A control method and a control device for a tire roller

Abstract

The present invention discloses a control method and a control device for a tire roller. The control method for the tire roller comprises: obtaining the current speed of the tire roller; when there is an obstacle in a specific direction of the tire roller, periodically and hierarchically controlling the braking distance of the tire roller according to the current speed of the tire roller, wherein the specific direction includes at least one of a first direction, a second direction, a third direction and a fourth direction. The technical solution of the embodiment of the present invention improves the safety factor of the tire roller in achieving braking before reaching the obstacle and the construction efficiency of the tire roller.

Description

Technical Field

[0001] The present invention relates to the technical field of municipal road safety, and in particular to a control method and a control device for a tire roller. Background Art

[0002] During the road construction process, the driver's field of vision is not particularly ideal due to the wide body of the tire roller itself. In addition, the tire roller body is heavy, which indirectly leads to disadvantages such as large braking inertia and long braking distance. Incidents of tire rollers hitting people often occur, which brings huge hidden dangers and management difficulties to construction management.

[0003] In the prior art, the driver identifies the obstacle and controls the tire roller to brake before reaching the obstacle. However, due to the complex on-site environment, the driver's poor field of vision, and the driver's limited driving skills, the driver identifies the obstacle and controls the tire roller to brake before reaching the obstacle, which has a low safety factor and low construction efficiency. Summary of the invention

[0004] The invention provides a control method and a control device for a tire roller, so as to improve the safety factor of braking of the tire roller before the tire roller reaches an obstacle and the construction efficiency of the tire roller.

[0005] According to one aspect of the present invention, there is provided a tire roller active safety control method, comprising:

[0006] Get the direction of travel of the tire roller;

[0007] Get the current speed of the tire roller;

[0008] When there is an obstacle at a specific direction of the tire roller, the braking distance of the tire roller is periodically controlled in stages according to the current speed and driving direction of the tire roller, wherein the specific direction includes at least one of a first direction, a second direction, a third direction and a fourth direction.

[0009] Optionally, when there is an obstacle at a specific position of the tire roller, the braking distance of the tire roller is controlled in stages according to the current speed and driving direction of the tire roller, including:

[0010] When there is an obstacle at a specific position of the tire roller, the deceleration acceleration of the tire roller is increased and the engine speed is limited in stages according to the current speed and driving direction of the tire roller periodically, and the traveling power of the tire roller is cut off, so as to control the braking distance of the tire roller in stages, wherein the current speed of the tire roller includes less than the first speed, greater than or equal to the first speed and less than or equal to the second speed, and greater than or equal to the second speed, and the first speed is less than the second speed.

[0011] If there is an obstacle in a specific direction of the tire roller, and the current speed of the tire roller is less than the first speed and lasts for a preset time, the throttle opening of the tire roller is controlled to idle speed, and active braking is triggered at the same time, and the braking degree is 100%.

[0012] There is an obstacle in a specific direction of the tire roller, the current speed of the tire roller is greater than or equal to the first speed and less than or equal to the second speed, and it lasts for a preset time, the throttle opening of the tire roller is controlled to be the maximum first opening, and active braking is triggered at the same time, and the braking degree is less than 100%.

[0013] When there is an obstacle at a specific position of the tire roller, the current speed of the tire roller is greater than or equal to the second speed and lasts for a preset time, the throttle opening of the tire roller is controlled to be the second opening at most, and the displacement of the motor is reduced.

[0014] Optionally, when there is an obstacle at a specific position of the tire roller, the step of periodically controlling the braking distance of the tire roller in stages according to the current speed and driving direction of the tire roller also includes:

[0015] Obstacle conditions at specific locations of the tire roller are acquired through sensors.

[0016] Optionally, the number of tire rollers is greater than or equal to 2, and the tire rollers serve as obstacles to each other.

[0017] Optionally, the priority of the throttle opening control of the tire roller and the control of cutting off the traveling power of the tire roller is higher than the operation priority of the driver.

[0018] According to another aspect of the present invention, a control device of a tire roller is provided, which executes a control method of the tire roller.

