CN211340302U - Unmanned road roller rolling system - Google Patents
Unmanned road roller rolling system Download PDFInfo
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- CN211340302U CN211340302U CN201920920888.9U CN201920920888U CN211340302U CN 211340302 U CN211340302 U CN 211340302U CN 201920920888 U CN201920920888 U CN 201920920888U CN 211340302 U CN211340302 U CN 211340302U
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Abstract
Unmanned road roller rolling system, its characterized in that: the unmanned road roller rolling system is composed of an unmanned road roller cluster, a construction area acquisition system, a movable reference station and a satellite communication system. The road roller is respectively provided with a GPS + BDS + GNS satellite receiver, a microwave communication host and a radio station signal receiving antenna which are connected with an industrial control computer through various special lines; the industrial control computer is internally provided with components such as a processor, a PCB, program software, a switch and the like. A GPS + BDS + GNS satellite receiver, a microwave communication host, a microwave communication antenna and a radio station signal receiving antenna are arranged on the top cover of the paver; the computer is internally provided with components such as a processor, a PCB (printed Circuit Board), program software and the like; the mobile reference station is provided with a satellite receiver, a radio station and a transmitting antenna. A construction area acquisition system and a rolling control system on a movable reference station are arranged on the paver. The unmanned road roller has the advantage of being widely applied to rolling construction of the asphalt concrete pavement of the road.
Description
Technical Field
The utility model relates to the road building equipment intelligent control system of engineering machine tool trade, specifically speaking is an unmanned road roller rolling system.
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 a rolling system 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 a rolling system of a single-steel-wheel unmanned road roller is completed for rolling construction of earthwork or cement mixture. However, rolling of continuously extending road asphalt concrete road surfaces requires unmanned technology for coordinated operation of a plurality of double-steel-wheel and rubber-wheel rollers, is difficult and requires high precision, and strict specifications are required for starting and stopping, advancing and retreating, avoiding between vehicles, steering angles, rolling time, rolling length and width and the like of the rollers on the high-temperature asphalt road surfaces. By 12 and 17 months in 2018, people find novelty by the technology of scientific and technical research institute of Sichuan province, and at present, the application of the technology is not found in the world.
Disclosure of Invention
In order to solve the technical problem, the utility model aims to provide a system rolls of unmanned road roller rolling is through setting up the construction region collection system on the paver of the mixture that paves in the front, sets up portable reference station and rolls control system at the road section of paving, commands the many unmanned road roller crowd coordination operation of construction region, accomplishes the task of rolling that the construction specification required according to the procedure of setting for. The aim of wide application of the unmanned road roller in the rolling construction of the asphalt concrete pavement of the road is fulfilled.
The purpose of the utility model is realized by implementing the following technical scheme:
unmanned road roller rolling system, including road roller, paver, reference station, its characterized in that: the unmanned road roller rolling system is composed of an unmanned road roller group consisting of a plurality of road rollers provided with unmanned control systems, a construction area acquisition system arranged on a paver, a movable reference station, a rolling control system and a satellite communication system.
A. Unmanned road roller rolling system, including each steel wheel road roller and the unmanned control system on each rubber tyer road roller, its characterized in that: each steel wheel road roller and each rubber wheel road roller are respectively 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 steel wheel road roller and the rubber wheel 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, program software, a switch and a GPS + BDS + GNSS satellite chip assembly.
The driving/reversing system of the steel wheel road roller and the rubber wheel 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.
And the steel wheel road roller and the rubber wheel road roller are provided with a manual/automatic switching button and an emergency braking button.
And laser displacement measuring devices are arranged at the bottoms of the frames of the steel wheel road roller and the rubber wheel road roller.
And the upper ends of the front wheel and the rear wheel of the steel wheel road roller and the rubber wheel road roller are respectively provided with an obstacle avoidance radar and an ultrasonic obstacle avoidance radar.
And a plurality of infrared thermometers are respectively arranged at the front end and the rear end of the vehicle body of the steel-wheel road roller and the rubber-wheel road roller, and are respectively aligned with the just-paved asphalt mixture and the curbstone outside the edge of the asphalt mixture.
And inertial navigation devices are arranged at the tops of the steel wheel road roller and the rubber wheel road roller.
