Roller leveling control methods and rollers

Abstract

This invention belongs to the field of engineering machinery technology, specifically relating to a road roller leveling control method and a road roller. The road roller leveling control method includes: acquiring travel parameter information of the road roller during its turnaround travel; adjusting the height of the lifting scraper according to the travel parameter information to level the bulge formed in front of the turnaround point. Through the technical solution of this invention, the bulge formed during the turnaround operation can be automatically leveled when the road roller is performing compaction (especially when compacting water-stabilized layers). The height of the lifting scraper can be dynamically adjusted according to the travel parameter information, so that the surface of the bulge forms a curved surface that meets the requirements of the construction operation, preventing the bulge from affecting subsequent construction operations and avoiding the loss of water-stabilized material at the turnaround point. No manual assistance is required during the operation, which helps reduce labor costs and operational safety hazards, and improves work quality and efficiency.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, specifically relating to a method for controlling the leveling of road rollers and a road roller. Background Technology

[0002] Road rollers are common road construction machinery, used to compact the roadbed to make it more stable and level, facilitating subsequent construction processes. Typically, road rollers need to stop and turn around frequently during construction. When compacting water-stabilized layers (especially thick layers), these turns can easily create bulges in the water-stabilized material before the turnaround point, affecting the overall flatness of the layer. Currently, the traditional solution is to manually shovel and level the material to smooth out these bulges. However, this manual operation has several drawbacks. For example, it's difficult to standardize manual leveling operations; different operators perform differently, leading to uncontrollable quality; manual operation is labor-intensive, costly, and inefficient; and when manual leveling is performed simultaneously with road roller construction, the roller operator must constantly monitor the shoveling personnel on the road surface, increasing driving difficulty and increasing the risk of collisions, posing significant safety hazards. Summary of the Invention

[0003] In view of this, in order to improve at least one of the above-mentioned problems existing in the prior art, the present invention provides a roller leveling control method and a roller.

[0004] The first aspect of this invention provides a method for controlling the leveling of a road roller, used in a road roller equipped with a lifting blade. The method includes:

[0005] Step S1000: When the road roller is making a turnaround, acquire the driving parameter information of the road roller during the turnaround process;

[0006] Step S2000: Adjust the height of the lifting scraper according to the driving parameter information to flatten the bulge formed in front of the turning point.

[0007] The beneficial effects of the above-mentioned technical solution of the present invention are reflected in:

[0008] This system can automatically level bulges formed before the turnaround point during roller compaction (especially on water-stabilized layers). It can dynamically adjust the height of the lifting scraper based on driving parameters, ensuring the bulge surface forms a curved surface that meets construction requirements. This prevents the bulge from affecting subsequent work and avoids any loss of water-stabilized material before the turnaround point, thus improving road construction quality. Furthermore, no manual leveling is required during operation, resulting in higher efficiency and reduced labor costs and safety hazards.

[0009] In one feasible implementation, the control components of the road roller store a surface function model for the convex hull;

[0010] Step S2000: Adjust the height of the lifting scraper according to the driving parameter information to level the bulge formed in front of the turning point, including:

[0011] Step S2100: Retrieve the surface function model;

[0012] Step S2200: Input the driving parameter information into the surface function model, calculate the corresponding target surface function value, and use the target surface function value as the target height coordinates of the lifting scraper;

[0013] Step S2300: Control the lifting scraper to adjust to the target height coordinate so that the lifting scraper can perform a flattening operation on the convex bulge.

[0014] In one feasible implementation, the driving parameter information includes the driving displacement;

[0015] Step S2200: Input the driving parameter information into the surface function model, calculate the corresponding target surface function value, and use the target surface function value as the target height coordinates corresponding to the lifting scraper, including:

[0016] Step S2210: Divide the target surface into multiple different intervals according to the surface function model, and set different calculation intervals in each interval;

[0017] Step S2220: Input the current displacement of the road roller at the end of each calculation interval into the surface function model, and calculate the corresponding target surface function value;

[0018] Step S2230: Use the target surface function value as the target height coordinate of the lifting scraper.

[0019] In one feasible implementation, step S2210 involves dividing the target surface into multiple distinct intervals based on the surface function model, and setting different computation intervals within each interval, including:

[0020] Step S2211: Divide the target surface into a first interval segment and a second interval segment according to the surface function model;

[0021] Step S2212: Set a first calculation interval in the first interval segment and a second calculation interval in the second interval segment;

[0022] The first calculation interval is smaller than the second calculation interval.

