A transverse transfer vehicle synchronous control system and a control method thereof

Abstract

The application discloses a kind of transverse transfer car synchronous control system and control method in the field of road construction machinery.The transverse transfer car synchronous control system includes paver and the transverse transfer car linked with paver, and the paver is connected with console one and main transceiver, and the transverse transfer car is connected with console two and transceiver;Paver is controlled by interconnection main transceiver and slave transceiver and transverse transfer car interconnection;Transceiver is also connected with deviation sensor and wireless manipulator.The transverse transfer car synchronous control system and control method disclosed by the application can solve the synchronization stability problem of transverse transfer car and paver during construction and the problem of easy operation, thereby reducing the labor intensity of machine hand, improving construction quality and construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of road construction machinery, specifically to a synchronous control system and method for a transverse transfer vehicle during road construction. Background Technology

[0002] In road construction, lateral transport vehicles primarily address the material supply issue for the upper-layer paver during wide and thick road construction, as well as during simultaneous double-layer paving with two separate units. To ensure construction efficiency and quality, the lateral transport vehicle and the paver must move synchronously. Currently, existing technologies mainly employ two synchronization methods: manual emergency control of the transport vehicle and automatic follow-the-paver operation. Summary of the Invention

[0003] This invention overcomes the shortcomings of the prior art and provides a synchronous control system and control method for a transverse transport vehicle, which can solve the problems of synchronous stability and ease of operation of the transverse transport vehicle and the paver during construction, thereby reducing the labor intensity of the machine operator and improving construction quality and efficiency.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a lateral transfer vehicle synchronous control system, including a paver and a lateral transfer vehicle linked with the paver, wherein the paver is equipped with a control panel one and a main transceiver, and the lateral transfer vehicle is equipped with a control panel two and a slave transceiver; the paver is interconnected with the lateral transfer vehicle through the interconnected main transceiver and slave transceiver.

[0005] In a preferred embodiment of the present invention, a first control console is fixed on the paver, and the first control console sends control signals to the paver to control the paver; a second control console is fixed on the transverse transfer vehicle, and the second control console sends control signals to the transverse transfer vehicle to control the transverse transfer vehicle; a main transceiver is fixed on the paver; a slave transceiver is fixed on the transverse transfer vehicle; the main transceiver and the slave transceiver are connected to achieve bidirectional signal transmission.

[0006] In a preferred embodiment of the present invention, the transceiver is further connected to a correction sensor and a wireless controller; the correction sensor is fixed on the transverse transfer vehicle; the correction sensor determines the deviation between the transverse transfer vehicle and the paver by identifying the shape feature components on the paver, and provides a correction signal to the transverse transfer vehicle from the transceiver; the transverse transfer vehicle converts the correction signal into a steering signal and sends it to the travel system of the transverse transfer vehicle for correction.

[0007] In a preferred embodiment of the present invention, a control method for a lateral transfer vehicle synchronous control system is characterized by the following steps: the paver sends a master control request for travel control to the lateral transfer vehicle at any time via a master transceiver and receives authorization from the lateral transfer vehicle; the lateral transfer vehicle can send authorization to the paver for control at any time via a slave transceiver; at this time, the paver is the master controller and the lateral transfer vehicle is the slave controller, and the lateral transfer vehicle travels synchronously with the paver; or / and, the lateral transfer vehicle can also send a master control request for travel control at any time via a slave transceiver and receive authorization from the paver; the paver can also send authorization to the lateral transfer vehicle for control at any time; at this time, the lateral transfer vehicle is the master controller and the paver is the slave controller, and the paver travels synchronously with the lateral transfer vehicle; when the master controller and slave controller are synchronized, the steering of the lateral transfer vehicle is controlled simultaneously by multiple steering signals, and the forward, backward, and speed adjustment of the lateral transfer vehicle follow the instructions of the master controller.

[0008] In a preferred embodiment of the present invention, when the transverse transfer vehicle receives multiple turning signals simultaneously, if more than one turning signal turns in the same direction at the same time, the larger turning signal shall prevail; if they turn in different directions, the first turning signal executed shall prevail.

