Unmanned road roller operation path planning method and system based on rasterization

A path planning and unmanned driving technology, which is applied in control/regulation systems, motor vehicles, two-dimensional position/channel control, etc., can solve problems such as failure to take compaction quality into account, and achieve compaction quality, The effect of avoiding underpressure and improving the compaction level

Pending Publication Date: 2022-05-10
黑龙江省哈肇高速公路投资建设有限公司 +1
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Problems solved by technology

However, in the existing technology, the research focus on the route planning scheme of unmanned road rollers focuses on factors such as obstacle avoidance and effective length of rolling, and fails to take the compaction quality into consideration during the rolling process.

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  • Unmanned road roller operation path planning method and system based on rasterization
  • Unmanned road roller operation path planning method and system based on rasterization
  • Unmanned road roller operation path planning method and system based on rasterization

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Embodiment Construction

[0035] The technical solution of the present invention will be explained in detail below in conjunction with the accompanying drawings and embodiments.

[0036] A grid-based unmanned road roller operation path planning method, comprising the following steps:

[0037] Step 1: Carry out rasterization processing on the pavement plane of the construction layer, and divide the pavement plane into matrix form with n sides whose length is w n square grid array.

[0038] Step 2: Design the dynamic circulation route of the unmanned roller according to the road width of the construction layer, the operating width of the roller and the number of rollers.

[0039] Specifically, the working width of the road roller is taken as the path width of the circulation route, and the length of the unfinished compaction within the paving mileage of the paver is taken as the path length of the circulation route. The present embodiment provides following 4 kinds of circulation routes:

[0040] Line...

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Abstract

The invention discloses a rasterization-based unmanned road roller operation path planning method and system. The method comprises the following steps of performing rasterization processing on a construction layer pavement plane; designing a road roller circulation route; acquiring position information of the road roller in a construction layer pavement plane in real time, constructing a road roller motion model, and controlling the road roller to perform construction operation according to a circulating route mode; rolling compaction information of each grid is obtained, the rolling compaction condition of the grids is judged, and when the grids meet the rolling compaction process requirements, the road roller does not roll the grids any more. The unmanned road roller operation path planning system is used for executing the path planning method. The compaction information of the grids is obtained in real time through rasterization, and the compaction quality of the construction area can be effectively monitored; according to the method, route planning guidance is carried out on the unmanned road roller in the dimension of compaction quality, the problems of underpressure, overpressure and the like are avoided, the pavement compaction quality can be ensured, and the re-compaction level is further improved.

Description

technical field [0001] The invention relates to the field of unmanned driving of road rollers, in particular to a grid-based method and system for planning an operation path of an unmanned road roller. Background technique [0002] The main purpose of asphalt pavement compaction is to compact the paved asphalt mixture through a combination of road rollers to achieve a compact and dense state, which has a great impact on the service quality of the formed pavement. In recent years, there have been more and more cases of unmanned driving technology and successful application in the rolling process. The advantage of this technology is to avoid the problems of continuous operation, difficulty in night operation, and personal safety of operators in manual operations. While improving the rolling quality, it can effectively improve the rolling efficiency. [0003] The invention patents with publication numbers CN11947664 A and CN113406954 A respectively proposed corresponding unman...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D2201/0202
Inventor 张扬李猛
Owner 黑龙江省哈肇高速公路投资建设有限公司
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