B. The construction region acquisition system arranged on the paver comprises the paver and a control system, and is characterized in that: the GPS + BDS + GNS satellite receiver, the microwave communication host, the microwave communication antenna and the radio station signal receiving antenna form a remote control system, and the GPS + BDS + GNS satellite receiver, the microwave communication host, the microwave communication antenna and the radio station signal receiving antenna are respectively connected with an industrial control computer in an integrated control cabinet on the paver through various special lines; the industrial control computer is internally provided with a hard disk, a processor, a PCB, program software, a GPS + BDS + GNSS chip assembly.
The top cover of the paver is also provided with an inertial navigation device.
C. Unmanned road roller rolling system, including walking dolly and reference station system, its characterized in that: a satellite receiver tripod is arranged on the walking trolley, and a GPS + BDS + GNS satellite receiver, a radio station and a transmitting antenna are arranged on the satellite receiver tripod; and the traveling trolley is also provided with a mobile power supply, and the GPS + BDS + GNS satellite receiver, the radio station and the transmitting antenna are connected with the mobile power supply through various special lines.
The walking trolley of the mobile reference station is also provided with an antenna mounting rack, and the antenna mounting rack is provided with a microwave communication host and a microwave communication panel; the microwave communication host and the microwave communication panel are connected with the GPS + BDS + GNS satellite receiver, the radio station and the transmitting antenna through various special lines.
An integrated control cabinet is further arranged on the walking trolley of the movable reference station, and a computer is arranged in the integrated control cabinet.
Drawings
FIG. 1 is a front view of the compaction system of the road roller;
FIG. 2 is a schematic view of a roller of the present roller compaction system;
FIG. 3 is a view of a construction area acquisition system arranged on a paver of the road roller compaction system;
FIG. 4 is a view of a mobile reference station of the present roller compaction system;
fig. 5 is a rear elevational view of the vehicle compaction system.
The labels in the figure are: 101 is an unmanned road roller cluster, 102 is a mobile reference station and rolling control system, and 103 is a construction area acquisition system; 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 and an infrared thermometer 208;
301 is a GPS + BDS + GNS satellite receiver, 302 is a microwave communication host, 303 is a microwave communication antenna, 304 is a radio station signal receiving antenna, 305 is an integrated control cabinet, 306 is an inertial navigation device, and 307 is a paver;
401 is GPS + BDS + GNS satellite receiver, 402 is microwave communication host computer, 403 is microwave communication panel, 404 is radio station and transmitting antenna, 405 is integrated control cabinet, 406 is satellite receiver tripod, 407 is antenna mounting bracket, 408 is portable power source, 409 walking dolly.
The utility model discloses the advantage is: the rolling system of the unmanned road roller is characterized in that a construction area acquisition system is arranged on a paver for paving mixture at the front, a movable reference station and a rolling control system are arranged on a paving road section, the coordinated operation of a plurality of unmanned road roller rolling system groups in the construction area is commanded, and the rolling operation required by construction specifications is completed according to a set program. The unmanned road roller has the advantage of being widely applied to rolling construction of the asphalt concrete pavement of the road.
Detailed Description
Unmanned road roller rolling system, including road roller, paver, reference station, its characterized in that: an unmanned road roller group 101 is formed by a plurality of road rollers provided with unmanned control systems, a construction area acquisition system 103, a movable reference station, a rolling control system 102 and a satellite communication system are arranged on a paver to form a rolling system of the unmanned road roller.
A. The rolling system of the unmanned road roller 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; unmanned control system (fig. 2, fig. 5) that sets up respectively on road roller of normal condition, unmanned control system on each steel wheel road roller and each rubber tyer road roller, its characterized in that: each steel wheel road roller and each rubber wheel road roller are respectively 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 steel wheel road roller and the rubber wheel road roller, and an industrial control computer is arranged in the integrated control cabinet 204; 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, program software, a switch and a GPS + BDS + GNSS satellite chip assembly;
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 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.
The steel wheel road roller and the rubber wheel road roller are provided with a manual/automatic switching button and an emergency braking button; 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.
The laser displacement measuring device 205 is arranged at the bottom of the frame of the steel-wheel road roller and the rubber-wheel road roller; and measuring the rotation angle of the steering wheel of the road roller in due time.
The upper ends of the front wheels and the rear wheels of the steel-wheel road roller and the rubber-wheel road roller are respectively provided with an obstacle avoidance radar 206 and an ultrasonic obstacle avoidance radar 207; and measuring the obstacle in front of the road roller in due time, automatically stopping the road roller when the obstacle is detected, and continuously driving the road roller after the obstacle is removed.
