WO2018195766A1 - 控制压路机自动作业的方法及装置、存储介质 - Google Patents
控制压路机自动作业的方法及装置、存储介质 Download PDFInfo
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- WO2018195766A1 WO2018195766A1 PCT/CN2017/081830 CN2017081830W WO2018195766A1 WO 2018195766 A1 WO2018195766 A1 WO 2018195766A1 CN 2017081830 W CN2017081830 W CN 2017081830W WO 2018195766 A1 WO2018195766 A1 WO 2018195766A1
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- Prior art keywords
- roller
- control
- road
- road roller
- automatic operation
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/30—Tamping or vibrating apparatus other than rollers ; Devices for ramming individual paving elements
- E01C19/34—Power-driven rammers or tampers, e.g. air-hammer impacted shoes for ramming stone-sett paving; Hand-actuated ramming or tamping machines, e.g. tampers with manually hoisted dropping weight
- E01C19/38—Power-driven rammers or tampers, e.g. air-hammer impacted shoes for ramming stone-sett paving; Hand-actuated ramming or tamping machines, e.g. tampers with manually hoisted dropping weight with means specifically for generating vibrations, e.g. vibrating plate compactors, immersion vibrators
Definitions
- the invention relates to the technical field of road rollers, in particular to a method and a device for controlling automatic operation of a road roller and a storage medium.
- the road roller is a kind of road engineering machinery and equipment, which is used for compacting various road surfaces and is widely used in road maintenance engineering.
- the driving route of the road roller during the operation is usually relatively simple, and it is generally carried out frequently and backwards in a section of the road.
- the current road roller is usually driven by a driver to perform a manual operation on the road surface.
- the roller driven by the driver will inevitably have some problems, such as: (1) It is difficult for the driver to remember the driving track of the roller, which is easy to cause missing work and overlapping work; (2) When the working road surface temperature is high, it is easy to cause driver fatigue, resulting in high driver's labor intensity; (3) limited by the driver's work energy, the roller can't continue working with only one driver. . That is to say, in the prior art, a roller that relies on human driving has a technical problem that work efficiency is not high.
- the main object of the present invention is to provide a method and device for controlling automatic operation of a road roller and a storage medium, which aim to solve the technical problem that the roller compactor that relies on human driving in the prior art has low work efficiency.
- the present invention provides a method for controlling automatic operation of a road roller, the road roller being provided with a control assembly for controlling automatic driving of the roller, and the method for controlling the automatic operation of the roller includes:
- the planned travel route is sent to the control assembly such that the control assembly controls the roller to automatically travel in accordance with the travel route.
- the roller is provided with an autonomous obstacle avoidance assembly, and the step of transmitting the planned driving route to the control component, so that the control component controls the roller to automatically travel according to the driving route comprises:
- the position of the obstacle relative to the road roller is determined by the autonomous obstacle avoidance component
- the travel route is modified based on the position of the obstacle relative to the roller to cause the control assembly to control the roller to avoid the obstacle.
- the autonomous obstacle avoidance component comprises a laser emitter and a laser receiver
- the step of determining, by the autonomous obstacle avoidance component, whether there is an obstacle in the detection detection area around the roller comprises:
- the laser receiver When the laser receiver receives the laser light reflected from the detection detection area around the roller, it is determined that there is an obstacle in the detection detection area around the roller.
- the roller is provided with an image capturing device, and the method for controlling the automatic operation of the roller further comprises:
- the environment image around the road roller is collected by the image capturing device, and the collected environment image is sent to the construction control platform corresponding to the roller for display.
- the method for controlling the automatic operation of the roller further comprises:
- the road roller has been sent to the construction control platform for display.
- the method further includes:
- control component receives the remote control command sent by the construction control platform, controlling the traveling speed and the traveling direction of the roller according to the remote control command, or braking the roller.
- the present invention also provides an apparatus for controlling automatic operation of a roller, the apparatus for controlling automatic operation of the roller comprising a memory, a processor, and being stored on the memory and operable on the processor Controlling the automatic operation program of the roller, and the control component disposed on the roller, wherein:
- the control component is configured to control the automatic driving of the roller
- control roller automatic operation program is executed by the processor to implement the following steps:
- the planned travel route is sent to the control assembly such that the control assembly controls the roller to automatically travel in accordance with the travel route.
- the roller is provided with an autonomous obstacle avoidance component
- the control roller automatic operation program can also implement the following steps when executed by the processor:
- the position of the obstacle relative to the road roller is determined by the autonomous obstacle avoidance component
- the travel route is modified based on the position of the obstacle relative to the roller to cause the control assembly to control the roller to avoid the obstacle.
- the autonomous obstacle avoidance component comprises a laser emitter and a laser receiver
- the control roller automatic operation program can also implement the following steps when executed by the processor:
- the laser receiver When the laser receiver receives the laser light reflected from the detection detection area around the roller, it is determined that there is an obstacle in the detection detection area around the roller.
- the roller is provided with an image acquisition device, and the control roller automatic operation program can also implement the following steps when executed by the processor:
- the environment image around the road roller is collected by the image capturing device, and the collected environment image is sent to the construction control platform corresponding to the roller for display.
- control roller automatic working program when executed by the processor, the following steps may also be implemented:
- the road roller has been sent to the construction control platform for display.
- control roller automatic working program when executed by the processor, the following steps may also be implemented:
- control component receives the remote control command sent by the construction control platform, controlling the traveling speed and the traveling direction of the roller according to the remote control command, or braking the roller.