[0019] In the embodiment of the present invention, the braking distance of the tire roller is periodically controlled in stages according to the current speed and driving direction of the tire roller, so as to ensure that the tire roller does not contact or collide with obstacles in the blind spot to the greatest extent possible, so that as long as the obstacle is detected in advance, no matter what the vehicle speed is, it can follow the preset control instructions and not contact or collide with the obstacle. There is no need for the driver to identify the obstacle and control the tire roller to brake before reaching the obstacle, which improves the safety factor of the tire roller to brake before reaching the obstacle and the construction efficiency of the tire roller.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of a control method for a tire roller provided according to Embodiment 1 of the present invention;

[0023] Figure 2 is a flow chart of a control method for a tire roller provided according to a second embodiment of the present invention;

[0024] Figure 3 is a flow chart of a control method for a tire roller provided according to a third embodiment of the present invention;

[0025] Figure 4 is a flow chart of a control method for a tire roller provided according to a fourth embodiment of the present invention;

[0026] Figure 5 is a flow chart of a control method for a tire roller provided according to a fifth embodiment of the present invention;

[0027] Figure 6 It is a structural diagram of a control device for a tire roller provided according to Embodiment 6 of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment 1

[0031] Figure 1 This is a flow chart of a control method for a tire roller provided according to the first embodiment of the present invention. The embodiment of the present invention can be applied to obtain the current speed of the tire roller and control the braking distance of the tire roller in stages according to obstacles existing in specific directions. Figure 1 As shown, the method specifically includes the following specific steps:

[0032] S110: Obtain the driving direction of the tire roller.

[0033] In this embodiment, the driving direction of the tire roller can be judged and obtained according to the state of the driver's operating handle, and the current driving direction is the driving direction when the obstacle is detected.

[0034] S120: Obtain the current speed of the tire roller.

[0035] The current vehicle speed is the current vehicle speed after the obstacle is detected. The so-called tire roller can be understood as a large roller composed of tires at the front and back. It is mainly used for kneading the road surface after the double steel wheel roller has rolled the asphalt flat, etc., to eliminate local stress and make the road surface smoother and smoother. It is generally used in the last step in the asphalt pavement construction process. The current vehicle speed can be understood as the speed of the tire roller in the current driving state. The speed sensor can be a magnetoelectric speed sensor, a Hall speed sensor, and a photoelectric speed sensor, and the embodiment of the present invention does not limit this.

[0036] S130. When there is an obstacle at a specific direction of the tire roller, the braking distance of the tire roller is periodically controlled in stages according to the current speed and driving direction of the tire roller, wherein the specific direction includes at least one of a first direction, a second direction, a third direction and a fourth direction.

[0037] The so-called specific location may be understood as different parts of the front, rear, left and right sides of the vehicle body, and the embodiment of the present invention is not limited to this.

[0038] Optionally, when there is an obstacle at a specific position of the S130 tire roller, the step of periodically controlling the braking distance of the tire roller in a graded manner according to the current speed and driving direction of the tire roller also includes: obtaining the obstacle situation of the tire roller at a specific position through a sensor. Specifically, the obstacle detection device around the roller can be an infrared proximity sensor, a laser sensor or an ultrasonic sensor, which is not limited in the embodiment of the present invention. This embodiment mainly installs obstacle detection device 1, detection device 2, detection device 3, and detection device 4 around the body of the tire roller, and associates the obstacle detection device with the forward, backward, left turn, right turn and other actions of the tire roller, so as to monitor the situation around the body in all directions and in real time. Combined with the current vehicle speed measured by the vehicle speed sensor, the braking distance of the tire roller is controlled at multiple levels and in grades.

[0039] It should be noted that the acquisition of the driving direction of the tire roller in S110, the acquisition of the current speed of the tire roller in S120, and the acquisition of the obstacle in a specific position of the tire roller in S130 can be performed synchronously and the acquisition can be implemented.

[0040] In the embodiment of the present invention, the braking distance of the tire roller is periodically controlled in stages according to the current speed and driving direction of the tire roller, so as to ensure that the tire roller does not contact or collide with obstacles in the blind spot to the greatest extent possible, so that as long as the obstacle is detected in advance, no matter what the vehicle speed is, it can follow the preset control instructions and not contact or collide with the obstacle. There is no need for the driver to identify the obstacle and control the tire roller to brake before reaching the obstacle, which improves the safety factor of the tire roller to brake before reaching the obstacle and the construction efficiency of the tire roller.