[0023] In one feasible implementation, the driving parameter information also includes driving speed;

[0024] Step S2300: Control the lifting scraper to adjust to the target height coordinates to perform a leveling operation on the convex bulge, including:

[0025] Step S2310: Determine the target lifting speed of the lifting scraper based on the travel speed;

[0026] Step S2320: Control the lifting scraper to adjust to the target height coordinate at the target lifting speed so that the lifting scraper can perform a leveling operation on the convex bulge.

[0027] In one feasible implementation, if the road roller is traveling forward before making a turnaround, then the turnaround is considered a reverse movement.

[0028] If the road roller was traveling backwards before making a turnaround, then the turnaround will be considered forward travel.

[0029] The second aspect of the present invention provides a road roller, comprising: a vehicle body, the vehicle body having a traveling mechanism, the traveling mechanism having a roller; a scraper mechanism, disposed on the vehicle body at a position corresponding to the roller, the scraper mechanism having a lifting scraper; and a control component, communicatively connected to the traveling mechanism and the scraper mechanism, the control component being adapted to acquire traveling parameter information of the traveling mechanism and control the scraper mechanism to work according to the traveling parameter information, thereby realizing the road roller leveling control method in any of the first aspects.

[0030] In one feasible implementation, the grinding wheel includes a front grinding wheel and / or a rear grinding wheel; the scraper mechanism includes: a support frame, located on the front side of the front grinding wheel and / or the rear side of the rear grinding wheel, and connected to the vehicle body; a lifting drive component, connected to the support frame and communicatively connected to the control component; and a lifting scraper, which is driven by the lifting drive component, with the blade head of the lifting scraper facing downwards, and the lifting scraper is adapted to perform lifting and lowering movements under the drive of the lifting drive component.

[0031] In one feasible implementation, the control component includes: an information collector, mounted on the driving mechanism, adapted to collect driving parameter information of the driving mechanism; and a controller, communicatively connected to the information collector and the scraper mechanism, adapted to acquire the driving parameter information and control the scraper mechanism to work according to the driving parameter information.

[0032] In one feasible implementation, the driving parameter information includes driving displacement and driving speed; the information acquisition device includes: a displacement detection device, mounted on the driving mechanism, suitable for detecting the driving displacement of the driving mechanism; a speed detection device, mounted on the driving mechanism, suitable for detecting the driving speed of the driving mechanism; and a height detection device, mounted on the scraper mechanism, suitable for detecting the height of the lifting scraper; wherein the controller is communicatively connected to the displacement detection device, the speed detection device, and the height detection device respectively.

[0033] A third aspect of the present invention provides an electronic device. The electronic device includes a processor and a memory, wherein the memory stores a computer program suitable for execution on the processor. When the processor executes the computer program in the memory, it can implement the roller leveling control method of any of the first aspects described above.

[0034] The fourth aspect of the present invention provides a readable storage medium storing a computer program, which, when executed by a processor, implements the roller leveling control method of any of the first aspects. Attached Figure Description

[0035] Figure 1 The diagram shown is a flowchart of a road roller leveling control method according to an embodiment of the present invention.

[0036] Figure 2 The diagram shown is a partial schematic of a road roller according to an embodiment of the present invention (the roller is in the state of turning back).

[0037] Figure 3 The diagram shown is a partial schematic of a road roller according to an embodiment of the present invention (the roller is in the process of turning back).

[0038] Figure 4 The diagram shown is a comparison of the state of the convex hull before and after it is flattened in one embodiment of the present invention.

[0039] Figure 5 The diagram shown is a flowchart of a road roller leveling control method according to an embodiment of the present invention.

[0040] Figure 6 The diagram shown is a flowchart of a road roller leveling control method according to an embodiment of the present invention.

[0041] Figure 7 The table shown is a representation of the relationship between the travel displacement of a road roller and the blade height according to an embodiment of the present invention.

[0042] Figure 8 The figure shown is a graph showing the relationship between the blade height and the travel displacement of a road roller according to an embodiment of the present invention (the horizontal axis represents the travel displacement, and the vertical axis represents the blade height).

[0043] Figure 9 The diagram shown is a flowchart of a road roller leveling control method according to an embodiment of the present invention.

[0044] Figure 10The diagram shown is a flowchart of a road roller leveling control method according to an embodiment of the present invention.