- the present invention also provides a storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the following steps:
- the planned driving route is sent to a control component of the roller preset that can control the automatic driving of the roller, so that the control component controls the roller to automatically travel according to the driving route.
- the one or more programs are executable by the one or more processors, and the following steps are also implemented:
- the autonomous obstacle avoidance component preset by the roller determines whether there is an obstacle in the detection area around the roller;
- the position of the obstacle relative to the road roller is determined by the autonomous obstacle avoidance component
- the travel route is modified based on the position of the obstacle relative to the roller to cause the control assembly to control the roller to avoid the obstacle.
- the one or more programs are executable by the one or more processors, and the following steps are also implemented:
- the laser light emitted by the autonomous obstacle avoidance component is set to emit laser light in the detection area around the road roller;
- the laser receiver corresponding to the autonomous obstacle avoidance component receives the laser light reflected from the set detection area around the roller, it is determined that there is an obstacle in the set detection area around the roller.
- the one or more programs are executable by the one or more processors, and the following steps are also implemented:
- the image acquisition device preset by the roller is used to collect the environment image around the roller, and the collected environment image is sent to the construction control platform corresponding to the roller for display.
- the one or more programs are executable by the one or more processors, and the following steps are also implemented:
- the road roller has been sent to the construction control platform for display.
- the one or more programs are executable by the one or more processors, and the following steps are also implemented:
- control component receives the remote control command sent by the construction control platform, controlling the traveling speed and the traveling direction of the roller according to the remote control command, or braking the roller.
- the method and device for controlling the automatic operation of the roller and the storage medium provided by the invention can realize: planning the driving route corresponding to the roller according to the topography and the construction area of the construction area, and then sending the planned driving route to the control component corresponding to the roller
- the control unit controls the roller to automatically travel according to the planned driving route. Since the roller does not require the driver to drive, and the driving route can be scientifically and rationally planned in advance, the missing operation and the overlapping operation can be effectively reduced, and the operation can be continued in the harsh environment such as nighttime and high temperature and low temperature, which greatly improves the operation. The working efficiency of the road roller and the labor cost are also low.
- FIG. 1 is a schematic flow chart of a first embodiment of a method for controlling automatic operation of a road roller according to the present invention
- FIG. 2 is a schematic flow chart of the refinement step of step S20 shown in FIG. 1 of the present invention
- FIG. 3 is a schematic structural diagram of an apparatus for operating a software according to a first embodiment of an apparatus for controlling automatic operation of a road roller according to the present invention.
- the following embodiments of the present invention provide a method for controlling automatic operation of a road roller.
- a control component capable of controlling the road roller to travel along an arbitrary set route is set in advance on the road roller; and the road roller is planned according to the topography and the construction area of the construction area.
- the driving route such as a spiral traveling route centered at any point, a zigzag driving route, or a driving route of any shape, etc.; then the planned driving route is sent to the above control component, and the control component controls the roller according to the plan A good driving route runs automatically.
- the roller does not require the driver to drive, and the driving route can be scientifically and rationally planned in advance, the missing operation and the overlapping operation can be effectively reduced, and the roller can continue to operate at night and in harsh environments such as high temperature and low temperature, greatly Improve the efficiency of the roller.
- FIG. 1 is a schematic flow chart of a first embodiment of a method for controlling automatic operation of a road roller according to the present invention.
- the method for automatically controlling the road roller includes:
- step S10 the driving route corresponding to the road roller is planned according to the terrain of the construction area and the construction area.
- the construction area of the road roller can be generally divided into narrow "long strip" construction areas such as roads and streets, as well as open construction areas such as squares, parking lots and airports.
- the zigzag driving route can be used to make the road roller work back and forth; for the open construction areas such as squares, parking lots and airports, The zigzag driving route can be adopted, so that the roller can be operated back and forth continuously, or a spiral traveling route can be adopted, so that the roller can travel along a spiral driving route along a certain point.
- the working area of the road roller can cover all construction areas mainly according to the terrain shape of the construction area, and the frequency of the road roller working at each position should also be the same.
- the work intensity required by the road roller is different for different geology.
- the road roller can be used without work or less work; for a relatively soft section such as a fill,
- the road roller requires multiple operations; therefore, in this embodiment, the driving route corresponding to the roller can also be planned according to the actual construction condition of the construction area.
- step S20 the planned driving route is sent to the control component, so that the control component controls the roller to automatically travel according to the driving route.
- the planned driving route can be sent to the control component provided on the roller, and the control component controls the roller to automatically travel according to the planned driving route.
- the driving route corresponding to the road roller can be planned by using, for example, a computer device, a mobile terminal, etc., and then the planned driving route is sent by the computer device or the mobile terminal to the control component;
- the above-mentioned control component is used to plan the driving route corresponding to the roller, and then the control component controls the roller to automatically travel according to the planned driving route.
- control component comprises an information processing device having a communication function and an information processing function, and a roller control device capable of controlling the traveling direction and speed of the roller.
- control component also has the functions of obstacle recognition and obstacle avoidance, for example, when the distance between the road roller and the construction personnel or the obstacle is less than or equal to a preset distance threshold (for example, 1 meter), the roller is immediately braked, thereby Ensure construction safety.
- a preset distance threshold for example, 1 meter
- a control component capable of controlling the roller to travel along an arbitrary set route is set in advance on the road roller; the driving route corresponding to the roller is planned according to the topography and the construction area of the construction area, and then the planning is performed.