[0009] In a preferred embodiment of the present invention, the requests and authorizations for travel control of each device are divided into different priorities; the requests and authorizations for travel control of the lateral transfer vehicle have the highest priority and can simultaneously disable the travel control of the paver and the wireless controller; the requests and authorizations for travel control of the wireless controller have a higher priority than the requests and authorizations of the paver; the lateral transfer vehicle enables the requests and authorizations for paver travel control by default.

[0010] In a preferred embodiment of the present invention, apart from the forward, backward, and speed adjustment commands for walking, which require separate requests and authorization, the other functions of the wireless controller, such as steering, hopper, conveying, and engine, do not require authorization and can be directly controlled after the wireless controller is successfully connected to the transceiver; however, the gear adjustment on the wireless controller needs to be combined with the walking control request to work.

[0011] In a preferred embodiment of the present invention, the request and authorization relationship between the master controller and the slave controller only takes effect when both the master controller and the slave controller are in the paving position and the movement stops; while the request and authorization relationship between the slave controller and the remote controller is independent of the gear position and only takes effect when the movement stops.

[0012] In a preferred embodiment of the present invention, the first control console is connected to the paver, the second control console is connected to the transverse transfer vehicle, the main transceiver is connected to the paver, and the slave transceiver is connected to the transverse transfer vehicle via a CAN bus.

[0013] Or / and, the master transceiver and slave transceiver, the wireless controller and slave transceiver, and the correction sensor and slave transceiver are all connected via wireless signals.

[0014] In a preferred embodiment of the present invention, the correction sensor is a vision sensor.

[0015] This invention addresses the deficiencies in the technical background, and the beneficial technical effects of this invention are:

[0016] This invention provides a synchronous control system and control method for a transverse transport vehicle, which can solve the problems of synchronous stability and ease of operation of the transverse transport vehicle and the paver during construction, thereby reducing the labor intensity of the operator and improving construction quality and efficiency.

[0017] This invention achieves diverse functions such as manual emergency control, wireless operation, two-way synchronous control of the lateral transport vehicle and the paver, and automatic correction through bidirectional authorized synchronization signals and automatic correction control. It solves the problem of synchronization stability between the lateral transport vehicle and the paver, while also taking into account the problem of ease of operation, thereby reducing the labor intensity of the machine operator and improving construction quality and efficiency. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the synchronization control system according to an embodiment of the present invention;

[0020] Figure 2 This is a flowchart of the synchronous control of the transverse transfer vehicle according to an embodiment of the present invention (V). 摊SET Target speed of the paver; W 摊SET Target angular velocity of the paver; V 转 : Actual speed of the transfer vehicle; W 转 : Actual angular velocity of the transport vehicle; V 转SET Target speed of the transfer vehicle; W 转SET : Target angular velocity of the transport vehicle; V 摊 : Actual speed of the paver; W 摊 (actual angular velocity of the paver).

[0021] In the diagram: 1-Control console one, 2-Paver, 3-Main transceiver, 4-Slave transceiver, 5-Transit vehicle, 6-Control console two, 7-Correction sensor, 8-Wireless controller. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention and therefore only show the components relevant to the present invention.

[0023] It should be noted that if directional indicators (such as up, down, bottom, top, etc.) are involved in the embodiments of the present invention, these directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of that feature. Unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in the present invention can be understood according to the specific circumstances.