A plurality of infrared thermometers 208 are respectively arranged at the front end and the rear end of the vehicle body of the steel-wheel road roller and the rubber-wheel road roller; respectively aligning a plurality of infrared thermometers to the just paved asphalt mixture and the road edge stones outside the edges of the asphalt mixture; the method is used for accurately controlling the rolling of the road roller on the edge of the asphalt mixture, preventing the quality problem of the rolling of the asphalt pavement caused by pressure leakage and overpressure, and damaging the roadside curbs caused by overpressure.
Inertial navigation devices 209 are also arranged at the tops of the steel wheel road roller and the rubber wheel road roller; under the condition of no satellite positioning signal, the road roller can be ensured to continuously follow the navigation track to run.
B. Unmanned road roller rolling system, including paver and control system, its characterized in that: a GPS + BDS + GNS satellite receiver 301, a microwave communication host 302, a microwave communication antenna 303 and a radio station signal receiving antenna 304 are arranged on the top cover of the paver, a remote control system is formed by the GPS + BDS + GNS satellite receiver 301, the microwave communication host 302, the microwave communication antenna 303 and the radio station signal receiving antenna 304, and the GPS + BDS + GNS satellite receiver 301, the microwave communication host 302, the microwave communication antenna 303 and the radio station signal receiving antenna 304 are respectively connected with an industrial control computer in an integrated control cabinet 305 on the paver through various special lines; the industrial control computer is internally provided with a hard disk, a processor, a PCB, program software, a GPS + BDS + GNSS chip assembly.
A GPS + BDS + GNS satellite receiver arranged on a top cover of the paver needs to be arranged in the center of the paver, and is connected with a microwave communication host, a microwave communication panel and a radio station signal receiving antenna through various special lines and industrial control calculation in an integrated control cabinet on the paver, so that data acquisition is started after a power supply is stabilized; and sending the acquired data to a mobile reference station and a rolling control system through a microwave communication panel and a radio station signal receiving antenna.
An inertial navigation device 306 is also arranged on the top cover of the paver.
C. Unmanned road roller rolling system, including walking dolly and reference station system, its characterized in that: a satellite receiver tripod 406 is arranged on the walking trolley, and a GPS + BDS + GNS satellite receiver 401, a radio station and a transmitting antenna 404 are arranged on the satellite receiver tripod 406; a mobile power supply 408 is further arranged on the walking trolley 409, and the GPS + BDS + GNS satellite receiver 401, the radio station and the transmitting antenna 404 are connected with the mobile power supply 408 through various special lines;
when the mobile reference station and the rolling control system are arranged in a rolling area, the GPS + BDS + GNS satellite receiver on the mobile reference station cannot move randomly, and the GPS + BDS + GNS satellite receiver, the radio station, the transmitting antenna, the microwave communication host and the microwave communication panel are kept to be smoothly connected; the power supply is kept stable, and the GPS + BDS + GNS satellite receiver, the radio station, the transmitting antenna, the microwave communication host and the microwave communication panel can not be shielded;
the rolling control system needs to set tasks according to data collected by the paver and in combination with the width of a road on a construction section, then generates a real-time field rolling area, and sends the real-time field rolling area to unmanned control systems on each steel-wheel road roller and each rubber-wheel road roller through a radio station and a transmitting antenna, a microwave communication host and a microwave communication panel which are arranged on a movable reference station.
An antenna mounting rack 407 is further arranged on the walking trolley 409 of the mobile reference station, and a microwave communication host 402 and a microwave communication panel 403 are arranged on the antenna mounting rack 407; the microwave communication host 402 and the microwave communication panel 403 are connected to the GPS + BDS + GNS satellite receiver 401, the radio station, and the transmitting antenna 404 through various dedicated lines.
An integrated control cabinet 405 is further arranged on the walking trolley of the mobile reference station, and a computer is arranged in the integrated control cabinet 405.
Claims (13)
1. Unmanned road roller rolling system, including road roller, paver, reference station, its characterized in that: an unmanned road roller rolling system is formed by an unmanned road roller cluster (101) consisting of a plurality of road rollers provided with unmanned control systems, a construction area acquisition system (103) arranged on a paver, a movable reference station convenient for remotely controlling the unmanned road roller, a rolling control system (102) and a satellite communication system.
2. The unmanned road roller compaction system of claim 1, comprising an unmanned control system on each steel-wheeled roller and each rubber-wheeled roller, wherein: each steel wheel roller and each rubber wheel roller are respectively provided with a GPS + BDS + GNS satellite receiver (201), a microwave communication host (202) and a radio 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 signal receiving antenna (203); an integrated control cabinet (204) is arranged on the steel wheel road roller and the rubber wheel road roller, and an industrial control computer is arranged in the integrated control cabinet (204); 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, program software, a switch and a GPS + BDS + GNSS satellite chip assembly.
