engine works on the road section to be pressed, the total vertical pressure applied to each position point on the road section to be pressed has smaller phase difference, and a better compaction effect is obtained.

Optionally, the mass of each eccentric block of the road roller is the same, and the third determining module includes a second constructing sub-module and a second determining sub-module, where the second constructing sub-module is used to construct a position calculation formula F ₀ ＝k ₂ ×m×ω ² X cos (θ'), wherein F ₀ For the target pressure, k ₂ The method comprises the steps that m is the mass of the eccentric blocks of the road roller, ω is the angular frequency of the road roller, θ' is a first preset position of the eccentric blocks of the road roller, and the first preset position is an included angle between the acting force direction of the eccentric blocks and the vertical downward direction when the road roller is located at the initial road pressing position; the second determining submodule is used for determining a first preset position of the eccentric block of the road roller according to the position calculation formula. Therefore, the first preset position of the eccentric block of the road roller can be accurately determined, so that when the engine works on the road section to be pressed, the total vertical pressure applied to each position point on the road section to be pressed has smaller phase difference, and a better compaction effect is obtained.

In an alternative example, the road roller is provided with a magnetic sensor, the magnetic sensor is used for acquiring the position of the eccentric block of the road roller in real time, and the middle value of the preset range is the target pressure. The positions of the eccentric blocks of the road roller at all positions of the road roller can be accurately obtained through the magnetic sensor, so that a data foundation is laid for subsequent calculation.

As an alternative, the number of compaction times of the road roller is N, the road roller moves from the initial compaction position to the final compaction position to perform one compaction process, the apparatus further includes a fourth acquisition module and a fourth determination module, the fourth acquisition module is used for acquiring a plurality of compaction forces at a certain position point in the road roller to be compacted after the position of the eccentric block of the road roller is located at the first preset position when the road roller moves from the initial position to the initial compaction position, and the plurality of compaction forces are respectively generated vertical pressure to the position point when the road roller performs compaction operation each time; the fourth determination module is used for determining the sum of all the compaction forces as the total vertical pressure of the position points. Under the condition that the compaction times of the road roller are multiple, the steps can also ensure that the total vertical pressure of the road roller to each position point in the road section to be compacted is in a preset range, so that the uniformity of compaction of each position of the road surface is realized, and the compaction efficiency and the compaction quality are improved.

The control device of the road roller comprises a processor and a memory, wherein the first acquisition unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. One or more than one inner cores can be arranged, and the problem that the road roller cannot achieve uniform compaction of the road surface in the prior art is solved by adjusting parameters of the inner cores.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is positioned to execute the control method of the road roller.

Specifically, the control method of the road roller comprises the following steps:

In particular, a road roller is a mechanical device dedicated to compacting soil, asphalt and other road materials.

Optionally, controlling the operation of the road roller so that the position of the eccentric block of the road roller is located at the first preset position when the road roller is operated from the initial position to the initial pressing position, including: acquiring the current speed and the initial eccentric block position of the road roller, wherein the initial eccentric block position is the position of the eccentric block of the road roller when the road roller is positioned at the initial position; determining a linear path between an initial position of the road roller and a starting road pressing position of the road roller as a target distance; determining the motor rotating speed of the road roller according to the current speed of the road roller, the target distance, the first preset position and the initial eccentric block position; and controlling the running of the road roller by adopting the motor rotating speed of the road roller so that the position of the eccentric block of the road roller is positioned at the first preset position when the road roller runs to the initial road pressing position.

Optionally, determining the motor rotation speed of the road roller according to the current vehicle speed of the road roller, the target distance, the first preset position and the initial eccentric block position includes: constructing a rotation speed calculation formulaWherein r is the motor rotation speed of the road roller, L ₀ For the target distance, v is the current speed of the road roller, θ' is the first preset position, θ (x) is the initial eccentric block position, k ₁ The first preset position is an included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial road pressing position, and the initial eccentric block position is an included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial position; and determining the motor rotation speed of the road roller according to the rotation speed calculation formula.

Optionally, acquiring the first preset position of the eccentric block of the road roller includes: obtaining target pressure and angular frequency of the road roller, wherein the target pressure is a preset value of the road roller on total vertical pressure of each position point in the road section to be pressed; acquiring the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller; and determining a first preset position of the eccentric blocks of the road roller according to the target pressure, the angular frequency of the road roller, the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller.

Optionally, the mass of each of the eccentric blocks of the road roller is the same, and determining the first preset position of each of the eccentric blocks of the road roller according to the target pressure, the angular frequency of the road roller, the number of eccentric blocks of the road roller, and the mass of each of the eccentric blocks of the road roller includes: building a position calculation formula F ₀ ＝k ₂ ×m×ω ² X cos (θ), wherein F ₀ For the target pressure, k ₂ The method comprises the steps that the number of eccentric blocks of the road roller is m, the mass of the eccentric blocks of the road roller is m, omega is the angular frequency of the road roller, theta is a first preset position of the eccentric blocks of the road roller, and the first preset position is an included angle between the acting force direction of the eccentric blocks and the vertical downward direction when the road roller is positioned at the initial road pressing position; and determining a first preset position of the eccentric block of the road roller according to the position calculation formula.