[0045] Figure 11 The diagram shown is a schematic block diagram of a road roller provided in one embodiment of the present invention.

[0046] Figure 12 The diagram shown is a schematic diagram of a road roller provided in one embodiment of the present invention.

[0047] Figure 13 The diagram shown is a partial structural schematic of a road roller according to an embodiment of the present invention.

[0048] Figure 14 As shown Figure 13 The left view.

[0049] Figure 15 The diagram shown is a schematic block diagram of a control component provided in one embodiment of the present invention.

[0050] Figure 16 The figure shown is a schematic block diagram of an information collector provided in an embodiment of the present invention.

[0051] Figure 17 The diagram shown is a schematic block diagram illustrating the working principle of a road roller according to an embodiment of the present invention. Detailed Implementation

[0052] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, top, bottom, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0053] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] Application Overview

[0056] Currently, in the field of construction machinery, road rollers are one of the most common road construction machines. During operation, road rollers compact the roadbed with their rollers to stabilize it and maintain a certain level of flatness. During construction, road rollers typically need to perform multiple reciprocating compaction operations, frequently requiring stops and turns. When compacting water-stabilized layers (especially thick layers of water-stabilized material), these stops and turns can easily cause bulges in the water-stabilized material before the turnaround point, affecting the overall flatness of the water-stabilized layer.

[0057] Currently, most road roller construction employs a combined human-machine operation method. This involves manual labor alongside the roller's compaction work, where workers shovel and level the material to smooth out any bumps created by the roller's back-and-forth movement. However, manual leveling is difficult to standardize, with significant variations in operation between different operators, leading to uncontrollable quality and potentially affecting the overall road construction quality. Furthermore, manual operation is labor-intensive, costly, and inefficient. Since manual leveling must be performed simultaneously with roller operation, the roller operator must be mindful of personnel shoveling material on the road surface, increasing the risk of collisions and posing safety hazards. This also increases the operational difficulty for the roller operator, making it unsuitable for extended operation.

[0058] The following provides some embodiments of the roller leveling control method, roller, electronic equipment, and readable storage medium in the technical solution of the present invention.

[0059] An embodiment of the first aspect of the present invention provides a method for controlling the leveling of a road roller, applied to a road roller equipped with a lifting scraper. For example... Figure 1 As shown, the leveling control methods of road rollers include:

[0060] Step S1000: When the road roller is making a turnaround, acquire the driving parameter information of the road roller during the turnaround process;

[0061] Step S2000: Adjust the height of the lifting scraper according to the driving parameter information to flatten the bulge formed in front of the turning point.

[0062] In this embodiment, the roller leveling control method initiates a control operation in step S1000 when the roller is making a turnaround, such as... Figure 2 The status shown is obtained, and the driving parameter information during the turnaround process is acquired to achieve real-time monitoring of the driving status, providing data support for the height adjustment operation of the lifting scraper. In step S2000, the height of the lifting scraper is dynamically adjusted based on the real-time acquired driving parameter information of the road roller, such as... Figure 3 The example illustrates how a lifting scraper is used to smooth a bulge formed in front of the turning point, shaping the surface of the bulge to the required form. A comparison of the bulge before and after smoothing is shown below. Figure 4 As shown (the left side is the state before leveling, and the right side is the state after leveling), to facilitate subsequent construction operations.

[0063] Understandable, such as Figure 2 In the example, when the roller of a road roller needs to stop and change its direction of travel during a turnaround, the stopping position is the turnaround point. In particular, when rolling water-stabilized layers (especially thick water-stabilized materials), a bulge is easily formed in front of the turnaround point of the roller. By setting a lifting scraper at the position corresponding to the roller, the lifting scraper can pass over the bulge during the turnaround. Then, by controlling the height of the lifting scraper, the bulge can be scraped and leveled accordingly, so that the surface of the bulge forms a curved surface that meets the requirements of the construction operation.

[0064] It should be noted that the "front side of the turnaround point" described in this embodiment is a directional description of the travel direction before the turnaround, and not a specific limitation on the structural orientation (head direction, tail direction) of the road roller. As the road roller travels, the method steps in this embodiment are repeated, and the adjustment operation of the height of the lifting scraper is also dynamic, changing with the travel of the road roller.