[0041] Embodiment 2

[0042] Figure 2 1 is a flow chart of a control method for a tire roller provided according to an embodiment of the present invention. The technical solution of the embodiment of the present invention is based on the above optional technical solution, mainly optimizing the braking distance of the tire roller by hierarchical control according to the current vehicle speed and obstacles existing in a specific direction, and provides a preferred implementation method of the control method for a tire roller, such as Figure 2 As shown, the method specifically includes the following specific steps:

[0043] S210: Obtain the driving direction of the tire roller.

[0044] S220: Obtain the current speed of the tire roller.

[0045] S230: When there is an obstacle at a specific position of the tire roller, the deceleration acceleration of the tire roller is increased in stages and the engine speed is limited in stages according to the current speed and driving direction of the tire roller, and the traveling power of the tire roller is cut off, so as to control the braking distance of the tire roller in stages, wherein the current speed of the tire roller includes less than the first speed, greater than or equal to the first speed and less than or equal to the second speed, and greater than or equal to the second speed, and the first speed is less than the second speed.

[0046] Among them, the walking power can be understood as the energy source for the tire roller to move forward. When the detection device detects an obstacle, it periodically compares it with the set vehicle speed data, and activates the corresponding level of alarm according to the distance between the vehicle speed and the current obstacle. At the same time, it promptly reminds the driver on the instrument, controls the engine throttle opening, and adopts different levels of deceleration and braking control to control the vehicle speed to the maximum extent. In this process, it will periodically detect whether the obstacle has been removed. If the obstacle has been removed, the alarm will be lifted and the engine throttle will be restored to the current control state. If the obstacle has not been removed, the vehicle will be braked to stop. Even if the obstacle is removed after braking, the active braking function needs to be reset before the brake alarm can be lifted. Exemplarily, the first vehicle speed is 5KM / H and the second vehicle speed is 10KM / H. The vehicle speed range set by the system is divided into three stages: less than 5KM / H, greater than or equal to 5KM / H and less than or equal to 10KM / H, and greater than or equal to 10KM / H.

[0047] In the embodiment of the present invention, the vehicle speed is controlled to the maximum extent by setting and comparing the system vehicle speed range, controlling the engine throttle opening, and taking different levels of deceleration and braking control. This allows the driver to focus on the construction work without having to pay too much attention to whether there are people or objects around the vehicle. This improves the active safety and construction efficiency of the tire roller, reduces the labor intensity of the operator, improves the operating comfort, and improves the compaction effect of the whole machine.

[0048] Optionally, based on the above technical solution, when the number of tire rollers is greater than or equal to 2, the tire rollers are obstacles to each other. Active safety control is implemented preferentially for equipment with high speed, and a fixed construction distance can be set for the two equipments, which is conducive to maintaining uniform speed between the equipments, so that the consistency of road compaction quality is guaranteed.

[0049] Embodiment 3

[0050] Figure 3 1 is a flow chart of a control method for a tire roller provided according to the first embodiment of the present invention. The technical solution of the embodiment of the present invention is based on the above optional technical solution, and mainly further refines the braking distance of the tire roller according to the current vehicle speed and obstacles existing in a specific direction, and provides a preferred implementation method of the control method for a tire roller, such as Figure 3 As shown, the method specifically includes the following specific steps:

[0051] S310: Obtain the driving direction of the tire roller.

[0052] S320: Obtain the current speed of the tire roller.

[0053] S330: There is an obstacle at a specific position of the tire roller, and the current speed of the tire roller is less than the first speed and lasts for a preset time, and the throttle opening of the tire roller is controlled to idle, and active braking is triggered at the same time, and the braking degree is 100%.

[0054] The throttle opening at idle speed can be understood as the throttle pedal opening is zero, and the system does not issue an accelerator command. For example, the first vehicle speed is 5KM / H, and the preset duration is 1s. The above steps control the throttle to directly reduce to idle speed, and directly trigger 100% braking to further shorten the braking distance of the vehicle, thereby avoiding contact and collision between the vehicle and obstacles to the greatest extent.