Optionally, the road roller is provided with a magnetic sensor, the magnetic sensor is used for collecting the position of the eccentric block of the road roller in real time, and the intermediate value of the preset range is the target pressure.

Optionally, the number of compaction times of the roller is N, and the process of moving the roller from the initial road pressing position to the final road pressing position into one compaction is controlled to operate the roller so that the position of the eccentric block of the roller is located after the first preset position when the roller is operated from the initial position to the initial road pressing position, and the method further includes: obtaining a plurality of compaction forces at a certain position point in the road section to be compacted, wherein the plurality of compaction forces respectively generate vertical pressure to the position point when the road roller performs compaction operation each time; the sum of all the above mentioned compaction forces is determined as the total vertical pressure of the above mentioned location points.

The embodiment of the invention provides a processor, which is used for running a program, wherein the control method of the road roller is executed when the program runs.

Optionally, the mass of each of the eccentric blocks of the road roller is the same, and determining the first preset position of each of the eccentric blocks of the road roller according to the target pressure, the angular frequency of the road roller, the number of eccentric blocks of the road roller, and the mass of each of the eccentric blocks of the road roller includes: building a position calculation formula F ₀ ＝k ₂ ×m×ω ² X cos (θ'), wherein F ₀ For the target pressure, k ₂ The method comprises the steps that m is the mass of the eccentric blocks of the road roller, ω is the angular frequency of the road roller, θ' is a first preset position of the eccentric blocks of the road roller, and the first preset position is an included angle between the acting force direction of the eccentric blocks and the vertical downward direction when the road roller is located at the initial road pressing position; and determining a first preset position of the eccentric block of the road roller according to the position calculation formula.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:

The device herein may be a server, PC, PAD, cell phone, etc.

Optionally, the mass of each of the eccentric blocks of the road roller is the same, and determining the first preset position of each of the eccentric blocks of the road roller according to the target pressure, the angular frequency of the road roller, the number of eccentric blocks of the road roller, and the mass of each of the eccentric blocks of the road roller includes: building a position calculation formula F ₀ ＝k ₂ ×m×ω ² X cos (θ'), wherein F ₀ For the target pressure, k ₂ The number of the eccentric blocks of the road roller is m, the mass omega of the eccentric blocks of the road rollerThe angle frequency of the road roller is theta' which is a first preset position of the eccentric block of the road roller, wherein the first preset position is an included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial road pressing position; and determining a first preset position of the eccentric block of the road roller according to the position calculation formula.

The present application also provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) According to the control method of the road roller, the eccentric block of the road roller is arranged in the road roller, the initial position of the road roller and the initial road pressing position of the road roller are firstly obtained, the initial road pressing position is the initial position of a road section to be pressed, and the road section to be pressed is the road section of the road roller for executing road pressing work; then, a first preset position of the eccentric block of the road roller is obtained, wherein the first preset position is the preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position; and finally, controlling the operation of the road roller so that the position of the eccentric block of the road roller is positioned at a first preset position when the road roller is operated from the initial position to the initial road pressing position, and thus, the total vertical pressure of each position point in the road section to be pressed of the road roller is positioned in a preset range. According to the method, the position of the eccentric block required by the road section to be pressed is calculated, the position of the eccentric block is identified and adjusted through the controller, so that uniform compaction of the road surface is realized, and the problem that the road surface cannot be uniformly compacted by the road roller in the prior art is solved.

2) The control device of the road roller comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring an initial position of the road roller and a starting road pressing position of the road roller, the starting road pressing position is a starting position of a road section to be pressed, and the road section to be pressed is a road section of the road roller for executing road pressing work; the second acquisition unit is used for acquiring a first preset position of the eccentric block of the road roller, wherein the first preset position is the preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position; the control unit is used for controlling the running of the road roller so that when the road roller runs from the initial position to the initial road pressing position, the position of the eccentric block of the road roller is located at a first preset position, and therefore the total vertical pressure of each position point in the road section to be pressed of the road roller is located in a preset range. According to the method, the position of the eccentric block required by the road section to be pressed is calculated, the position of the eccentric block is identified and adjusted through the controller, so that uniform compaction of the road surface is realized, and the problem that the road surface cannot be uniformly compacted by the road roller in the prior art is solved.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method of controlling a roller, wherein an eccentric mass of the roller is mounted within the roller, the method comprising:

acquiring an initial position of a road roller and a starting road pressing position of the road roller, wherein the starting road pressing position is a starting position of a road section to be pressed, and the road section to be pressed is a road section of the road roller for executing road pressing work;

acquiring a first preset position of an eccentric block of a road roller, wherein the first preset position is a preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position;

and controlling the running of the road roller so that the position of the eccentric block of the road roller is positioned at the first preset position when the road roller runs from the initial position to the initial road pressing position, and thus, the total vertical pressure of the road roller to each position point in the road section to be pressed is positioned in a preset range.