- the good driving route is sent to the control component corresponding to the roller, and the control component controls the roller to automatically travel according to the planned driving route. Since the roller does not require the driver to drive, and the driving route can be scientifically and rationally planned in advance, the missing operation and the overlapping operation can be effectively reduced, and the operation can be continued in the harsh environment such as nighttime and high temperature and low temperature, which greatly improves the operation.
- the working efficiency of the road roller and the labor cost are also low.
- FIG. 2 is a schematic flow chart of the refinement step of step S20 shown in FIG. 1 according to the first embodiment of the present invention, and the second embodiment of the method for controlling the automatic operation of the roller according to the present invention
- the road roller is further provided with an autonomous obstacle avoidance component, and the planned driving route is sent to the control component in the above step S20, so that the control component controls the roller to automatically travel according to the driving route, including:
- Step S21 when the road roller automatically travels, determine whether there is an obstacle in the detection detection area around the road roller by the autonomous obstacle avoidance component
- Step S22 if there is an obstacle in the detection area around the road roller, the position of the obstacle relative to the roller is determined by the autonomous obstacle avoidance component;
- Step S23 modifying the driving route according to the position of the obstacle relative to the roller, so that the control component controls the roller to avoid the obstacle.
- the autonomous obstacle avoidance components may be respectively disposed in front, the rear, the left, and the right of the road roller, and then each of the autonomous obstacle avoidance components determines whether there is an obstacle in the detection detection area around the road roller.
- the autonomous avoidance The barrier component includes a laser emitter and a laser receiver, and the step of determining whether there is an obstacle in the detection detection area around the roller by the autonomous obstacle avoidance component comprises:
- the laser receiver When the laser receiver receives the laser light reflected from the detection detection area around the roller, it is determined that there is an obstacle in the detection detection area around the roller.
- the position of the obstacle relative to the roller can be determined according to the laser received by the laser receiver. For example, when the laser light reflected by the obstacle received by the laser receiver at the left front of the roller is set, the left front of the roller can be determined. There are obstacles.
- the planned travel route is modified to allow the roller to avoid the obstacle.
- an autonomous obstacle avoidance component is set in advance on the roller, and when the roller is automatically driven, the autonomous obstacle avoidance component is used to determine whether there is an obstacle in the detection area around the roller, if any Then, according to the position of the obstacle relative to the road roller, the planned driving route is modified to prevent the roller from avoiding the obstacle, thereby effectively improving the safety of the automatic driving of the roller and ensuring construction safety.
- the roller is provided with an image capturing device, and the method for controlling the automatic operation of the roller further includes:
- the environment image around the road roller is collected by the image capturing device, and the collected environment image is sent to the construction control platform corresponding to the roller for display.
- an image collecting device may be separately set in front, back, left and right of the roller, and then the image capturing device is used to collect the environment image around the roller, and The collected environmental image is sent to the construction control platform corresponding to the roller for display.
- the above construction control platform includes a mobile terminal, a tablet computer, a desktop computer, a smart TV, an intelligent display device and the like having a display function.
- the method further includes:
- control component receives the remote control command sent by the construction control platform, the traveling speed and the traveling direction of the roller are controlled according to the remote control command, or the roller is braked.
- the construction personnel can view the environmental image around the road roller in real time through the construction control platform to determine whether there are obstacles or safety hazards around the road roller.
- the construction control platform can The control component sends a remote control command to remotely control the speed of the roller and the direction of travel, or remotely brake the roller.
- an image collecting device is set in advance on the roller, and the environment image around the roller is collected by the image collecting device, and sent to the construction control platform corresponding to the roller for display and construction.
- the personnel can remotely control the driving speed and driving direction of the roller according to the environmental image around the roller, or brake the roller, thereby preventing the safety hazard that the roller may encounter during the automatic driving process, and further improving the automatic driving of the roller. Safety ensures construction safety.
- the method for controlling the automatic operation of the roller also includes:
- the road roller has been sent to the construction control platform for display.
- the road roller in order to prevent the road roller from being missed and overlapped, the road roller automatically records the traveling track of the roller, and the running track and the working surface of the roller of the roller determine the working area of the roller, and then the roller has been
- the work area is sent to the construction control platform corresponding to the roller for display.
- the work area of the roller is displayed in different colors in the construction control platform.
- the method for controlling the automatic operation of the roller according to the embodiment when the roller is automatically driven, records the traveling track of the roller, determines the working area of the roller according to the driving track, and sends the working area of the roller to the construction control platform corresponding to the roller.
- the display will enable the construction personnel to understand the construction area of the roller at any time, prevent the road roller from being missed and overlapped, and effectively improve the working efficiency of the roller.
- the following embodiments of the present invention further provide an apparatus for controlling automatic operation of a roller, the apparatus comprising a memory, a processor, and an automatic control program for controlling the roller stored on the memory and operable on the processor, wherein
- the control unit capable of controlling the roller to travel along any set route is set in advance on the road roller; when the automatic control program of the control roller is executed by the processor, the driving route corresponding to the roller is planned according to the terrain and the construction area of the construction area. And transmitting the planned driving route to the control component such that the control component controls the roller to automatically travel according to the driving route.
- the roller does not need the driver to drive, and the driving route can be scientifically and rationally planned in advance, thereby effectively reducing the missing operation and the overlapping operation, and the roller can continue to work in the harsh environment such as nighttime and high temperature and low temperature. Greatly improve the working efficiency of the roller.