[0055] Optionally, the alarm level can also be displayed through the display module according to the current speed of the tire roller. Since in this embodiment, the judgment condition of the vehicle speed in S3201 is the first vehicle speed and lasts for a preset time, therefore, see Figure 3 , the current speed of the tire roller is less than the first speed and lasts for a preset time, S3202 displays the first alarm level through the display module according to the current speed of the tire roller. If the current speed of the tire roller is not less than the first speed, the system will continue to detect the current speed of the tire roller. Exemplarily, the first alarm is that the red alarm light is always on and the buzzer sounds.

[0056] When an obstacle is detected and the current vehicle speed is determined, when the vehicle speed drops to the first-level alarm threshold and lasts for a certain period of time, the first-level alarm is activated and the driver is informed. At this time, the throttle is controlled to directly drop to idle speed, and 100% braking is directly triggered to further shorten the braking distance of the vehicle, thereby avoiding contact and collision between the vehicle and the obstacle to the greatest extent. When within this alarm threshold range, in order to ensure on-site safety to the greatest extent and prevent accidents caused by sudden vehicle start-up after braking, even if the obstacle is removed after braking, the active braking function needs to be reset, see S340, and the braking alarm can be released only after S340.

[0057] This embodiment provides a case where there is an obstacle in a specific position of the tire roller, the current speed of the tire roller is less than the first speed, and it lasts for a preset time. The throttle opening of the tire roller is controlled to idle speed, and active braking is triggered at the same time, and the braking degree is 100% to control the braking distance. The driver can focus on the construction work without having to pay too much attention to whether there are people or objects around the vehicle. The active safety and construction efficiency of the tire roller are improved, the labor intensity of the operator is reduced, the operating comfort is improved, and the compaction effect of the whole machine is improved.

[0058] Embodiment 4

[0059] Figure 41 is a flow chart of a control method for a tire roller provided according to the first embodiment of the present invention. The technical solution of the embodiment of the present invention is based on the above optional technical solution, and mainly further refines the braking distance of the tire roller according to the current vehicle speed and obstacles existing in a specific direction, and provides another situation of a preferred implementation method of the control method for a tire roller, such as Figure 4 As shown, the method specifically includes the following specific steps:

[0060] S410: Obtain the driving direction of the tire roller.

[0061] S420: Obtain the current speed of the tire roller.

[0062] S430: There is an obstacle at a specific position of the tire roller, and the current speed of the tire roller is greater than or equal to the first speed and less than or equal to the second speed, and continues for a preset time. The throttle opening of the tire roller is controlled to be a maximum of the first opening, and active braking is triggered at the same time, and the braking degree is less than 100%.

[0063] For example, the first vehicle speed is 5 km / h, the second vehicle speed is 10 km / h, and the preset duration is 1 second. The first opening is 1500 rpm. The braking degree is less than 100%, preferably 50%.

[0064] The above steps control the maximum throttle opening of the tire roller to the first opening, and trigger active braking at the same time, with a braking degree less than 100%, that is, limiting the engine throttle opening, cutting off the travel power, and applying a certain degree of braking, such as 50%, to further increase the vehicle deceleration acceleration, so as to further limit the vehicle speed.

[0065] Optionally, the alarm level can also be displayed through the display module according to the current speed of the tire roller. Since in this embodiment, the judgment condition of the speed of S4201 is that the current speed of the tire roller is greater than or equal to the first speed and less than or equal to the second speed, and lasts for a preset time, therefore, see Figure 4 , further comprising S4202, displaying the secondary alarm level through the display module according to the current speed of the tire roller. If the current speed of the tire roller does not meet the judgment condition of S4201, the system will continue to detect the current speed of the tire roller. Exemplarily, the secondary alarm yellow icon flashes and the buzzer sounds.

[0066] When an obstacle is detected, the current vehicle speed is determined. When the vehicle speed drops to the secondary alarm threshold and lasts for a certain period of time, the secondary alarm is activated and the driver is informed. At this time, the engine throttle opening is further limited, the travel power is cut off, and 50% of the brake is applied to further increase the vehicle deceleration acceleration to further limit the vehicle speed. When within this alarm threshold range, see S440 and it is also necessary to determine whether the obstacle is removed. If the obstacle is removed, see S450, the system returns to the current vehicle speed and driving intention and the secondary alarm is released. If the obstacle is not removed, the driving direction of the tire roller is re-acquired.

