CN210288040U - Unmanned road roller - Google Patents
Unmanned road roller Download PDFInfo
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- CN210288040U CN210288040U CN201920925257.6U CN201920925257U CN210288040U CN 210288040 U CN210288040 U CN 210288040U CN 201920925257 U CN201920925257 U CN 201920925257U CN 210288040 U CN210288040 U CN 210288040U
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Abstract
Unmanned road roller, including steel wheel and rubber tyer road roller, its characterized in that: the top of the road roller is provided with a GPS + BDS + GNS satellite receiver, a microwave communication host and a radio station signal receiving antenna, and a remote control system is formed by the satellite receiver, the communication host and the receiving antenna; an industrial control computer is arranged on the road roller; the receiving antenna is respectively connected with an industrial control computer on the road roller; the industrial control computer is internally provided with a processor, a PCB, a switch, a satellite chip, a plurality of components and system control software. An automatic control device is arranged on the driving/reversing system, and an oil way automatic control device is arranged on the oil way system; a steering control motor and other technical means are arranged on a steering system; then, the intelligent unmanned driving of the road roller is realized through the components such as the processor, the program software, the exchanger and the like arranged in the industrial control computer, and the intelligent unmanned driving road roller has the advantage of being widely applied to the construction of the asphalt concrete pavement of the road.
Description
Technical Field
The utility model relates to an intelligence road building equipment road roller of engineering machine tool trade, specifically speaking is an unmanned road roller.
Background
With the development of science and technology, the advantages of the intelligent control technology in the current social and economic development are more and more prominent, unmanned automobiles have developed various modes of research and development enthusiasm all over the world, but construction vehicles in the engineering machinery industry are not yet valued by intelligent control technology development teams and engineering equipment production enterprises. The working characteristics of road rollers in a plurality of engineering machines are repeatability, regularity, working environment unicity, simpler operation, easy fatigue of operators and great influence of the operating environment on the health of operators. In particular, in the process of rolling an asphalt concrete pavement on a highway, because the temperature of a just-spread asphalt mixture is as high as about 160 ℃, the rolling operation of the asphalt concrete pavement is carried out in hot summer, and the operators of road rollers are subjected to the high-temperature test of baking and steaming in the severe construction environment, so that many operators of road rollers have to be turned over in years. Therefore, the development of the unmanned road roller is necessary and is one of advanced devices of super projects of China going to the world in the future.
At present, in relatively fixed hydropower dam construction sites, experimental development of an unmanned road roller with a single steel wheel has been completed for rolling construction of earth and stone or cement mixtures. However, the rolling of the continuously extended asphalt concrete road surface of the road needs an unmanned technology for coordinated operation of a plurality of double-steel-wheel and rubber-wheel road rollers, the difficulty is higher, the required precision is higher, and by 12 months and 17 days in 2018, the technology of the scientific and technical research institute of the Sichuan province is searched.
Disclosure of Invention
In order to solve the technical problem, the invention provides an unmanned road roller, which is characterized in that a satellite receiver, a microwave communication host and a radio station signal receiving antenna are arranged on the road roller; an automatic control device is arranged on the driving/reversing system, and an oil path automatic control device is arranged on the oil path system; a steering system is provided with a steering control motor, an electronic valve device and other technical means; and then, the automatic operation of the road roller is realized through the processor, program software, a switch and other components arranged in the industrial control computer, and finally, the purposes that the road roller is fully intelligent and unmanned and is widely applied to the rolling construction of the asphalt concrete pavement of the road are achieved.
The purpose of the utility model is realized by implementing the following technical scheme:
unmanned road roller, including steel wheel and rubber tyer road roller, its characterized in that: the top of the road roller is provided with a GPS + BDS + GNS satellite receiver, a microwave communication host and a radio station signal receiving antenna, and the GPS + BDS + GNS satellite receiver, the microwave communication host and the radio station signal receiving antenna form a remote control system; an integrated control cabinet is arranged on the road roller, and an industrial control computer is arranged in the integrated control cabinet; the GPS + BDS + GNS satellite receiver, the microwave communication host and the radio station signal receiving antenna are respectively connected with an industrial control computer in an integrated control cabinet on the road roller through various special lines; the industrial control computer is internally provided with a hard disk, a processor, a PCB, a switch, a GPS + BDS + GNSS satellite chip, a plurality of components and system control software.