- the apparatus for controlling the automatic operation of the roller includes a memory, a processor, and an automatic operation program and a setting of the control roller stored on the memory and operable on the processor. a control assembly on the roller, wherein:
- the control component is configured to control the automatic driving of the roller
- control roller automatic operation program is executed by the processor to implement the following steps:
- the planned travel route is sent to the control assembly such that the control assembly controls the roller to automatically travel in accordance with the travel route.
- FIG. 3 is a schematic structural diagram of a device operating environment for controlling the automatic operation of the roller according to the first embodiment of the present invention.
- the device for automatically controlling the roller is operated.
- These may include a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002.
- the communication bus 1002 is configured to implement connection communication between the components;
- the user interface 1003 may include a display, an input unit such as a keyboard, and the optional user interface 1003 may further include a standard wired interface and a wireless interface.
- the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface); the memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile) Memory, such as a disk storage; the memory 1005 may alternatively be a storage device independent of the processor 1001 described above.
- a wireless interface such as a WI-FI interface
- the memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile) Memory, such as a disk storage; the memory 1005 may alternatively be a storage device independent of the processor 1001 described above.
- FIG. 3 does not constitute a limitation to the above-described devices, and may include more or fewer components than those illustrated, or some components may be combined, or different component arrangements.
- a memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a control roller automatic operation program.
- the network interface 1004 is mainly used to connect to a background server for data communication with a background server; the user interface 1003 is mainly used to connect a client (user end) to perform data communication with the client; and the processor 1001 can use
- the control roller automatic operation program stored in the memory 1005 is called and the corresponding operation is performed.
- the embodiment corresponding to the device for controlling the automatic operation of the roller is basically the same as the embodiment corresponding to the method for automatically controlling the roller, and therefore will not be described herein.
- the present invention also provides a storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the following steps:
- the planned driving route is sent to a control component of the roller preset that can control the automatic driving of the roller, so that the control component controls the roller to automatically travel according to the driving route.