[0067] This embodiment provides a method of controlling the braking distance by controlling the throttle opening of the tire roller to be the first opening at most when there is an obstacle in a specific position of the tire roller, the current speed of the tire roller is greater than or equal to the first speed and less than or equal to the second speed, and lasts for a preset time, and triggering active braking at the same time, and the braking degree is less than 100%. This allows the driver to focus on the construction work without having to pay too much attention to whether there are people or objects around the vehicle's walking operation, thereby improving the active safety and construction efficiency of the tire roller, reducing the labor intensity of the operator, improving the operating comfort, and improving the compaction effect of the whole machine.

[0068] Embodiment 5

[0069] Figure 5 1 is a flow chart of a control method for a tire roller provided according to the first embodiment of the present invention. The technical solution of the embodiment of the present invention is based on the above optional technical solution, and mainly further refines the braking distance of the tire roller according to the current vehicle speed and obstacles existing in a specific direction, and provides another situation of a preferred implementation method of the control method for a tire roller, such as Figure 5 As shown, the method specifically includes the following specific steps:

[0070] S510: Obtain the driving direction of the tire roller.

[0071] S520: Obtain the current speed of the tire roller.

[0072] S530: There is an obstacle at a specific position of the tire roller, and the current speed of the tire roller is greater than or equal to the second speed and lasts for a preset time, and the throttle opening of the tire roller is controlled to be a maximum of the second opening, and the displacement of the motor is reduced.

[0073] Exemplarily, the second vehicle speed is 10 km / h, and the preset duration is 1 second. The second opening is 1750 rpm. The above steps actively limit the engine throttle opening and cut off the travel power, so that the vehicle is in a free coasting state to limit and reduce the vehicle speed.

[0074] Optionally, the alarm level can also be displayed through the display module according to the current speed of the tire roller. Since in this embodiment, the judgment condition of the speed of S5201 is that the current speed of the tire roller is greater than or equal to the second speed and lasts for a preset time, therefore, see Figure 5 , the current speed of the tire roller is less than the first speed and lasts for a preset time, S5202 displays the third level of alarm through the display module according to the current speed of the tire roller. If the current speed of the tire roller does not meet S5202, the system will continue to detect the current speed of the tire roller. Exemplarily, the third level alarm is that the green alarm icon flashes and the buzzer sounds.

[0075] When an obstacle is detected, the current vehicle speed is determined. When the vehicle speed drops to the second-level alarm threshold and lasts for a certain period of time, the third-level alarm is activated and the driver is informed. At this time, the engine throttle opening is actively limited and the driving power is cut off, so that the vehicle is in a free inertial sliding state to limit and reduce the vehicle speed. When within this alarm threshold range, see S540 and it is also necessary to determine whether the obstacle is removed. If the obstacle is removed, see S550, the system will restore to the current vehicle speed and driving intention and the third-level alarm will be lifted. If the obstacle is not removed, the driving direction of the tire roller is re-acquired.

[0076] This embodiment provides a case where there is an obstacle in a specific position of the tire roller, the current speed of the tire roller is greater than or equal to the second speed, and lasts for a preset time, and the braking distance is controlled by controlling the throttle opening of the tire roller to a maximum of the second opening, and reducing the displacement of the motor. This allows the driver to focus on the construction work without having to pay too much attention to whether there are people or objects around the vehicle's walking operation, thereby improving the active safety and construction efficiency of the tire roller, reducing the labor intensity of the operator, improving the operating comfort, and at the same time improving the compaction effect of the whole machine.

[0077] Optionally, based on the above technical solution, the priority of the throttle opening control of the tire roller and the control of cutting off the traveling power of the tire roller is higher than the operation priority of the driver.