The additional technical characteristics are as follows:
1) the driving/reversing system of the road roller is provided with a driving/reversing automatic control device; an oil path automatic control device is arranged on the oil path system; a steering control motor and an electronic valve device are arranged on the steering system; the brake system is provided with a brake control device.
2) The road roller is provided with a manual/automatic switching button and an emergency braking button.
3) And the bottom of the road roller frame is provided with a laser displacement measuring device.
4) And the upper ends of the front wheel and the rear wheel of the road roller are respectively provided with an obstacle avoidance radar and an ultrasonic obstacle avoidance radar.
5) And an inertial navigation device is also arranged at the top of the road roller.
6) Laser lateral distance measuring sensors are respectively arranged at the left and right wheel shaft positions of the steel wheel road roller and the left and right positions of the front and back of the rubber wheel road roller body, and the angles of 90 degrees are formed between the lateral directions and the driving direction.
7) And a plurality of infrared thermometers are respectively arranged at the front end and the rear end of the road roller vehicle body, and are respectively aligned with the just-paved asphalt mixture and the curbstone outside the edge of the asphalt mixture.
8) The end of the engine exhaust pipe of the road roller is also provided with a DPF microparticle trap and a quaternary catalyst.
Drawings
FIG. 1 is a main view of an unmanned road roller;
FIG. 2 is a side view of the unmanned road roller;
fig. 3 is a diagram of the automatic control system of the unmanned road roller.
The labels in the figure are: the system comprises a GPS + BDS + GNS satellite receiver 201, a microwave communication host 202, a radio station signal receiving antenna 203, an integrated control cabinet 204, a laser displacement measuring device 205, an obstacle avoidance radar 206, an ultrasonic obstacle avoidance radar 207, an infrared thermometer 208, an inertial navigation device 209, a laser lateral distance measuring sensor 210 and a DPF microparticle catcher and quaternary catalyst 211.
The utility model has the advantages that: the unmanned road roller is provided, a satellite receiver, a microwave communication host and a radio station signal receiving antenna are arranged on the road roller; an automatic control device is arranged on the driving/reversing system, and an oil path automatic control device is arranged on the oil path system; a steering system is provided with a steering control motor, an electronic valve device and other technical means; and then, the automatic operation of the road roller is realized through the components such as a processor, program software, a switch and the like arranged in the industrial control computer, and finally, the full-intelligent unmanned driving of the road roller is realized, and the road roller has the advantage of wide application in the rolling construction of the asphalt concrete pavement of the road.
Detailed Description
Embodiment 1 unmanned road roller
Type A: the unmanned road roller comprises a steel wheel road roller and a rubber wheel road roller, and is characterized in that firstly, data such as equipment tires, circuits, oil ways, combustion oil, lubricating oil, hydraulic oil, a steering system, a braking system, a lighting system, a vibration system, an oil injection device, a water tank water level and the like of the road roller are read through a bottom computer of the road roller, and all the data are ensured to be in a normal state; arranging an unmanned control system on the road roller in a normal state (figure 3); the method is characterized in that: the top of the road roller is provided with a GPS + BDS + GNS satellite receiver 201, a microwave communication host 202 and a radio station signal receiving antenna 203, and the GPS + BDS + GNS satellite receiver 201, the microwave communication host 202 and the radio station signal receiving antenna 203 form a remote control system; an integrated control cabinet 204 is arranged on the road roller, and an industrial control computer is arranged in the integrated control cabinet; the GPS + BDS + GNS satellite receiver 201, the microwave communication host 202 and the radio station signal receiving antenna 203 are respectively connected with an industrial control computer in an integrated control cabinet 204 on the road roller through various special lines; the industrial control computer is internally provided with a hard disk, a processor, a PCB, a switch, a GPS + BDS + GNSS satellite chip and a plurality of components and system control software;
keeping smooth connection between a GPS + BDS + GNS satellite receiver, a microwave communication host, a radio station signal receiving antenna and an industrial control computer in an integrated control cabinet on the road roller; the power supply is ensured to be stable, and the GPS + BDS + GNS satellite receiver, the microwave communication host and the radio station signal receiving antenna can not be shielded;
the method comprises the following steps that data collected by a paver are sent to a movable reference station and a rolling control system through a microwave communication antenna, the rolling control system sets a task according to the collected data by combining the width of a road of a construction road section, and then real-time field rolling areas are generated and sent to unmanned control systems on various road rollers; coordinating the road rollers to work in a matching way in real time according to the construction tasks and technical parameters set by the operating system through the industrial control computers on the road rollers; finally, the fully intelligent control unmanned driving state of the road roller is realized.