[0024] Example 1

[0025] like Figure 1 , Figure 2As shown, a synchronous control system for a lateral transfer vehicle 5 includes a control console 1, a paver 2, a master transceiver 3, a slave transceiver 4, the lateral transfer vehicle 5, a control console 2 6, a deviation correction sensor 7, and a wireless controller 8. Control console 1 is connected to the paver 2 via a CAN bus and is fixed to the paver 2, allowing for full-function control of the paver 2. Control console 2 6 is connected to the lateral transfer vehicle 5 via a CAN bus and is fixed to the lateral transfer vehicle 5, allowing for full-function control of the lateral transfer vehicle 5. The wireless controller 8 is connected to the slave transceiver 4 via a wireless signal. The slave transceiver 4 transmits control signals from the wireless controller 8 to the lateral transfer vehicle 5 via the CAN bus, thereby achieving wireless control of the lateral transfer vehicle 5. The correction sensor 7 is connected to the slave transceiver 4 via a wireless signal and is fixed to the lateral transfer vehicle 5. The correction sensor 7 determines the deviation between the lateral transfer vehicle 5 and the paver 2 by identifying shape features on the paver 2, and provides a correction signal to the lateral transfer vehicle 5 via the slave transceiver 4. The correction signal includes, but is not limited to, the lateral relative distance difference and / or height difference. In other embodiments, the correction signal can be adjusted according to actual usage requirements, as long as it is a calibration signal that can maintain synchronization; these will not be listed in detail here. The lateral transfer vehicle 5 converts the correction signal into a steering signal and sends it to the lateral transfer vehicle 5's travel system for correction, thereby improving synchronization stability. The master transceiver 3 is connected to the paver 2 via a CAN bus and is fixed to the paver 2. The slave transceiver 4 is connected to the lateral transfer vehicle 5 via a CAN bus and is fixed to the lateral transfer vehicle 5. The master transceiver 3 and the slave transceiver 4 are connected via a bidirectional authorized synchronization signal to realize the request and authorization for travel control between the paver 2 and the lateral transfer vehicle 5. Furthermore, the correction sensor 7 employs a vision sensor. The vision sensor can be any existing vision inspection sensor, and its specific model will not be detailed here. However, it is not limited to this; the correction sensor 7 can be used in conjunction with an infrared ranging sensor to improve the accuracy and stability of relative position information sampling.

[0026] Example 2

[0027] like Figure 1 , Figure 2 As shown, the control method of the synchronous control system of the transverse transfer vehicle 5 is based on the synchronous control system of the transverse transfer vehicle 5 in Embodiment 1. The synchronous control system of the transverse transfer vehicle 5 solves the problem of synchronous stability between the transverse transfer vehicle 5 and the paver 2, while also taking into account the problem of ease of operation, thereby reducing the labor intensity of the operator and improving the construction quality and efficiency.

[0028] The paver 2 can send a master control request for travel control to the lateral transfer vehicle 5 at any time via the master transceiver 3, and can immediately receive automatic authorization from the lateral transfer vehicle 5. The lateral transfer vehicle 5 can also send authorization to the paver 2 at any time via the slave transceiver 4. In this case, the paver 2 is the master controller, and the lateral transfer vehicle 5 is the slave controller, moving synchronously with the paver 2. That is, V 摊SET (Target speed of paver) = V 转 (Actual speed of the transfer vehicle); W 摊SET (Target angular velocity of the paver) = W 转 (Actual angular velocity of the transfer vehicle). Conversely, the lateral transfer vehicle 5 can also send master control requests for travel control at any time via transceiver 4 and immediately receive automatic authorization from paver 2. Paver 2 can also send authorization to lateral transfer vehicle 5 for control at any time; in this case, lateral transfer vehicle 5 is the master controller, paver 2 is the slave controller, and paver 2 moves synchronously with lateral transfer vehicle 5. That is, V 转SET (Target speed of the transport vehicle) = V 摊 (Actual speed of the paver); W 转SET (Target angular velocity of the transport vehicle) = W 摊 (Actual angular velocity of the paver).

[0029] When the master control and slave control are synchronized, the steering of the transverse transfer vehicle 5 is controlled by multiple steering signals simultaneously; that is, the forward, backward and speed adjustment of the transverse transfer vehicle 5 follow the instructions of the master control. However, the steering of the transverse transfer vehicle 5 can be controlled simultaneously by the steering signals of the master control console, console 2 6, wireless controller 8 and correction sensor 7. When the transverse transfer vehicle 5 is the master control, the master control console is console 2 6. This simultaneous steering control can not only control the steering of the transverse transfer vehicle 5 independently in case of deviation or emergency, but also introduce correction signals to the transverse transfer vehicle 5 to realize automatic correction function, thereby reducing the labor intensity of the operator.