[0078] After the active safety control device is turned on, once the alarm is activated, the priority of the above-mentioned actions such as engine throttle opening and travel power cut-off is higher than the driver's operation priority, and the system-triggered restriction action is prioritized. The 0-100% braking action triggered by the system alarm is compared with the driver's operation priority, and the action with the largest braking trigger action is prioritized. In other words, the system's automatic braking and the driver's braking are prioritized according to the braking degree. This allows the driver to focus on the on-site construction work to the greatest extent, without having to pay too much attention to the people and objects around the vehicle's walking operation, which can ensure the efficiency of the construction work and reduce the labor intensity of the operator.

[0079] It should be noted that see Figure 3-Figure 5 , Embodiment 3, Embodiment 4 and Embodiment 5 provide that there is an obstacle in a specific position of the tire roller, and the deceleration acceleration of the tire roller is increased and the engine speed is limited in stages according to the current speed and driving direction of the tire roller periodically, and the traveling power of the tire roller is cut off, so as to control the braking distance of the tire roller in stages, wherein the current speed of the tire roller includes less than the first speed, greater than or equal to the first speed and less than or equal to the second speed, and greater than or equal to the second speed, and the first speed is less than the second speed. When the current speed of the roller is less than the first speed and continues for a preset time, the steps of Embodiment 3 are executed. When the current speed of the roller is greater than or equal to the first speed and less than or equal to the second speed and continues for a preset time, the steps of Embodiment 4 are executed. When the current speed of the roller is greater than or equal to the second speed and continues for a preset time, the steps of Embodiment 5 are executed.

[0080] Specifically, obstacle detection devices 1, 2, 3 and 4 are installed at different parts around the vehicle body, and the obstacle detection devices are associated with the forward, backward, left turn and right turn actions of the tire roller, so as to monitor the situation around the vehicle body in real time in all directions. At the same time, according to the matching of the actual vehicle speed and the braking distance of the tire roller, multi-level control measures are taken, and the vehicle deceleration acceleration is increased, the engine speed is limited in stages, and the braking distance is reduced, so as to maximize the guarantee that the tire roller does not contact and collide with obstacles in the blind spot, so that as long as the obstacles are detected in advance, regardless of the vehicle speed, they can be in accordance with the preset control instructions, and do not contact and collide with the obstacles. At the same time, it is ensured that the construction efficiency is not reduced due to false alarms, so that the driver can focus on the construction work without paying too much attention to whether there are people or objects around the vehicle walking operation, thereby improving the active safety and construction efficiency of the tire roller, reducing the labor intensity of the operator, improving the operating comfort, and improving the compaction effect of the tire roller on the road surface.

[0081] Embodiment 6

[0082] The embodiment of the present invention also provides a control device for a tire roller. Figure 6 , the control device of the tire roller comprises:

[0083] The detection device 100 is used to obtain the driving direction of the tire roller.

[0084] The detection device 100 is also used to obtain the current speed of the tire roller.

[0085] The control device 200 is used for periodically controlling the braking distance of the tire roller in stages according to the current speed and driving direction of the tire roller when there is an obstacle in a specific direction of the tire roller, wherein the specific direction includes at least one of a first direction, a second direction, a third direction and a fourth direction.

[0086] In the embodiment of the present invention, the control device 200 periodically controls the braking distance of the tire roller 300 in stages according to the current speed and driving direction of the tire roller 300, and ensures that the tire roller does not contact or collide with obstacles in the blind spot to the greatest extent possible, so that as long as the obstacle is detected in advance, no matter what the vehicle speed is, it can follow the preset control instructions and not contact or collide with the obstacle. There is no need for the driver to identify the obstacle and control the tire roller to brake before reaching the obstacle, which improves the safety factor of the tire roller to brake before reaching the obstacle and the construction efficiency of the tire roller.

[0087] Optionally, the detection device 100 includes a vehicle speed detection unit, a driving direction detection unit and an obstacle detection unit. The vehicle speed detection unit is used to obtain the current vehicle speed of the tire roller. The driving direction detection unit is used to obtain the driving direction of the tire roller. The obstacle detection unit is used to obtain the obstacle situation of the tire roller in a specific direction.

[0088] Optionally, the control device 200 is used to periodically increase the deceleration acceleration of the tire roller and limit the engine speed in stages according to the current speed and driving direction of the tire roller when there is an obstacle in a specific orientation, and cut off the traveling power of the tire roller, thereby controlling the braking distance of the tire roller in stages, wherein the current speed of the tire roller includes less than the first speed, greater than or equal to the first speed and less than or equal to the second speed, and greater than or equal to the second speed, and the first speed is less than the second speed.