Embodiment 2 unmanned road roller
Type B: unmanned road roller, this type unmanned road roller is the same with type A unmanned road roller structure basically, and the difference only lies in: the driving/reversing system of the road roller is provided with a driving/reversing automatic control device, so that the driving speed and the reversing speed of the road roller can be controlled in real time, and the road roller can be ensured to keep constant-speed operation; an oil path automatic control device is arranged on the oil path system and automatically supplies oil for the running of the road roller; a steering control motor and an electronic valve device are arranged on the steering system to control the road roller to automatically steer; a brake control device is arranged on the brake system, so that timely and intelligent braking of the road roller is ensured at any time;
the method comprises the following steps that data collected by a paver are sent to a movable reference station and a rolling control system through a microwave communication antenna, the rolling control system sets a task according to the collected data by combining the width of a road of a construction road section, and then real-time field rolling areas are generated and sent to unmanned control systems on various road rollers; coordinating the road rollers to work in a matching way in real time according to the construction tasks and technical parameters set by the operating system through the industrial control computers on the road rollers; finally, unmanned intelligent driving states of a steel wheel road roller and a rubber wheel road roller, such as automatic driving/reversing control, automatic driving speed control, automatic steering angle control, real-time walking/braking control, obstacle-finding emergency braking, program control of driving tracks, program control of rolling length, program control of rolling width, program control of rolling times, automatic control of a vibration system, automatic control of oil injection/water injection operation and the like, are realized (figure 3).
Embodiment 3 unmanned road roller
Type C: the unmanned road roller of this type is the same basically with unmanned road roller of B type structure, and the difference only lies in: a manual/automatic switching button and an emergency braking button are arranged on the road roller; the manual/automatic switching button is used for timely controlling the conversion between the manual driving state and the unmanned intelligent driving state of the road roller; and the emergency brake button is used for emergency shutdown of the road roller in an unexpected out-of-control state.
Embodiment 4 unmanned road roller
Type D: the unmanned road roller of this type is the same basically with unmanned road roller of B type structure, and the difference only lies in: the bottom of the road roller frame is provided with a laser displacement measuring device 205 which measures the rotation angle of the road roller steering wheel in due time.
Embodiment 5 unmanned road roller
Type E: the unmanned road roller of this type is the same basically with unmanned road roller of B type structure, and the difference only lies in: the upper ends of the front and rear wheels of the road roller are respectively provided with an obstacle avoidance radar 206 and an ultrasonic obstacle avoidance radar 207; timely measuring an obstacle in front of the road roller, and automatically stopping the road roller when the obstacle is detected; and after the obstacle is removed, the road roller continues to run.
Embodiment 6 unmanned road roller
And (3) type F: the unmanned road roller of this type is the same basically with unmanned road roller of B type structure, and the difference only lies in: an inertial navigation device 209 is also arranged at the top of the road roller; under the condition of no satellite positioning signal, the road roller can be ensured to continuously follow the navigation track to run.
Embodiment 7 unmanned road roller
Type G: the unmanned road roller of this type is the same basically with unmanned road roller of B type structure, and the difference only lies in: laser lateral distance measuring sensors 210 are respectively arranged at the left and right wheel shaft positions of the steel wheel road roller and the left and right positions of the front and the back of the rubber wheel road roller body, and the angles of 90 degrees are formed between the lateral directions and the driving direction; mainly to in the tunnel that does not have satellite signal to escape canal lateral wall in the tunnel is the reference thing, measures road roller wheel border apart from the distance of escape canal lateral wall in the tunnel, and the guide road roller is along the lateral wall direction of escape canal and is gone.