[0030] When the transverse transfer vehicle 5 receives multiple turning signals simultaneously, if more than one turning signal turns in the same direction, the signal with the larger turn signal prevails; if they turn in different directions, the signal executed first prevails. Travel control requests and authorizations are divided into different priorities. The transverse transfer vehicle 5's travel control requests and authorizations have the highest priority, allowing it to simultaneously disable travel control for both paver 2 and wireless controller 8. Wireless controller 8's travel control requests and authorizations have a higher priority than paver 2's. The transverse transfer vehicle 5 defaults to enabling paver 2's travel control requests and authorizations. On the wireless controller 8, only forward, reverse, and speed adjustment commands require separate requests and authorizations. Other functions such as steering, hopper, material conveying, and engine control do not require authorization and can be directly controlled after the wireless controller 8 successfully hands off the transceiver 4. However, gear adjustment on the wireless controller 8 requires a travel control request to function.

[0031] Furthermore, the request and authorization relationship between the master controller and the slave controller only takes effect when both the master controller and the slave controller are in the paving position and the movement stops; while the request and authorization relationship between the slave controller and the remote controller is unrelated to the gear position and only takes effect when the movement stops.

[0032] Working principle of this invention:

[0033] like Figure 1 , Figure 2 As shown, the control method of the lateral transfer vehicle 5 synchronous control system is based on the lateral transfer vehicle 5 synchronous control system in Embodiment 1. It solves the problems of synchronization stability and ease of operation between the lateral transfer vehicle 5 and the paver 2 during construction, thereby reducing the labor intensity of the operator and improving construction quality and efficiency. This invention, through bidirectional authorized synchronization signals and automatic correction control, realizes diverse functions such as manual emergency control, wireless operation, bidirectional synchronous control of the lateral transfer vehicle 5 and the paver 2, and automatic correction. While solving the synchronization stability problem between the lateral transfer vehicle 5 and the paver 2, it also addresses the ease of operation, thereby reducing the labor intensity of the operator and improving construction quality and efficiency.

[0034] The above specific embodiments are specific support for the concept proposed in this invention, and should not be used to limit the scope of protection of this invention. Any equivalent changes or modifications made on the basis of this technical solution in accordance with the technical concept proposed in this invention shall still fall within the scope of protection of this invention.