[0089] Optionally, the control device 200 is used to control the throttle opening of the tire roller to idle speed and trigger active braking at 100% when there is an obstacle in a specific direction of the tire roller and the current speed of the tire roller is less than the first speed and lasts for a preset time.

[0090] Optionally, the control device 200 is used to control the throttle opening of the tire roller to a maximum of the first opening when there is an obstacle in a specific direction of the tire roller, and the current speed of the tire roller is greater than or equal to the first speed and less than or equal to the second speed, and lasts for a preset time, and trigger active braking at a braking degree less than 100%.

[0091] Optionally, the control device 200 is used to control the throttle opening of the tire roller to a maximum of the second opening when there is an obstacle in a specific direction of the tire roller and the current speed of the tire roller is greater than or equal to the second speed and lasts for a preset time, thereby reducing the displacement of the motor.

[0092] Optionally, the control device 200 is used to display the alarm level through the display module according to the current speed of the tire roller.

[0093] The control device 200 includes a controller 201, which is used to collect information from the detection device, and after processing and analyzing the detection information, control the throttle opening device, the travel power cut-off device or the brake control device of the tire roller 300. The control device 200 further has a joystick sensor for detecting the forward and reverse direction of the vehicle, and a steering joystick sensor for detecting the left and right steering strokes.

[0094] The controller 201 is programmed in the following manner: the work vehicle is controlled based on the acquired detection information. The controller 201 includes, for example, a processing device such as a CPU. The controller 201 acquires an operation signal from a sensor of an operating device. The controller 201 controls the control device based on the operation signal. It should be noted that the controller 201 is not limited to an integrated type, and can also be divided into multiple controllers.

[0095] The control device 200 further has a joystick sensor for detecting the forward and backward movement direction of the vehicle and a steering joystick sensor for detecting the left and right steering strokes. The current direction of the vehicle can be detected, and then the detection device 100 in the corresponding direction can be activated according to the direction of travel, and the data detected by the detection device 100 in the corresponding travel direction can be processed as a priority object. This embodiment can greatly reduce the amount of data processed and the response speed of the control device, and ensure system safety.

[0096] The control device 200 includes: a throttle opening control device, a travel power cut-off device 203 and a brake control device 204. It is controlled according to the command signal from the controller 201. The travel power cut-off device 203 is arranged between the hydraulic pump and the travel motor. The control device 200 controls the flow rate of the hydraulic oil supplied from the hydraulic pump to the hydraulic motor. The controller 201 generates a command signal for the travel hydraulic system so that the travel power cut-off device 203 cuts off the power according to the above control command. As a result, the power of the travel system is controlled, which provides a guarantee for reducing inertia and shortening the braking distance for subsequent brake control.

[0097] The brake control device 204 is arranged on the brake line, and the brake control valve is a pressure proportional control valve. Alternatively, it can be an electromagnetic proportional control valve, which can linearly control the braking percentage according to the needs, further shorten the braking distance, thereby avoiding the bulge and unevenness of the road surface caused by sudden braking, and can also meet the braking needs.

[0098] The throttle opening device 205 controls the engine speed and torque percentage through the CAN bus and the bus throttle function, thereby limiting the maximum speed and maximum torque of the engine, which can achieve the benefits of limiting power output and reducing fuel consumption.

[0099] The controller 201 has a storage device. The storage device includes, for example, a memory and an auxiliary storage device. The storage device may be, for example, a RAM or a ROM. The storage device may also be a semiconductor storage device or a hard disk. The controller communicates with the storage device via a wired or wireless method to obtain information stored in the storage device.

[0100] It should be understood that the executor of this embodiment is the control device hardware and software, wherein the tire roller control device may be an electronic device such as an on-board computer, or may be other controller devices that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment and the following embodiments.

[0101] It should be noted that the brake control device 204 can simultaneously receive the brake control instructions from the driver and the brake instructions from the active safety control device. The control device selects the larger one to execute the brake instruction based on the signal percentages of the two to further ensure that the braking distance is shortened and the risk of collision is reduced. This embodiment does not impose any restrictions on this.