[0065] The roller leveling control method in this embodiment can automatically level the bulges formed before the turnaround point during roller compaction (especially when compacting water-stabilized layers). It can dynamically adjust the height of the lifting scraper based on driving parameters, ensuring the bulge surface forms a curved surface that meets construction requirements. This prevents the bulges from affecting subsequent construction work and avoids any loss of water-stabilized material at the turnaround point, thus improving the quality of road construction. Furthermore, no manual assistance is required during the operation, resulting in higher efficiency and reduced labor costs and safety hazards.

[0066] In a further embodiment of the present invention, a road roller leveling control method is provided, which is applied to a road roller with a lifting scraper, wherein the control component of the road roller stores a surface function model for the convex hull.

[0067] like Figure 5 As shown, the leveling control methods of road rollers include:

[0068] Step S1000: When the road roller is making a turnaround, acquire the driving parameter information of the road roller during the turnaround process;

[0069] Step S2100: Retrieve the surface function model;

[0070] Step S2200: Input the driving parameter information into the surface function model, calculate the corresponding target surface function value, and use the target surface function value as the target height coordinates of the lifting scraper;

[0071] Step S2300: Control the lifting scraper to adjust to the target height coordinate so that the lifting scraper can perform a flattening operation on the convex bulge.

[0072] In this embodiment, step S2000 of the roller leveling control method in the aforementioned embodiment is further improved. Specifically, the roller's control component pre-stores a surface function model for the convex hump, i.e., a function model representing the surface shape of the convex hump allowed by construction requirements. Corresponding to the roller's travel parameter information, the surface function model can calculate the corresponding target surface function value. Through steps S2100 to S2200, during the roller's reversing travel, the roller's travel parameter information from the acquisition cutter is input into the surface function model to obtain the corresponding target surface function value, which serves as the target height coordinate for the lifting scraper, providing a basis and reference for the lifting scraper's raising and lowering operation. Through step S2300, during the roller's reversing travel, the lifting scraper is simultaneously controlled to adjust to the target height coordinate, scraping the position corresponding to the top of the convex hump to the target height, ultimately forming the surface shape allowed by construction requirements on the convex hump's surface.

[0073] In this embodiment, multiple different surface function models can be pre-stored in the control component to meet different operational needs. Before the operation, the appropriate surface function model is selected as the reference model for this construction operation based on the specific construction requirements.

[0074] In a further embodiment of the present invention, a road roller leveling control method is provided, which is applied to a road roller with a lifting scraper, wherein the control component of the road roller stores a surface function model for the convex hull.

[0075] like Figure 6 As shown, the leveling control methods of road rollers include:

[0076] Step S1000: When the road roller is making a turnaround, acquire the driving parameter information of the road roller during the turnaround process;

[0077] Step S2100: Retrieve the surface function model;

[0078] Step S2210: Divide the target surface into multiple different intervals according to the surface function model, and set different calculation intervals in each interval;

[0079] Step S2220: Input the current displacement of the road roller at the end of each calculation interval into the surface function model, and calculate the corresponding target surface function value;

[0080] Step S2230: Use the target surface function value as the target height coordinate of the lifting scraper;

[0081] Step S2300: Control the lifting scraper to adjust to the target height coordinate so that the lifting scraper can perform a flattening operation on the convex bulge.

[0082] The driving parameter information includes the displacement of the road roller.

[0083] In this embodiment, step S2200 of the roller leveling control method in the aforementioned embodiment is further improved. The driving parameter information includes the roller's driving displacement. In step S2210, the target surface is divided into multiple different intervals in the surface function model to correspond to different positions on the convex hull surface, and different calculation intervals are set within each interval. Then, through steps S2220 to S2230, at the end of each calculation interval, the roller's current driving displacement is input into the surface function model to calculate the target surface function value corresponding to the current position, which serves as the target height coordinate of the lifting scraper at the current position. It can be understood that since there is inevitably a certain interval (usually a small time interval) between each lifting and lowering adjustment operation of the lifting scraper during the entire driving process, in order to make the surface of the convex hull relatively smooth after being leveled by the lifting scraper, by setting different intervals and different calculation intervals, differentiated height adjustment operations can be applied to the lifting scraper for different positions on the convex hull surface, which is beneficial to further improve the smoothness of the leveled convex hull surface.

