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Control method, control system and engineering vehicle for parallel positioning of construction vehicles

A technology of engineering vehicles and control methods, which is applied in the direction of control devices, etc., can solve the problems of difficult and accurate judgment of vehicle trajectory, many times of starting and stopping of road rollers, and high energy consumption of road rollers, so as to reduce overall energy consumption and wear of vehicle components, and improve construction efficiency. Efficiency, avoiding the effect of start-stop action

Active Publication Date: 2022-02-18
HUNAN SANY INTELLIGENT CONTROL EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Manual driving is used to complete the parallel positioning, and it is difficult to accurately judge the driving trajectory of the vehicle, which makes the roller start and stop too many times, which in turn leads to the problems of high energy consumption of the roller and increased tire wear

Method used

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  • Control method, control system and engineering vehicle for parallel positioning of construction vehicles
  • Control method, control system and engineering vehicle for parallel positioning of construction vehicles
  • Control method, control system and engineering vehicle for parallel positioning of construction vehicles

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] Such as figure 1 As shown, in one embodiment of the present invention, a kind of control method of engineering vehicle parallel position is provided, comprising:

[0057] S102, acquiring the initial position coordinate point and the target position coordinate point of the engineering vehicle;

[0058] S104, matching the initial position coordinate point and the target position coordinate point in the route map to obtain a preset driving route;

[0059] S106, generating a first driving route according to a preset driving route;

[0060] S108. Control the construction vehicle to travel along the first travel path.

[0061] The control method of the construction vehicle provided in this embodiment first obtains the initial position coordinate point and the target position coordinate point of the construction vehicle, wherein both the initial position coordinate point and the target position coordinate point are located in the standby area of ​​the construction vehicle. ...

Embodiment 2

[0065] Such as figure 2 As shown, in one embodiment of the present invention, a kind of control method of engineering vehicle parallel position is provided, comprising:

[0066] S202, acquiring the initial position coordinate point and the target position coordinate point of the engineering vehicle;

[0067] S204, converting the initial position coordinate point and the target position coordinate point from the local map coordinate system to the relative coordinate system;

[0068] S206, setting the execution times of the preset driving route to 1;

[0069] S208, setting the temporary parking width, the temporary parking width is the ratio of the ordinate of the coordinate point of the target position to the execution times of the preset driving path;

[0070] S210, searching the route map to obtain the first preset route with the smallest difference between the ordinate of the end point and the temporary parking width;

[0071] S212, judging whether the abscissa of the en...

Embodiment 3

[0090] In any of the above embodiments, further, as Figure 9 As shown, the first preset path includes: a first curved path and a second curved path.

[0091] Among them, such as Figure 9As shown, the second curved path is connected to the first curved path, and the first curved path and the second curved path are symmetrical about the center of the connection, so as to ensure that the tangents at the starting point and end point of the first preset path are parallel, thereby ensuring The orientation of the construction vehicle at the coordinate point of the initial position is consistent with the orientation at the end position of the first preset path, so as to successfully complete the parallel positioning. Such as Figure 5 As shown, the angle turned by the first curved path is greater than 0 degrees and less than or equal to 90 degrees, so that there are multiple first preset paths with different end coordinates corresponding to different corners in the path map. In va...

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PUM

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Abstract

The invention provides a control method for engineering vehicles in parallel, a control system and an engineering vehicle, wherein the control method for engineering vehicles in parallel includes: acquiring the initial position coordinate point and the target position coordinate point of the engineering vehicle; The coordinate points and target position coordinate points are matched in the route map to obtain the preset driving route; the first driving route is generated according to the preset driving route; The direction of the vehicle at the end point of the first travel route is the same. In the process of parallel positioning of engineering vehicles, no manual participation is required, so that engineering vehicles can quickly adjust their position and driving direction according to the automatically generated first driving path, avoiding unnecessary start and stop actions, and reducing overall energy consumption and vehicle components Wear and tear, and increase the speed of construction vehicles, effectively improving the construction efficiency.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to a control method for engineering vehicles in parallel, a control system for engineering vehicles and an engineering vehicle. Background technique [0002] The parallel position of the road roller refers to the process that the road roller travels from the standby area to the junction of the target construction area when the initial heading angle of the road roller is equal to the end heading angle. Due to the limited range of the standby area, under the premise that the road roller does not drive out of the standby area, it is often necessary to advance, retreat, and adjust the driving direction many times to complete the parallel positioning. Manual driving is used to complete the parallel positioning, and it is difficult to accurately judge the driving trajectory of the vehicle, which makes the roller start and stop too many times, which in turn leads to the problems of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/06B60W60/00B60W10/20B60W50/00
CPCB60W30/06B60W60/001B60W10/20B60W50/00B60W2050/0005
Inventor 郭天亮刘景湘姚洪涛
Owner HUNAN SANY INTELLIGENT CONTROL EQUIP
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