[0102] According to the distance between the vehicle and the obstacle detected by the obstacle detection device, it should be noted that the obstacle data is mainly the obstacle information of people or objects on the path in the construction area. Based on the initially set detection distance, data and colors are used to distinguish the status of different alarm levels. The third-level alarm is a flashing green alarm icon and a buzzer, the second-level alarm is a flashing yellow icon and a buzzer, and the first-level alarm is a constant red alarm light and a buzzer.

[0103] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0104] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for a tire roller, characterized in that: include: Get the direction of travel of the tire roller; Get the current speed of the tire roller; When there is an obstacle in a specific direction of the tire roller, the braking distance of the tire roller is periodically controlled in stages according to the current speed and driving direction of the tire roller, wherein the specific direction includes at least one of a first direction, a second direction, a third direction and a fourth direction; When there is an obstacle at a specific position of the tire roller, the braking distance of the tire roller is controlled in stages according to the current speed and driving direction of the tire roller, including: When there is an obstacle at a specific position of the tire roller, the deceleration acceleration of the tire roller is increased in stages and the engine speed is limited in stages according to the current speed and driving direction of the tire roller, and the traveling power of the tire roller is cut off, so as to control the braking distance of the tire roller in stages, wherein the current speed of the tire roller includes less than the first speed, greater than or equal to the first speed and less than or equal to the second speed, and greater than or equal to the second speed, and the first speed is less than the second speed; The traveling power is the energy source for the tire roller to move forward.

2. The control method of a tire roller according to claim 1, characterized in that: When there is an obstacle at a specific position of the tire roller, the deceleration acceleration of the tire roller is increased in stages and the engine speed is limited in stages according to the current speed and driving direction of the tire roller periodically, including: There is an obstacle at a specific position of the tire roller, the current speed of the tire roller is less than the first speed and lasts for a preset time, the throttle opening of the tire roller is controlled to idle, and active braking is triggered at the same time, and the braking degree is 100%.

3. The control method of a tire roller according to claim 1, characterized in that: When there is an obstacle at a specific position of the tire roller, the deceleration acceleration of the tire roller is increased in stages and the engine speed is limited in stages according to the current speed and driving direction of the tire roller periodically, including: There is an obstacle at a specific position of the tire roller, the current speed of the tire roller is greater than or equal to the first speed and less than or equal to the second speed, and it lasts for a preset time, the throttle opening of the tire roller is controlled to be a maximum of the first opening, and active braking is triggered at the same time, and the braking degree is less than 100%.

4. The control method of a tire roller according to claim 1, characterized in that: When there is an obstacle at a specific position of the tire roller, the deceleration acceleration of the tire roller is increased in stages and the engine speed is limited in stages according to the current speed and driving direction of the tire roller periodically, including: There is an obstacle at a specific position of the tire roller, the current speed of the tire roller is greater than or equal to the second speed and lasts for a preset time, the throttle opening of the tire roller is controlled to be the second opening at most, and the displacement of the motor is reduced.

5. The control method of a tire roller according to claim 1, characterized in that: When there is an obstacle at a specific position of the tire roller, the deceleration acceleration of the tire roller is increased in stages and the engine speed is limited in stages according to the current speed and driving direction of the tire roller, so as to control the braking distance of the tire roller in stages, the method further includes: According to the current speed of the tire roller, the alarm level is displayed through the display module.

6. The control method of a tire roller according to claim 1, characterized in that: When there is an obstacle at a specific position of the tire roller, the braking distance of the tire roller is periodically controlled in stages according to the current speed and driving direction of the tire roller, and the method further includes: Obstacle conditions at specific locations of the tire roller are acquired through sensors.

7. The control method of a tire roller according to claim 1, characterized in that: The number of the tire rollers is greater than or equal to 2, and the tire rollers are obstacles to each other.

8. The control method of a tire roller according to any one of claims 2 to 4, characterized in that: The priority of the throttle opening control of the tire roller and the control of cutting off the traveling power of the tire roller is higher than the priority of the operation of the driver.

9. A control device for a tire roller, characterized in that: Execute the control method of the tire roller as described in any one of claims 1-8.

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