[0084] Specifically, such as Figure 7 and Figure 8 As shown, by taking the travel displacement of the road roller as the independent variable and the blade height as the dependent variable, a functional relationship h(k) can be established. The unit of the travel displacement can be set according to the required accuracy of the operation. Figure 7 The left column shows the displacement at the end of different calculation intervals, and the right column shows the corresponding scraper height. Figure 8The graph shows the change in scraper height with the amount of travel displacement. The horizontal axis represents the amount of travel displacement, and the vertical axis represents the scraper height. As the amount of travel displacement increases, the scraper height gradually decreases to zero, meaning that the scraper is eventually adjusted to be flush with the road surface, and the surface has been leveled. The scraper height change curve is not a straight line. The slope of the scraper height change curve varies at different positions on the surface, thus forming a relatively gentle curved shape on the convex surface.

[0085] In a further embodiment of the present invention, a road roller leveling control method is provided, which is applied to a road roller with a lifting scraper, wherein the control component of the road roller stores a surface function model for the convex hull.

[0086] like Figure 9 As shown, the leveling control methods of road rollers include:

[0087] Step S1000: When the road roller is making a turnaround, acquire the driving parameter information of the road roller during the turnaround process;

[0088] Step S2100: Retrieve the surface function model;

[0089] Step S2211: Divide the target surface into a first interval segment and a second interval segment according to the surface function model;

[0090] Step S2212: Set a first calculation interval in the first interval segment and a second calculation interval in the second interval segment;

[0091] Step S2220: Input the current travel displacement of the road roller at the end of each calculation interval into the surface function model, and calculate the corresponding target surface function value;

[0092] Step S2230: Use the target surface function value as the target height coordinate of the lifting scraper;

[0093] Step S2300: Control the lifting scraper to adjust to the target height coordinate so that the lifting scraper can perform a flattening operation on the convex bulge.

[0094] The driving parameter information includes the displacement of the road roller, and the first calculation interval is smaller than the second calculation interval.

[0095] In this embodiment, step S2210 of the roller leveling control method in the aforementioned embodiment is further improved. Specifically, through steps S2211 and S2212, the target surface is sequentially divided into a first interval and a second interval. During the roller's movement, it first passes through the first interval and then the second interval. The first calculation interval of the first interval is smaller than the second calculation interval of the second interval, resulting in a higher adjustment frequency for the lifting scraper in the first interval than in the second interval. This ensures that after the lifting scraper performs the scraping and leveling operation on the convex surface, the rear surface of the convex surface is smoother than the front surface. Figure 4 The curved surface effect created in the process facilitates subsequent compaction of this section of the roadbed.

[0096] It should be noted that the dividing points of the first and second intervals, as well as the specific values ​​of the first and second calculation intervals, can be set according to the specific size of the convex hull and the specific operational requirements.

[0097] In a further embodiment of the present invention, a road roller leveling control method is provided, which is applied to a road roller with a lifting scraper, wherein the control component of the road roller stores a surface function model for the convex hull.

[0098] like Figure 10 As shown, the leveling control methods of road rollers include:

[0099] Step S1000: When the road roller is making a turnaround, acquire the driving parameter information of the road roller during the turnaround process;

[0100] Step S2100: Retrieve the surface function model;

[0101] Step S2210: Divide the target surface into multiple different intervals according to the surface function model, and set different calculation intervals in each interval;

[0102] Step S2220: Input the current travel displacement of the road roller at the end of each calculation interval into the surface function model, and calculate the corresponding target surface function value;

[0103] Step S2230: Use the target surface function value as the target height coordinate of the lifting scraper;

[0104] Step S2310: Determine the target lifting speed of the lifting scraper based on the travel speed;

[0105] Step S2320: Control the lifting scraper to adjust to the target height coordinate at the target lifting speed so that the lifting scraper can perform a leveling operation on the convex bulge.

[0106] The driving parameter information includes the displacement and speed of the road roller.

[0107] In this embodiment, step S2300 of the roller leveling control method in the aforementioned embodiment is further improved. The travel parameter information also includes the roller's travel speed. Since the roller's travel speed affects the dwell time of the lifting blade at different positions on the convex surface, and the height of the lifting blade needs frequent adjustments during travel, the speed of each adjustment operation also affects the quality of the leveling operation on the convex surface. Step S2310 establishes a correspondence between the lifting speed of the lifting blade and the roller's travel speed. Then, in step S2320, this lifting speed is used as the target lifting speed for height adjustment operations on the lifting blade. This ensures that each height adjustment process of the lifting blade matches the overall travel process of the roller, preventing the quality of the leveling operation from being affected by a relatively delayed or excessively rapid height adjustment operation.