- the embodiments corresponding to the storage medium are substantially the same as the embodiments corresponding to the method for automatically controlling the automatic operation of the roller, and thus are not described herein again.
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Abstract
一种控制压路机自动作业的方法、控制压路机自动作业的装置以及存储介质，该方法包括：根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；将规划好的行驶路线发送至压路机上预先设置的控制组件，以使该控制组件控制压路机按照行驶路线自动行驶。该压路机不需要驾驶员驾驶，行驶路线可提前规划，可有效减少遗漏作业和重叠作业，还可在夜间和高温、低温等恶劣环境下持续作业，极大地提高了压路机的作业效率，人力成本较低。
Description
技术领域
本发明涉及压路机技术领域，尤其涉及一种控制压路机自动作业的方法及装置、存储介质。
背景技术
压路机是道路工程机械设备的一种，用于对各种路面进行压实作业，广泛用于公路修护工程。压路机在作业过程中的行驶路线通常都比较单一化，一般都是在一段道路内频繁的前进与后退。
目前的压路机，在作业行驶中，通常是通过驾驶员来进行人为驾驶，对路面进行压实作业。对于由驾驶员驾驶的压路机在进行压实作业的过程中，难免会出现一些问题，诸如：（1）驾驶员很难记清楚压路机的行驶轨迹，很容易造成遗漏作业和重叠作业；（2）作业路面温度较高时，很容易造成驾驶员疲劳，导致驾驶员的劳动强度较高；（3）受限于驾驶员的工作精力，在只有一位驾驶员的情况下，压路机无法持续进行作业。即现有技术中，依靠人为驾驶的压路机存在作业效率不高的技术问题。
发明内容
本发明的主要目的在于提出一种控制压路机自动作业的方法及装置、存储介质，旨在解决现有技术中依靠人为驾驶的压路机存在作业效率不高的技术问题。
为实现上述目的，本发明提供一种控制压路机自动作业的方法，所述压路机设置有控制压路机自动行驶的控制组件，所述控制压路机自动作业的方法包括：
根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；
将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。
优选地，所述压路机设置有自主避障组件，所述将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶的步骤包括：
在压路机自动行驶时，通过所述自主避障组件判断压路机四周设定检测区域内是否存在障碍物；
若压路机四周设定检测区域内存在障碍物，则通过所述自主避障组件判断所述障碍物相对于压路机的位置；
根据所述障碍物相对于压路机的位置，修改所述行驶路线，以使所述控制组件控制压路机避开所述障碍物。
优选地，所述自主避障组件包括激光发射器和激光接收器，所述通过自主避障组件判断压路机四周设定检测区域内是否存在障碍物的步骤包括:
通过所述激光发射器，向压路机四周设定检测区域内发射激光；
当所述激光接收器接收到由压路机四周设定检测区域内反射回来的激光时，则确定压路机四周设定检测区域内存在障碍物。
优选地，所述压路机设置有图像采集设备，所述控制压路机自动作业的方法还包括：
在压路机自动行驶时，通过所述图像采集设备，采集压路机四周的环境图像，并将采集到的环境图像发送至所述压路机对应的施工控制平台进行展示。
优选地，所述控制压路机自动作业的方法还包括：
在压路机自动行驶时，记录压路机的行驶轨迹，并根据所述行驶轨迹确定压路机已作业区域；
将压路机已作业区域发送至所述施工控制平台进行展示。
优选地，所述将采集到的环境图像发送至所述压路机对应的施工控制平台进行展示的步骤之后还包括：
若所述控制组件接收到所述施工控制平台发送的远程控制指令，则根据所述远程控制指令控制所述压路机的行驶速度与行驶方向，或对压路机进行制动。
此外，为实现上述目的，本发明还提供一种控制压路机自动作业的装置，所述控制压路机自动作业的装置包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的控制压路机自动作业程序、设置于所述压路机上的控制组件，其中：
所述控制组件用于控制压路机自动行驶；
所述控制压路机自动作业程序被所述处理器执行时实现以下步骤：
根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；
将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。
优选地，所述压路机设置有自主避障组件，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：
在压路机自动行驶时，通过所述自主避障组件判断压路机四周设定检测区域内是否存在障碍物；
若压路机四周设定检测区域内存在障碍物，则通过所述自主避障组件判断所述障碍物相对于压路机的位置；
根据所述障碍物相对于压路机的位置，修改所述行驶路线，以使所述控制组件控制压路机避开所述障碍物。
优选地，所述自主避障组件包括激光发射器和激光接收器，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：
通过所述激光发射器，向压路机四周设定检测区域内发射激光；
当所述激光接收器接收到由压路机四周设定检测区域内反射回来的激光时，则确定压路机四周设定检测区域内存在障碍物。
优选地，所述压路机设置有图像采集设备，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：
在压路机自动行驶时，通过所述图像采集设备，采集压路机四周的环境图像，并将采集到的环境图像发送至所述压路机对应的施工控制平台进行展示。
优选地，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：
在压路机自动行驶时，记录压路机的行驶轨迹，并根据所述行驶轨迹确定压路机已作业区域；
将压路机已作业区域发送至所述施工控制平台进行展示。
优选地，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：
若所述控制组件接收到所述施工控制平台发送的远程控制指令，则根据所述远程控制指令控制所述压路机的行驶速度与行驶方向，或对压路机进行制动。
此外，为实现上述目的，本发明还提供一种存储介质，所述存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现以下步骤：
根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；
将规划好的行驶路线发送至压路机预置的可控制压路机自动行驶的控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。
优选地，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：
