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A self-driving road roller autonomous obstacle avoidance method

An unmanned, road roller technology, applied in the direction of motor vehicles, vehicle position/route/height control, instruments, etc., can solve the problem that the construction quality and construction efficiency of road rollers cannot be guaranteed, achieve better obstacle avoidance effect, and ensure construction quality. , the effect of high accuracy

Active Publication Date: 2022-02-18
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the above-mentioned patents realize unmanned driving when the offline map and the reference track are unknown, when using large-scale special construction machinery such as chisel rollers, although they have certain safety, they cannot guarantee the construction quality and construction efficiency of the rollers.

Method used

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  • A self-driving road roller autonomous obstacle avoidance method
  • A self-driving road roller autonomous obstacle avoidance method
  • A self-driving road roller autonomous obstacle avoidance method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] An autonomous obstacle avoidance method for an unmanned road roller, the process of which is as follows figure 1 with Image 6 shown, including:

[0058] Step 1: Obtain in real time the data collected by three ultrasonic sensors installed on the front or rear of the unmanned road roller;

[0059] Three ultrasonic sensors are installed symmetrically on each of the front and rear car bodies. They measure the distance from themselves to obstacles and convert them into analog quantities and input them to the on-board controller. The on-board controller sends the detection distance of the sensor to the industrial computer through the CAN bus. Obstacle detection and local path planning are carried out based on the received sensor data; when no obstacle is detected by the ultrasonic sensor, the unmanned road roller continues to drive or work along the current path. When the ultrasonic sensor detects an obstacle, the roller will give priority to stop and wait.

[0060] Step ...

Embodiment 2

[0113] (1) First, if figure 1 As shown, according to the data detected by the ultrasonic sensor, the different situations encountered by the unmanned road roller during driving or operation are judged, and the behavior unit is selected accordingly. The order of judgment in the policy is as follows:

[0114] 1) When the road roller does not detect any obstacle entering the sensor area, the road roller will continue to drive or work along the current path; when an obstacle is detected to enter the sensor area, the road roller will give priority to the parking and waiting action.

[0115] 2) When the road roller detects an obstacle and stops, take the ultrasonic sensor data detection period of 1s and the judgment value of whether the obstacle is moving or not ±10cm as an example, if the sensor’s previous 1s data and the current data change range exceeds ±10cm, it is considered an obstacle The object is in motion and the sensor data is updated. If the change of the two data befo...

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Abstract

The present invention relates to an autonomous obstacle avoidance method for an unmanned road roller, comprising: step 1: obtaining in real time the data collected by three ultrasonic sensors installed on the front end or rear end of the unmanned road roller; step 2: according to the data obtained in step 1 Execute the behavior selection sub-method to determine whether active obstacle avoidance is required, if so, execute step 3, otherwise, return to step 1; step 3: execute the autonomous obstacle avoidance sub-method, complete the autonomous obstacle avoidance of the unmanned road roller, and then return to step 1 . Compared with the prior art, the present invention has the advantages of simultaneously ensuring safety and construction quality, high accuracy, better obstacle avoidance effect, and better construction effect.

Description

technical field [0001] The invention relates to the technical field of autonomous obstacle avoidance of unmanned road rollers, in particular to a method for autonomous obstacle avoidance of unmanned road rollers. Background technique [0002] The road roller is an efficient compaction machine, which is widely used in the construction of roads, dams, etc. In order to meet the work requirements of compaction, the exciter mechanism of the road roller will produce severe vibration during operation. In addition, the operation of the road roller is monotonous and boring, and the driver is prone to driving fatigue, which in turn affects the rolling accuracy and quality of the road roller. Therefore, it is of great significance to realize the intelligent unmanned driving of road rollers. [0003] During the operation of the road roller, construction personnel and engineering vehicles often enter the work area. In addition, some rolling areas will set up reminder signs. In order to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0255G05D2201/0202
Inventor 杨濛卞永明马利忠刘广军
Owner TONGJI UNIV
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