[0108] It should be noted that the correspondence between the target lifting speed of the lifting scraper and the travel speed of the road roller can be set according to the specific construction operation requirements and the selected surface function model, and is stored in advance in the control components of the road roller.

[0109] Furthermore, dividing the target surface into the first and second intervals is only one of the preferred implementations of the roller leveling control method in this embodiment. In practical applications, more intervals can be set according to the specific construction operation requirements and the different sizes and shapes of the convex hulls, so that the leveled convex hull surface forms the required surface. This will not be elaborated further here.

[0110] In any of the above embodiments, the direction of the roller's reversing movement can be either towards the front (head direction) or towards the rear (tail direction). Specifically, if the roller is in a forward-moving state before reversing, then the reversing movement is reverse movement; if the roller is in a reverse-moving state before reversing, then the reversing movement is forward movement. This configuration accommodates both forward and reverse movement of the roller, effectively smoothing the bulges formed by the reversing operation in both states.

[0111] It should be noted that, specifically, multiple lifting scrapers can be installed at corresponding positions on the road roller according to the two driving states targeted by the road roller leveling control method. For example, lifting scrapers can be installed at both the front and rear of the road roller to accommodate both forward and reverse driving states.

[0112] In one embodiment of the second aspect of the present invention, a road roller 100 is provided, such as Figure 11 and Figure 12 As shown, the road roller 100 includes a vehicle body 1, a scraper mechanism 2, and a control assembly 3. The vehicle body 1, as the main structure of the road roller 100, is equipped with a traveling mechanism 11, which drives the entire vehicle body 1 to move. A roller 111 is installed in the traveling mechanism 11, and the roller 111 rotates and moves along with the traveling mechanism 11 during its operation to perform compaction. Depending on the structural form of the road roller 100, the number of rollers 111 can be one or more. The scraper mechanism 2 is located on the vehicle body 1 and at a position corresponding to the roller 111. The scraper mechanism 2 includes a lifting scraper 23, such as... Figure 2 and Figure 3 In the example, the scraper mechanism 2 is used to scrape and level the bumps 5 formed during the operation of the roller 111. The control component 3 is communicatively connected to the traveling mechanism 11 and the scraper mechanism 2; the control component 3 can obtain the traveling parameter information of the traveling mechanism 11, so as to control the lifting scraper 23 to adjust its height according to the traveling parameter information during the travel process, thereby realizing the roller leveling control method in any embodiment of the first aspect, so that the surface of the bump 5 forms a curved surface allowed by the construction requirements, such as... Figure 4 Examples are shown in the text.

[0113] The roller 100 in this embodiment is capable of performing conventional compaction operations and can automatically level the bulge formed on the front side of the turning point of the roller 111, which is beneficial to improving the quality of the operation and eliminates the need for manual assistance in leveling. In addition, the roller 100 in this embodiment also has all the beneficial effects of the roller leveling control method in any of the above embodiments, which will not be repeated here.

[0114] In a further embodiment of the present invention, such as Figure 12 , Figure 13 and Figure 14As shown, the roller 100's rollers 111 include a front roller 112 and / or a rear roller 113. The number of scraper mechanisms 2 matches the number of rollers 111, and their specific positions are determined depending on whether the roller 111 is a front roller 112 or a rear roller 113. Each scraper mechanism 2 includes a support frame 21, a lifting drive component 22, and a lifting scraper 23. When the scraper mechanism 2 is correspondingly positioned with the front roller 112, the support frame 21 is positioned in front of the front roller 112; when the fixing mechanism is correspondingly positioned with the rear roller 113, the support frame 21 is positioned behind the rear roller 113. The lifting drive component 22 is connected to the support frame 21 and is also drively connected to the lifting scraper 23; the lifting drive component 22 is communicatively connected to the control component 3 to operate according to the control commands of the control component 3. The guide orientation of the lifting scraper 23 is set so that the lifting drive component 22 can drive the lifting scraper 23 to move up and down, thereby adjusting the height of the lifting scraper 23 so that different positions on the convex surface can form different thicknesses during the leveling operation, ultimately forming the corresponding curved surface.

[0115] In practical applications, the lifting drive component 22 can be any one of a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, or it can be a motor or other types of drive mechanism.