Claims

1. A control method for a synchronous control system of a transverse transfer vehicle, characterized in that: The lateral transfer vehicle synchronous control system includes a paver and a lateral transfer vehicle linked to the paver. The paver is equipped with a control panel and a master transceiver, and the lateral transfer vehicle is equipped with a control panel and a slave transceiver. The paver is interconnected with the lateral transfer vehicle through the interconnected master and slave transceivers. The first control panel is fixed to the paver, and sends control signals to the paver to control it; the second control panel is fixed to the transverse transfer vehicle, and sends control signals to the transverse transfer vehicle to control it; the main transceiver is fixed to the paver; the slave transceiver is fixed to the transverse transfer vehicle; the main transceiver and the slave transceiver are connected to achieve bidirectional signal transmission. A control method for a lateral transfer car synchronous control system, comprising the following steps: The paver can send master control requests for travel control to the lateral transfer vehicle at any time via the master transceiver and receive authorization from the lateral transfer vehicle. The lateral transfer vehicle can also send authorization to the paver for control at any time via the slave transceiver. In this case, the paver is the master controller and the lateral transfer vehicle is the slave controller, and the lateral transfer vehicle moves synchronously with the paver. Alternatively, the lateral transfer vehicle can also send master control requests for travel control at any time via the slave transceiver and receive authorization from the paver. The paver can also send authorization to the lateral transfer vehicle for control at any time. In this case, the lateral transfer vehicle is the master controller and the paver is the slave controller, and the paver moves synchronously with the lateral transfer vehicle. When the master and slave controllers are synchronized, the steering of the lateral transfer vehicle is controlled by multiple steering signals simultaneously. The forward, backward, and speed adjustment of the lateral transfer vehicle follow the master controller's instructions. The steering of the lateral transfer vehicle can be simultaneously controlled by steering signals from the master controller's control panel, control panel two, wireless controller, and correction sensor. When the transverse transfer vehicle receives multiple turning signals simultaneously, if more than one turning signal turns in the same direction, the larger turning signal shall prevail; if they turn in different directions, the first turning signal executed shall prevail. The paver can send travel control requests to the lateral transfer vehicle at any time via the main transceiver and immediately receive automatic authorization from the lateral transfer vehicle. The lateral transfer vehicle can also send authorizations to the paver via its slave transceiver. In this state, the paver is the master controller, the lateral transfer vehicle is the slave controller, and the lateral transfer vehicle moves synchronously with the paver; that is, V 摊SET =V 转 W 摊SET =W 转 V 摊SET V is the target speed of the paver. 转 W represents the actual speed of the transport vehicle. 摊SET W is the target angular velocity of the paver. 转 This refers to the actual angular velocity of the transport vehicle; The lateral transfer vehicle can send master control requests for travel control at any time via a transceiver and immediately receive automatic authorization from the paver. The paver can then issue authorization to the lateral transfer vehicle for control at any time. In this state, the lateral transfer vehicle is the master controller, and the paver is the slave controller, moving synchronously with the lateral transfer vehicle; that is, V 转SET =V 摊 W 转SET =W 摊 V 转SET V is the target speed for the transfer vehicle. 摊 W represents the actual speed of the paver. 转SET W represents the target angular velocity of the transport vehicle. 摊 This represents the actual angular velocity of the paver.

2. The control method of the synchronous control system for a transverse transfer vehicle according to claim 1, characterized in that: The transceiver is also connected to a correction sensor and a wireless controller; the correction sensor is fixed on the transverse transfer vehicle; the correction sensor determines the deviation between the transverse transfer vehicle and the paver by identifying the shape feature components on the paver, and provides a correction signal to the transverse transfer vehicle through the transceiver. The transverse transfer vehicle converts the correction signal into a steering signal and sends it to the travel system of the transverse transfer vehicle for correction.

3. The control method for a synchronous control system of a transverse transfer vehicle according to claim 1, characterized in that, The requests and authorizations for travel control of each device are divided into different priorities; the requests and authorizations for travel control of the lateral transfer vehicle have the highest priority and can simultaneously disable the travel control of the paver and the wireless controller; the requests and authorizations for travel control of the wireless controller have a higher priority than the requests and authorizations of the paver; the lateral transfer vehicle enables the requests and authorizations for paver travel control by default.

4. The control method for a synchronous control system of a transverse transfer vehicle according to claim 1, characterized in that, Aside from the forward, backward, and speed adjustment commands, which require separate requests and authorization, the other functions of the wireless controller, such as steering, hopper, conveying, and engine, do not require authorization and can be directly controlled after the wireless controller and the transceiver are successfully connected. However, the gear adjustment on the wireless controller requires a travel control request to function.

5. The control method for a synchronous control system of a transverse transfer vehicle according to claim 1, characterized in that, The request and authorization relationship between the master controller and the slave controller only works when both the master controller and the slave controller are in paving mode and the movement has stopped; while the request and authorization relationship between the slave controller and the remote controller is independent of the gear position and only works when the movement has stopped.

6. The control method for a synchronous control system of a transverse transfer vehicle according to claim 1, characterized in that, Control console 1 is connected to the paver, control console 2 is connected to the transverse transfer vehicle, the main transceiver is connected to the paver, and the slave transceiver is connected to the transverse transfer vehicle via a CAN bus. Or / and, the master transceiver and slave transceiver, the wireless controller and slave transceiver, and the correction sensor and slave transceiver are all connected via wireless signals.

7. The control method for a synchronous control system of a transverse transfer vehicle according to claim 1, characterized in that, The correction sensor is a vision sensor.

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