在压路机自动行驶时，通过压路机预置的自主避障组件判断压路机四周设定检测区域内是否存在障碍物；
若压路机四周设定检测区域内存在障碍物，则通过所述自主避障组件判断所述障碍物相对于压路机的位置；
根据所述障碍物相对于压路机的位置，修改所述行驶路线，以使所述控制组件控制压路机避开所述障碍物。
优选地，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：
通过所述自主避障组件对应的激光发射器，向压路机四周设定检测区域内发射激光；
当所述自主避障组件对应的激光接收器接收到由压路机四周设定检测区域内反射回来的激光时，则确定压路机四周设定检测区域内存在障碍物。
优选地，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：
在压路机自动行驶时，通过压路机预置的图像采集设备，采集压路机四周的环境图像，并将采集到的环境图像发送至所述压路机对应的施工控制平台进行展示。
优选地，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：
在压路机自动行驶时，记录压路机的行驶轨迹，并根据所述行驶轨迹确定压路机已作业区域；
将压路机已作业区域发送至所述施工控制平台进行展示。
优选地，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：
若所述控制组件接收到所述施工控制平台发送的远程控制指令，则根据所述远程控制指令控制所述压路机的行驶速度与行驶方向，或对压路机进行制动。
本发明所提供的控制压路机自动作业的方法及装置、存储介质，可实现：根据施工区域的地形以及施工面积，规划压路机对应的行驶路线，然后将规划好的行驶路线发送至压路机对应的控制组件，由该控制组件控制压路机按照规划好的行驶路线自动行驶。由于该压路机不需要驾驶员驾驶，且行驶路线可提前进行科学合理的规划，从而可有效减少遗漏作业和重叠作业，并且还可以在夜间和高温、低温等恶劣环境下持续作业，极大地提高了压路机的作业效率，人力成本投入也较低。
附图说明
图1为本发明控制压路机自动作业的方法第一实施例的流程示意图；
图2为本发明图1所示步骤S20的细化步骤流程示意图；
图3为本发明控制压路机自动作业的装置第一实施例涉及的软件运行环境的装置结构示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
以下结合说明书附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明，并且在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
本发明以下实施例提供一种控制压路机自动作业的方法，该方法中，预先在压路机上设置能够控制压路机沿任意设定路线行驶的控制组件；根据施工区域的地形以及施工面积，规划压路机对应的行驶路线，如以任意一点为圆心的螺旋形行驶路线、Z字形行驶路线，或者任意形状的行驶路线等等；然后将规划好的行驶路线发送至上述控制组件，由该控制组件控制压路机按照规划好的行驶路线自动行驶。由于该压路机不需要驾驶员驾驶，且行驶路线可提前进行科学合理的规划，从而可有效减少遗漏作业和重叠作业，并且该压路机还可以在夜间以及高温、低温等恶劣环境下持续作业，极大地提高了压路机的作业效率。
参照图1，图1为本发明控制压路机自动作业的方法第一实施例的流程示意图，本实施例中，上述控制压路机自动作业的方法包括：
步骤S10，根据施工区域的地形以及施工面积，规划压路机对应的行驶路线。
其中，压路机的施工区域一般可以分为如公路、街道等较窄的“长条形”施工区域，以及如广场、停车场、飞机场等范围较开阔的施工区域。
对于如公路、街道等较窄的“长条形”施工区域，可以采用Z字形行驶路线，使压路机不停的来回作业；对于如广场、停车场、飞机场等范围较开阔的施工区域，既可以采用Z字形行驶路线，使压路机不停的来回作业，也可以采用螺旋形行驶路线，使压路机沿着某一点按照螺旋形的行驶路线进行行驶。
可以理解的是，在设计上述行驶路线时，主要根据施工区域的地形形状，使压路机的作业区域能够覆盖所有施工区域，并且压路机在各个位置所作业的频率也应当一致。
另外，考虑到实际施工过程中，对于不同的地质，压路机所需的作业强度不同，例如，对于比较坚硬的地段，压路机可以不用作业或者可以少作业；对于如经过填方等比较松软的地段，压路机则需要多次作业；因此，本实施例中，还可以根据施工区域的实际施工情况来规划压路机对应的行驶路线。
步骤S20，将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。
本实施例中，在规划好压路机对应的行驶路线之后，则可以将规划好的行驶路线发送至压路机上设置的控制组件，由该控制组件控制压路机按照上述规划好的行驶路线自动行驶。
其中，可以理解的是，可以利用诸如计算机设备、移动终端等来规划压路机对应的上述行驶路线，然后将规划好的行驶路线由该计算机设备或者移动终端发送至上述控制组件；另外，也可以直接利用上述控制组件来规划压路机对应的行驶路线，然后控制组件根据规划好的行驶路线控制压路机自动行驶。
其中，上述控制组件包括具有通信功能以及信息处理功能的信息处理设备，以及包括能够控制压路机行驶方向与速度的压路机控制设备。同时，该控制组件还具有障碍物识别以及避障的功能，例如当压路机与施工人员或者障碍物的距离小于或等于预设的距离阈值（例如1米），则立即对压路机进行制动，从而保证施工安全。
本实施例所述的控制压路机自动作业的方法，预先在压路机上设置能够控制压路机沿任意设定路线行驶的控制组件；根据施工区域的地形以及施工面积，规划压路机对应的行驶路线，然后将规划好的行驶路线发送至压路机对应的控制组件，由该控制组件控制压路机按照规划好的行驶路线自动行驶。由于该压路机不需要驾驶员驾驶，且行驶路线可提前进行科学合理的规划，从而可有效减少遗漏作业和重叠作业，并且还可以在夜间和高温、低温等恶劣环境下持续作业，极大地提高了压路机的作业效率，人力成本投入也较低。
进一步地，参照图2，图2为本发明图1所示步骤S20的细化步骤流程示意图，基于上述图1所述的第一实施例，本发明控制压路机自动作业的方法第二实施例中，上述压路机还设置有自主避障组件，上述步骤S20所述的将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶包括：
步骤S21，在压路机自动行驶时，通过所述自主避障组件判断压路机四周设定检测区域内是否存在障碍物；
步骤S22，若压路机四周设定检测区域内存在障碍物，则通过所述自主避障组件判断所述障碍物相对于压路机的位置；
步骤S23，根据所述障碍物相对于压路机的位置，修改所述行驶路线，以使所述控制组件控制压路机避开所述障碍物。
本实施例中，可以预先在压路机的前、后、左、右分别设置自主避障组件，然后通过各个自主避障组件判断压路机四周设定检测区域内是否存在障碍物，具体的，上述自主避障组件包括激光发射器和激光接收器，通过该自主避障组件判断压路机四周设定检测区域内是否存在障碍物的步骤包括:
通过所述激光发射器，向压路机四周设定检测区域内发射激光；
当所述激光接收器接收到由压路机四周设定检测区域内反射回来的激光时，则确定压路机四周设定检测区域内存在障碍物。