Embodiment 8 unmanned road roller
H type: the unmanned road roller of this type is the same basically with unmanned road roller of B type structure, and the difference only lies in: the front end and the rear end of the vehicle body of the road roller are respectively provided with a plurality of infrared thermometers 208, the infrared thermometers 208 are respectively aligned with the just-paved asphalt mixture and the road edge stones outside the edges of the asphalt mixture, and the infrared thermometers 208 are used for accurately controlling the rolling of the road roller on the edges of the asphalt mixture, preventing the rolling quality problem of the asphalt pavement caused by pressure leakage and overpressure, and damaging the road edge stones caused by overpressure.
Embodiment 9 unmanned road roller
Type I: unmanned road roller, this type unmanned road roller is the same with G type unmanned road roller structure basically, and the difference only lies in: the end of an engine exhaust pipe of the road roller is also provided with a DPF microparticle trap and a quaternary catalyst 211; the method mainly aims at the relatively closed environment in the tunnel, timely filters out toxic and harmful gas discharged by the engine of the road roller, and guarantees the occupational health of field operating personnel.
Claims (9)
1. Unmanned road roller, including steel wheel and rubber tyer road roller, its characterized in that: the top of the road roller is provided with a GPS + BDS + GNS satellite receiver (201), a microwave communication host (202) and a radio station signal receiving antenna (203), and a remote control system is formed by the GPS + BDS + GNS satellite receiver (201), the microwave communication host (202) and the radio station signal receiving antenna (203); an integrated control cabinet (204) is arranged on the road roller, and an industrial control computer is arranged in the integrated control cabinet; the GPS + BDS + GNS satellite receiver (201), the microwave communication host (202) and the station signal receiving antenna (203) are respectively connected with an industrial control computer in an integrated control cabinet (204) on the road roller through various special lines; the industrial control computer is internally provided with a hard disk, a processor, a PCB, a switch, a GPS + BDS + GNSS satellite chip, a plurality of components and system control software.
2. The unmanned vehicle of claim 1, wherein: the driving/reversing system of the road roller is provided with a driving/reversing automatic control device; an oil path automatic control device is arranged on the oil path system; a steering control motor and an electronic valve device are arranged on the steering system; the brake system is provided with a brake control device.
3. The unmanned vehicle of claim 2, wherein: the road roller is provided with a manual/automatic switching button and an emergency braking button.
4. The unmanned vehicle of claim 2, wherein: and a laser displacement measuring device (205) is arranged at the bottom of the road roller frame.
5. The unmanned vehicle of claim 2, wherein: and the upper ends of the front wheel and the rear wheel of the road roller are respectively provided with an obstacle avoidance radar (206) and an ultrasonic obstacle avoidance radar (207).
6. The unmanned vehicle of claim 2, wherein: and an inertial navigation device (209) is also arranged at the top of the road roller.
7. The unmanned vehicle of claim 2, wherein: laser lateral distance measuring sensors (210) are respectively arranged at the left and right wheel shaft positions of the steel wheel road roller and the left and right positions of the front and back of the rubber wheel road roller body, and the angles of 90 degrees are formed between the lateral directions and the driving direction.
8. The unmanned vehicle of claim 2, wherein: and a plurality of infrared thermometers (208) are respectively arranged at the front end and the rear end of the road roller vehicle body, and the infrared thermometers (208) are respectively aligned to the just paved asphalt mixture and the curbstone outside the edge of the asphalt mixture.
9. The unmanned vehicle of claim 7, wherein: the end of the engine exhaust pipe of the road roller is also provided with a DPF microparticle trap and a quaternary catalyst (211).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920925257.6U CN210288040U (en) | 2019-06-19 | 2019-06-19 | Unmanned road roller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920925257.6U CN210288040U (en) | 2019-06-19 | 2019-06-19 | Unmanned road roller |
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| CN210288040U true CN210288040U (en) | 2020-04-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110258261A (en) * | 2019-06-19 | 2019-09-20 | 四川川交路桥有限责任公司 | Unmanned road roller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110258261A (en) * | 2019-06-19 | 2019-09-20 | 四川川交路桥有限责任公司 | Unmanned road roller |
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