[0116] In a further embodiment of the present invention, such as Figure 11 , Figure 13 and Figure 15 As shown, the control component 3 includes an information collector 31 and a controller 32. The information collector 31 is installed on the travel mechanism 11 of the road roller 100 and is used to collect travel parameter information of the travel mechanism 11. The controller 32 is communicatively connected to the information collector 31 and the lifting drive component 22 of the scraper mechanism 2. The controller 32 can obtain the travel parameter information collected by the information collector 31 and send corresponding control commands to the lifting drive component 22 to perform corresponding height adjustment operations on the lifting scraper 23.

[0117] The controller 32 can specifically employ a PID controller (Proportional-Integral-Derivative controller), internally storing a surface function model for the convex hull. During operation of the road roller 100, the controller 32 can input travel parameter information into the surface function model and calculate the corresponding target surface function value, which serves as the target height coordinates of the lifting scraper 23, enabling dynamic adjustment of the lifting scraper 23 during operation. Alternatively, the controller 32 can also utilize the road roller's built-in onboard controller for integrated control.

[0118] Furthermore, the driving parameter information of the driving mechanism 11 includes the driving displacement and driving speed. Accordingly, such as... Figure 13 and Figure 16As shown, the information collector 31 specifically includes a displacement detection device 311, a speed detection device 312, and a height detection device 313. Both the displacement detection device 311 and the speed detection device 312 are mounted on the traveling mechanism 11 of the road roller 100. The displacement detection device 311 detects the displacement of the traveling mechanism 11, and the speed detection device 312 detects the traveling speed of the traveling mechanism 11. Both the displacement detection device 311 and the speed detection device 312 are communicatively connected to the controller 32 to send the collected information to the controller 32 as the data basis for adjusting the height of the lifting scraper 23. The displacement detection device 311 is mounted on the scraper mechanism 2, specifically on the support frame 21, the lifting drive component 22, or the lifting scraper 23, and is used to detect the actual height of the lifting scraper 23. The height detection device 313 is communicatively connected to the controller 32, and the controller 32 determines whether the adjustment operation is in place based on the lifting height of the lifting scraper 23.

[0119] In practical applications, the displacement detection device 311 can be a positioning device, such as an on-board RTK (Real-time Kinematic) device, or an on-board encoder such as an odometer. The speed detection device 312 can specifically be a detection device such as a vehicle speed sensor. The height detection device 313 can specifically be a detection device such as a height sensor.

[0120] In this embodiment, the road roller 100, such as Figure 17 As shown, during operation, the height of the lifting scraper 23 can be set based on displacement detection in each adjustment cycle, thereby controlling the adjustment of the lifting scraper 23's height. The actual height of the lifting scraper 23 is then fed back, completing the lifting adjustment operation. Through multiple cycle control, dynamic adjustment of the lifting scraper 23 can be achieved, with high adjustment control accuracy and automated leveling of protrusions, eliminating the need for manual assistance and resulting in higher work quality and efficiency.

[0121] In one embodiment of the third aspect of the present invention, an electronic device is also provided. The electronic device includes a processor and a memory, wherein the memory stores a computer program suitable for execution in the processor. When the processor executes the computer program in the memory, it can implement the roller leveling control method of any of the above embodiments. Further, the electronic device includes, but is not limited to, a computer, a server (e.g., a cloud server), and a control device (e.g., a vehicle controller). The electronic device in this embodiment has all the beneficial effects of the roller leveling control method of any of the above embodiments, and will not be repeated here.

[0122] In addition, one embodiment of the present invention provides a readable storage medium storing a computer program that, when executed by a processor, implements the roller leveling control method of any of the above embodiments. Therefore, the readable storage medium in this embodiment possesses all the beneficial effects of the roller leveling control method of any of the above embodiments, which will not be elaborated further here.

[0123] The basic principles of the present invention have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in the present invention are merely examples and not limitations, and should not be considered as essential features of each embodiment of the present invention. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the present invention to the necessity of employing the aforementioned specific details.

[0124] The block diagrams of the devices, apparatuses, devices, and systems involved in this invention are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it. It should also be noted that in the apparatuses and devices of this invention, the components can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered equivalents of the invention.