其中，可以根据激光接收器接收到的激光来确定障碍物相对于压路机的位置，例如，当设置与压路机左前方的激光接收器接收的由障碍物反射回来的激光时，则可以确定压路机左前方存在障碍物。
其中，在确定障碍物相对于压路机的位置之后，则修改上述规划好的行驶路线，以使压路机避开所述障碍物。
本实施例所述的控制压路机自动作业的方法，预先在压路机上设置自主避障组件，在压路机自动行驶时，通过该自主避障组件判断压路机四周设定检测区域内是否存在障碍物，若存在，则根据障碍物相对于压路机的位置，修改上述规划好的行驶路线，以使压路机避开该障碍物，由此可以有效的提高压路机自动行驶的安全性，保证施工安全。
进一步地，基于上述图1所述的第一实施例，本发明控制压路机自动作业的方法第三实施例中，上述压路机设置有图像采集设备，上述控制压路机自动作业的方法还包括：
在压路机自动行驶时，通过所述图像采集设备，采集压路机四周的环境图像，并将采集到的环境图像发送至所述压路机对应的施工控制平台进行展示。
本实施例中，为了进一步提高压路机自动行驶过程中的安全性，可以预先在压路机的前、后、左、右分别设置图像采集设备，然后通过该图像采集设备，采集压路机四周的环境图像，并将采集到的环境图像发送至压路机对应的施工控制平台进行展示。
其中，上述施工控制平台包括移动终端、平板电脑、台式电脑、智能电视、智能显示设备等具有显示功能的设备。
进一步地，在将集到的环境图像发送至压路机对应的施工控制平台进行展示之后还包括：
若上述控制组件接收到施工控制平台发送的远程控制指令，则根据所述远程控制指令控制压路机的行驶速度与行驶方向，或对压路机进行制动。
本实施例中，施工人员可以通过施工控制平台实时查看压路机四周的环境图像，确定压路机四周是否存在障碍物或者安全隐患，当施工人员确定压路机四周存在安全隐患之后，则可以通过施工控制平台，向上述控制组件发送远程控制指令，远程控制压路机的行驶速度与行驶方向，或远程对压路机进行制动。
本实施例所述的控制压路机自动作业的方法，预先在压路机上设置图像采集设备，通过该图像采集设备来采集压路机四周的环境图像，并发送至所述压路机对应的施工控制平台进行展示，施工人员即可根据压路机四周的环境图像，远程控制压路机的行驶速度与行驶方向，或对压路机进行制动，从而防止了压路机在自动行驶过程中可能遇到的安全隐患，进一步提高了压路机自动行驶的安全性，保证了施工安全。
进一步地，基于上述图1所述的第一实施例、以及本发明控制压路机自动作业的方法第三实施例，本发明控制压路机自动作业的方法第四实施例中，上述控制压路机自动作业的方法还包括：
在压路机自动行驶时，记录压路机的行驶轨迹，并根据所述行驶轨迹确定压路机已作业区域；
将压路机已作业区域发送至所述施工控制平台进行展示。
本实施例中，为了防止压路机遗漏作业和重叠作业，在压路机自动行驶的过程中，自动记录压路机的行驶轨迹，由该行驶轨迹以及压路机滚轮的作业面，确定压路机已作业区域，然后将压路机已作业区域发送至压路机对应的施工控制平台进行展示。例如，在施工控制平台内以不同的颜色显示压路机已作业区域。同时，还可以用不同的颜色深度来表示该区域压路机的作业次数，如压路机作业次数较多的区域颜色较深，压路机作业次数较少的区域颜色较浅等。
本实施例所述的控制压路机自动作业的方法，在压路机自动行驶时，记录压路机的行驶轨迹，并根据该行驶轨迹确定压路机已作业区域，以及将压路机已作业区域发送至压路机对应的施工控制平台进行展示，从而使得施工人员能够随时了解压路机已施工区域，防止压路机遗漏作业和重叠作业，能够有效提高压路机的作业效率。
进一步地，本发明以下实施例还提供一种控制压路机自动作业的装置，该装置包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的控制压路机自动作业程序，其中，预先在压路机上设置能够控制压路机沿任意设定路线行驶的控制组件；上述控制压路机自动作业程序被所述处理器执行时可实现：根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。通过该装置，压路机不需要驾驶员驾驶，且行驶路线可提前进行科学合理的规划，从而可有效减少遗漏作业和重叠作业，并且该压路机还可以在夜间以及高温、低温等恶劣环境下持续作业，极大地提高了压路机的作业效率。
本发明控制压路机自动作业的装置第一实施例中，上述控制压路机自动作业的装置包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的控制压路机自动作业程序、设置于所述压路机上的控制组件，其中：
所述控制组件用于控制压路机自动行驶；
所述控制压路机自动作业程序被所述处理器执行时实现以下步骤：
根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；
将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。
为了更好的理解本发明，参照图3，图3为本发明控制压路机自动作业的装置第一实施例方案涉及的软件运行环境的装置结构示意图，本实施例中，上述控制压路机自动作业的装置可包括：处理器1001，例如CPU，网络接口1004，用户接口1003，存储器1005，通信总线1002。其中，通信总线1002用于实现这些组件之间的连接通信；用户接口1003可以包括显示屏（Display）、输入单元比如键盘（Keyboard），可选用户接口1003还可以包括标准的有线接口、无线接口；网络接口1004可选的可以包括标准的有线接口、无线接口（如WI-FI接口）；存储器1005可以是高速RAM存储器，也可以是稳定的存储器（non-volatile
memory），例如磁盘存储器；存储器1005可选的还可以是独立于前述处理器1001的存储装置。
本领域技术人员可以理解，图3中示出的装置结构并不构成对上述装置的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
如图3所示，作为一种计算机存储介质的存储器1005中，可以包括操作系统、网络通信模块、用户接口模块以及控制压路机自动作业程序。
在图3所示，网络接口1004主要用于连接后台服务器，与后台服务器进行数据通信；用户接口1003主要用于连接客户端（用户端），与客户端进行数据通信；而处理器1001可以用于调用存储器1005中存储的控制压路机自动作业程序，并执行相应的操作。
其中，该控制压路机自动作业的装置对应的实施例与上述控制压路机自动作业的方法对应的各个实施例基本相同，故在此不再赘述。
进一步地，本发明还提供一种存储介质，该存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现以下步骤：
根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；
将规划好的行驶路线发送至压路机预置的可控制压路机自动行驶的控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。
其中，该存储介质对应的实施例与上述控制压路机自动作业的方法对应的各个实施例基本相同，故在此不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台终端设备执行本发明各个实施例所述的方法。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