2. A control method according to claim 1, wherein controlling the operation of the roller such that the position of the eccentric mass of the roller is at the first preset position when the roller is operated from the initial position to the initial road pressing position comprises:

Acquiring the current speed of the road roller and the initial eccentric block position, wherein the initial eccentric block position is the position of the eccentric block of the road roller when the road roller is positioned at the initial position;

determining a linear path between an initial position of the road roller and a starting road pressing position of the road roller as a target distance;

determining the motor rotating speed of the road roller according to the current speed of the road roller, the target distance, the first preset position and the initial eccentric block position;

and controlling the running of the road roller by adopting the motor rotating speed of the road roller, so that the position of the eccentric block of the road roller is positioned at the first preset position when the road roller runs to the initial road pressing position.

3. The control method of claim 2, wherein determining the motor speed of the road roller based on the current vehicle speed of the road roller, the target distance, the first preset position, and the initial eccentric mass position, comprises:

constructing a rotation speed calculation formulaWherein r is the motor rotating speed of the road roller, L ₀ For the target distance, v is the current speed of the road roller, θ' is the first preset position, θ (x) is the initial eccentric block position, k ₁ Not less than 1, wherein the first preset position is the acting force direction and vertical direction of the eccentric block when the road roller is positioned at the initial road pressing positionThe included angle between the straight downward direction is the included angle between the acting force direction of the eccentric block and the vertical downward direction when the road roller is positioned at the initial position;

and determining the motor rotation speed of the road roller according to the rotation speed calculation formula.

4. The method of claim 1, wherein obtaining a first predetermined position of the eccentric mass of the compactor comprises:

obtaining target pressure and angular frequency of the road roller, wherein the target pressure is a preset value of the road roller on total vertical pressure of all position points in the road section to be pressed;

acquiring the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller;

and determining a first preset position of the eccentric blocks of the road roller according to the target pressure, the angular frequency of the road roller, the number of the eccentric blocks of the road roller and the mass of each eccentric block of the road roller.

5. The control method of claim 4, wherein the mass of each of the compactor eccentrics is the same, and determining the first preset position of each of the compactor eccentrics based on the target pressure, the angular frequency of the compactor, the number of compactor eccentrics, and the mass of each of the compactor eccentrics comprises:

Building a position calculation formula F ₀ ＝k ₂ ×m×ω ² X cos (θ'), wherein F ₀ For the target pressure, k ₂ For the number of the eccentric blocks of the road roller, m is the mass of the eccentric blocks of the road roller, ω is the angular frequency of the road roller, θ' is a first preset position of the eccentric blocks of the road roller, and the first preset position is an included angle between the acting force direction of the eccentric blocks and the vertical downward direction when the road roller is located at the initial road pressing position;

and determining a first preset position of the eccentric block of the road roller according to the position calculation formula.

6. The control method according to claim 4, wherein the road roller is provided with a magnetic force sensor for acquiring the position of the eccentric mass of the road roller in real time, and the intermediate value of the preset range is the target pressure.

7. The control method according to any one of claims 1 to 5, wherein the number of compactions of the road roller is N, the movement of the road roller from the start road pressing position to the end road pressing position being one compaction, and the method further comprises, after controlling the operation of the road roller such that the position of the eccentric of the road roller is located at the first preset position while the road roller is operated from the initial position to the start road pressing position:

Obtaining a plurality of compaction forces at a certain position point in the section to be compacted, wherein the compaction forces respectively generate vertical pressure to the position point when the road roller performs compaction operation each time;

the sum of all the compaction forces is determined as the total vertical pressure at the location point.

8. A control device for a roller, wherein an eccentric mass of the roller is mounted within the roller, the device comprising:

the road roller comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring an initial position of a road roller and a starting road pressing position of the road roller, the starting road pressing position is a starting position of a road section to be pressed, and the road section to be pressed is a road section of the road roller for executing road pressing operation;

the second acquisition unit is used for acquiring a first preset position of the eccentric block of the road roller, wherein the first preset position is the preset position of the eccentric block of the road roller when the road roller is positioned at the initial road pressing position;

and the control unit is used for controlling the road roller to run so that when the road roller runs from the initial position to the initial road pressing position, the position of the eccentric block of the road roller is positioned at the first preset position, and therefore the total vertical pressure of the road roller to all the position points in the road section to be pressed is in a preset range.

9. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform the method of controlling a road roller according to any one of claims 1 to 7.

10. An electronic device, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising a control method for performing the road roller of any of claims 1-7.