[0125] The computer program product of this invention can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although several exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

[0126] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the invention. Therefore, the invention is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0127] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling the leveling of a road roller, used on a road roller equipped with a lifting scraper, characterized in that, Roller leveling control methods include: Step S1000: When the road roller is making a turnaround, obtain the driving parameter information of the road roller during the turnaround process; Step S2000: Adjust the height of the lifting scraper according to the driving parameter information to level the convex hump formed in front of the turning point; the control component of the road roller stores a surface function model for the convex hump; specifically including: Step S2100: Retrieve the surface function model; Step S2200: Input the driving parameter information into the surface function model, calculate the corresponding target surface function value, and use the target surface function value as the target height coordinates corresponding to the lifting scraper; the driving parameter information includes driving displacement; specifically including: Step S2210: Divide the target surface into multiple different intervals according to the surface function model, and set different calculation intervals in each interval; Step S2220: Input the current travel displacement of the road roller at the end time of each calculation interval into the surface function model, and calculate the corresponding target surface function value; Step S2230: Use the target surface function value as the target height coordinate of the lifting scraper; Step S2300: Control the lifting scraper to adjust to the target height coordinate so that the lifting scraper can perform a flattening operation on the convex bulge.

2. The roller leveling control method according to claim 1, characterized in that, Step S2210: Dividing the target surface into multiple different intervals according to the surface function model, and setting different calculation intervals within each interval, including: Step S2211: Divide the target surface into a first interval segment and a second interval segment according to the surface function model; Step S2212: Set a first calculation interval in the first interval segment and a second calculation interval in the second interval segment; Wherein, the first calculation interval is smaller than the second calculation interval.

3. The roller leveling control method according to claim 1, characterized in that, The driving parameter information also includes driving speed; Step S2300: Controlling the lifting scraper to adjust to the target height coordinates to perform a leveling operation on the convex bulge, including: Step S2310: Determine the target lifting speed of the lifting scraper based on the travel speed; Step S2320: Control the lifting scraper to adjust to the target height coordinate at the target lifting speed, so that the lifting scraper can perform a flattening operation on the convex bulge.

4. The roller leveling control method according to any one of claims 1 to 3, characterized in that, If the road roller was traveling forward before performing the turnaround, then the turnaround is a reverse travel. If the road roller was traveling backwards before performing the turnaround, then the turnaround is a forward movement; The forward movement refers to the movement towards the front of the road roller, and the backward movement refers to the movement towards the rear of the road roller.

5. A road roller, characterized in that, include: The vehicle body (1) is provided with a driving mechanism (11), and the driving mechanism (11) is provided with a roller (111). The scraper mechanism (2) is located on the vehicle body (1) at a position corresponding to the grinding wheel (111), and the scraper mechanism (2) is provided with a lifting scraper (23). The control component (3) is communicatively connected to the driving mechanism (11) and the scraper mechanism (2). The control component (3) is adapted to acquire the driving parameter information of the driving mechanism (11) and control the scraper mechanism (2) to work according to the driving parameter information, so as to realize the roller leveling control method as described in any one of claims 1 to 4.

6. The road roller according to claim 5, characterized in that, The grinding wheel (111) includes a front grinding wheel (112) and / or a rear grinding wheel (113). The scraper mechanism (2) includes: A support frame (21) is provided on the front side of the front roller (112) and / or the rear side of the rear roller (113), and is connected to the vehicle body (1); The lifting drive component (22) is connected to the support frame (21) and is communicatively connected to the control component (3); The lifting scraper (23) is connected to the lifting drive (22) in a transmission manner. The blade of the lifting scraper (23) is set downward. The lifting scraper (23) is adapted to perform lifting and lowering movements under the drive of the lifting drive (22).

7. The road roller according to claim 5, characterized in that, The control component (3) includes: An information collector (31) is installed on the driving mechanism (11) and is suitable for collecting driving parameter information of the driving mechanism (11); The controller (32) is communicatively connected to the information collector (31) and the scraper mechanism (2). The controller (32) is adapted to acquire the driving parameter information and control the scraper mechanism (2) to work according to the driving parameter information.

8. The road roller according to claim 7, characterized in that, The driving parameter information includes driving displacement and driving speed; The information collector (31) includes: A displacement detection device (311) is provided on the traveling mechanism (11) and is suitable for detecting the amount of travel displacement of the traveling mechanism (11); A speed detection device (312) is provided on the driving mechanism (11) and is suitable for detecting the driving speed of the driving mechanism (11); A height detection device (313) is provided on the scraper mechanism (2) and is suitable for detecting the height of the lifting scraper (23); The controller (32) is communicatively connected to the displacement detection device (311), the speed detection device (312), and the height detection device (313), respectively.

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