3. The unmanned road roller compaction system of claim 2, wherein: the driving/reversing system of the steel wheel road roller and the rubber wheel 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.
4. The unmanned road roller compaction system of claim 3, wherein: and the steel wheel road roller and the rubber wheel road roller are provided with a manual/automatic switching button and an emergency braking button.
5. The unmanned road roller compaction system of claim 3, wherein: and laser displacement measuring devices (205) are arranged at the bottoms of the frames of the steel-wheel road roller and the rubber-wheel road roller.
6. The unmanned road roller compaction system of claim 3, wherein: and the upper ends of the front wheel and the rear wheel of the steel-wheel road roller and the rubber-wheel road roller are respectively provided with an obstacle avoidance radar (206) and an ultrasonic obstacle avoidance radar (207).
7. The unmanned road roller compaction system of claim 3, wherein: and a plurality of infrared thermometers (208) are respectively arranged at the front end and the rear end of the vehicle body of the steel-wheel road roller and the rubber-wheel road roller, and the plurality of infrared thermometers (208) are respectively aligned with the just-paved asphalt mixture and the curbstone outside the edge of the asphalt mixture.
8. The unmanned road roller compaction system of claim 3, wherein: and inertial navigation devices (209) are also arranged at the tops of the steel wheel road roller and the rubber wheel road roller.
9. The unmanned road roller compaction system of claim 1, wherein: the GPS + BDS + GNS satellite receiver (301), the microwave communication host (302), the microwave communication antenna (303) and the radio station signal receiving antenna (304) are arranged on the top cover of the paver, the GPS + BDS + GNS satellite receiver (301), the microwave communication host (302), the microwave communication antenna (303) and the radio station signal receiving antenna (304) form a remote control system, and the GPS + BDS + GNS satellite receiver (301), the microwave communication host (302), the microwave communication antenna (303) and the radio station signal receiving antenna (304) are respectively connected with an industrial control computer in an integrated control cabinet (305) on the paver through various special lines; the industrial control computer is internally provided with a hard disk, a processor, a PCB, program software, a GPS + BDS + GNSS chip assembly.
10. The unmanned road roller compaction system of claim 9, wherein: an inertial navigation device (306) is also arranged on the top cover of the paver.
11. The unmanned road roller compaction system of claim 1, comprising a walking trolley and a reference station system, wherein: a satellite receiver tripod (406) is arranged on the walking trolley of the mobile reference station, and a GPS + BDS + GNS satellite receiver (401), a radio station and a transmitting antenna (404) are arranged on the satellite receiver tripod (406); a mobile power supply (408) is also arranged on the walking trolley (409), and the GPS + BDS + GNS satellite receiver (401), the radio station and the transmitting antenna (404) are connected with the mobile power supply (408) through various special lines.
12. The unmanned road roller compaction system of claim 11, wherein: an antenna mounting rack (407) is further arranged on the walking trolley (409) of the mobile reference station, and a microwave communication host (402) and a microwave communication panel (403) are arranged on the antenna mounting rack (407); the microwave communication host (402) and the microwave communication panel (403) are connected with the GPS + BDS + GNS satellite receiver (401), the radio station and the transmitting antenna (404) through various special lines.
13. The unmanned road roller compaction system of claim 11, wherein: an integrated control cabinet (405) is further arranged on the walking trolley of the movable reference station, and a computer is arranged in the integrated control cabinet (405).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920920888.9U CN211340302U (en) | 2019-06-19 | 2019-06-19 | Unmanned road roller rolling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920920888.9U CN211340302U (en) | 2019-06-19 | 2019-06-19 | Unmanned road roller rolling system |
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| CN211340302U true CN211340302U (en) | 2020-08-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110258259A (en) * | 2019-06-19 | 2019-09-20 | 四川川交路桥有限责任公司 | Unmanned road roller rcc system |
-
2019
- 2019-06-19 CN CN201920920888.9U patent/CN211340302U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110258259A (en) * | 2019-06-19 | 2019-09-20 | 四川川交路桥有限责任公司 | Unmanned road roller rcc system |
| CN110258259B (en) * | 2019-06-19 | 2024-03-26 | 四川川交路桥有限责任公司 | Unmanned road roller rolling system |
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