Claims (18)
- 一种控制压路机自动作业的方法，其特征在于，所述压路机设置有控制压路机自动行驶的控制组件，所述控制压路机自动作业的方法包括：根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。
- 如权利要求1所述的控制压路机自动作业的方法，其特征在于，所述压路机设置有自主避障组件，所述将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶的步骤包括：在压路机自动行驶时，通过所述自主避障组件判断压路机四周设定检测区域内是否存在障碍物；若压路机四周设定检测区域内存在障碍物，则通过所述自主避障组件判断所述障碍物相对于压路机的位置；根据所述障碍物相对于压路机的位置，修改所述行驶路线，以使所述控制组件控制压路机避开所述障碍物。
- 如权利要求2所述的控制压路机自动作业的方法，其特征在于，所述自主避障组件包括激光发射器和激光接收器，所述通过自主避障组件判断压路机四周设定检测区域内是否存在障碍物的步骤包括:通过所述激光发射器，向压路机四周设定检测区域内发射激光；当所述激光接收器接收到由压路机四周设定检测区域内反射回来的激光时，则确定压路机四周设定检测区域内存在障碍物。
- 如权利要求1所述的控制压路机自动作业的方法，其特征在于，所述压路机设置有图像采集设备，所述控制压路机自动作业的方法还包括：在压路机自动行驶时，通过所述图像采集设备，采集压路机四周的环境图像，并将采集到的环境图像发送至所述压路机对应的施工控制平台进行展示。
- 如权利要求4所述的控制压路机自动作业的方法，其特征在于，所述控制压路机自动作业的方法还包括：在压路机自动行驶时，记录压路机的行驶轨迹，并根据所述行驶轨迹确定压路机已作业区域；将压路机已作业区域发送至所述施工控制平台进行展示。
- 如权利要求4所述的控制压路机自动作业的方法，其特征在于，所述将采集到的环境图像发送至所述压路机对应的施工控制平台进行展示的步骤之后还包括：若所述控制组件接收到所述施工控制平台发送的远程控制指令，则根据所述远程控制指令控制所述压路机的行驶速度与行驶方向，或对压路机进行制动。
- 一种控制压路机自动作业的装置，其特征在于，所述控制压路机自动作业的装置包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的控制压路机自动作业程序、设置于所述压路机上的控制组件，其中：所述控制组件用于控制压路机自动行驶；所述控制压路机自动作业程序被所述处理器执行时实现以下步骤：根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；将规划好的行驶路线发送至所述控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。
- 如权利要求7所述的控制压路机自动作业的装置，其特征在于，所述压路机设置有自主避障组件，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：在压路机自动行驶时，通过所述自主避障组件判断压路机四周设定检测区域内是否存在障碍物；若压路机四周设定检测区域内存在障碍物，则通过所述自主避障组件判断所述障碍物相对于压路机的位置；根据所述障碍物相对于压路机的位置，修改所述行驶路线，以使所述控制组件控制压路机避开所述障碍物。
- 如权利要求8所述的控制压路机自动作业的装置，其特征在于，所述自主避障组件包括激光发射器和激光接收器，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：通过所述激光发射器，向压路机四周设定检测区域内发射激光；当所述激光接收器接收到由压路机四周设定检测区域内反射回来的激光时，则确定压路机四周设定检测区域内存在障碍物。
- 如权利要求7所述的控制压路机自动作业的装置，其特征在于，所述压路机设置有图像采集设备，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：在压路机自动行驶时，通过所述图像采集设备，采集压路机四周的环境图像，并将采集到的环境图像发送至所述压路机对应的施工控制平台进行展示。
- 如权利要求10所述的控制压路机自动作业的装置，其特征在于，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：在压路机自动行驶时，记录压路机的行驶轨迹，并根据所述行驶轨迹确定压路机已作业区域；将压路机已作业区域发送至所述施工控制平台进行展示。
- 如权利要求10所述的控制压路机自动作业的装置，其特征在于，所述控制压路机自动作业程序被所述处理器执行时还可以实现以下步骤：若所述控制组件接收到所述施工控制平台发送的远程控制指令，则根据所述远程控制指令控制所述压路机的行驶速度与行驶方向，或对压路机进行制动。
- 一种存储介质，其特征在于，所述存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现以下步骤：根据施工区域的地形以及施工面积，规划压路机对应的行驶路线；将规划好的行驶路线发送至压路机预置的可控制压路机自动行驶的控制组件，以使所述控制组件控制所述压路机按照所述行驶路线自动行驶。
- 如权利要求13所述的存储介质，其特征在于，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：在压路机自动行驶时，通过压路机预置的自主避障组件判断压路机四周设定检测区域内是否存在障碍物；若压路机四周设定检测区域内存在障碍物，则通过所述自主避障组件判断所述障碍物相对于压路机的位置；根据所述障碍物相对于压路机的位置，修改所述行驶路线，以使所述控制组件控制压路机避开所述障碍物。
- 如权利要求14所述的存储介质，其特征在于，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：通过所述自主避障组件对应的激光发射器，向压路机四周设定检测区域内发射激光；当所述自主避障组件对应的激光接收器接收到由压路机四周设定检测区域内反射回来的激光时，则确定压路机四周设定检测区域内存在障碍物。
- 如权利要求13所述的存储介质，其特征在于，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：在压路机自动行驶时，通过压路机预置的图像采集设备，采集压路机四周的环境图像，并将采集到的环境图像发送至所述压路机对应的施工控制平台进行展示。
- 如权利要求16所述的存储介质，其特征在于，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：在压路机自动行驶时，记录压路机的行驶轨迹，并根据所述行驶轨迹确定压路机已作业区域；将压路机已作业区域发送至所述施工控制平台进行展示。
- 如权利要求16所述的存储介质，其特征在于，所述一个或者多个程序可被所述一个或者多个处理器执行，还实现以下步骤：若所述控制组件接收到所述施工控制平台发送的远程控制指令，则根据所述远程控制指令控制所述压路机的行驶速度与行驶方向，或对压路机进行制动。
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