A control system for a road roller and a control method for a road roller

Abstract

The application provides a control system and method for the driving of a road roller. The control system comprises a control device, a handle device and a solenoid valve device. The control device is configured to obtain braking information of the road roller and a current handle position of a target handle currently used by the road roller, and generate a driving control instruction of the road roller based on the braking information and the current handle position of the target handle and send the driving control instruction to the solenoid valve device. The handle device is configured to obtain the current handle position of the target handle and send the current handle position of the target handle to the control device. The solenoid valve device is configured to receive the driving control instruction of the road roller sent by the control device and perform corresponding driving control on the road roller according to the driving control instruction. The technical solution provided by the application can improve the accuracy and safety of controlling the driving of the road roller.

Description

Technical Field

[0001] This application relates to the field of road roller technology, and in particular to a control system and method for the movement of a road roller. Background Technology

[0002] During road roller construction, when compacting road boundaries, the operator needs to turn sideways to observe the compaction or edge trimming. If the machine is equipped with a single control lever, it's difficult to control the overall speed while observing the other side of the lever. Therefore, for ease of operation, the machine is generally equipped with two control levers, located on either side of the operator. Existing road roller travel control schemes use two levers connected by a lever; when one lever is operated, the other lever operates simultaneously. Some systems use two electrically controlled levers, but switching between them requires the machine to stop.

[0003] Currently, in designs where two handles are connected by a lever, the driving torque of the adjusting handle is relatively large, resulting in poor micro-control. Furthermore, accidentally touching the handle on the non-driving side can alter the vehicle's movement. In designs using two electronically controlled handles, the vehicle must be stopped to switch handles. When switching while the vehicle is not stopped, the position of the switched handle may not be accurate, leading to sudden changes in vehicle speed, such as shifting from forward to reverse or vice versa, which can be dangerous. Therefore, how to control the movement of the road roller has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a control system and a control method for the movement of a road roller. By connecting the handle device and the solenoid valve device to the control device respectively, the road roller is controlled by generating a driving control command based on the acquired braking information and the current handle position of the target handle, thereby improving the accuracy and safety of controlling the movement of the road roller.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, embodiments of this application provide a control system for the operation of a road roller, the control system comprising: a control device, a handle device, and a solenoid valve device; the handle device and the solenoid valve device are respectively connected to the control device;

[0007] The control device is used to acquire the braking information of the road roller and the target handle currently used by the road roller; generate an acquisition command based on the target handle and send it to the handle device; receive the current handle position of the target handle sent by the handle device; and generate a driving control command for the road roller based on the braking information and the current handle position of the target handle, and send the driving control command for the road roller to the solenoid valve device.

[0008] The handle device is used to receive an acquisition command sent by the control device, acquire the current handle position of the target handle based on the acquisition command, and send the current handle position of the target handle to the control device.

[0009] The solenoid valve device is used to receive the driving control command of the road roller sent by the control device, and to perform corresponding driving control on the road roller according to the driving control command.

[0010] Furthermore, the solenoid valve device includes a braking solenoid valve;

[0011] The control device is used to detect whether the braking information indicates that the road roller is in a braking state. If so, it generates a power-off control command and sends it to the braking solenoid valve. If the braking information indicates that the road roller is in a released braking state, it generates a power-on control command and sends it to the braking solenoid valve.

[0012] The brake solenoid valve is used to receive a power-off control command sent by the control device, and control the brake solenoid valve to de-energize based on the power-off control command; and to receive a power-on control command sent by the control device, and control the brake solenoid valve to energize based on the power-on control command.

[0013] Furthermore, the solenoid valve device includes a forward solenoid valve and a reverse solenoid valve;

[0014] The control device is configured to, after energizing the brake solenoid valve, if the current handle position of the target handle is updated from the center position to the forward position, acquire the handle opening of the target handle, and supply a corresponding current to the forward solenoid valve according to the handle opening to control the road roller to move forward; if the current handle position of the target handle is updated from the center position to the reverse position, acquire the handle opening of the target handle, and supply a corresponding current to the reverse solenoid valve according to the handle opening to control the road roller to move backward.

[0015] Furthermore, the handle device includes a left handle and a right handle; the control device includes a first module or a second module; the first module includes a controller, a first parking brake switch, a left handle switching switch, and a right handle switching switch; the left handle, right handle, first parking brake switch, left handle switching switch, and right handle switching switch are respectively connected to the controller;

[0016] The controller is configured to, when the currently used target controller is the right controller, update the left controller to the currently used target controller in response to a touch operation of the left controller switch; and when the currently used target controller is the left controller, update the right controller to the currently used target controller in response to a touch operation of the right controller switch.

[0017] Furthermore, the control system also includes a prompting device, which includes a left handle indicator light and a right handle indicator light; the left handle indicator light and the right handle indicator light are respectively connected to the control device;

[0018] The left handle indicator light is used to receive a control command from the control device that the currently used target handle is the left handle, and to control the left handle indicator light to light up based on the control command;

[0019] The right handle indicator light is used to receive a control command from the control device indicating that the currently used target handle is the right handle, and to control the right handle indicator light to light up based on the control command.

[0020] Furthermore, when the control device includes a first module, both the left handle and the right handle are friction positioning handles; both the left handle switch and the right handle switch are self-resetting buttons or self-resetting switches.

[0021] Furthermore, the second module includes a left handlebar relay, a right handlebar relay, a second parking brake switch, and a master handlebar switch; the left handlebar is connected to the left handlebar relay, the right handlebar is connected to the right handlebar relay, the left handlebar relay and the right handlebar relay are respectively connected to the master handlebar switch, and the master handlebar switch is connected to the second parking brake switch.

[0022] Furthermore, the master handle switch is a toggle switch. If the toggle position of the master handle switch is on the left, the left handle is connected to the master handle switch, and the right handle is disconnected from the master handle switch. If the toggle position of the master handle switch is on the right, the right handle is connected to the master handle switch, and the left handle is disconnected from the master handle switch.

[0023] Furthermore, the second parking brake switch is connected to the brake solenoid valve in the solenoid valve device; the forward solenoid valve and the reverse solenoid valve in the solenoid valve device are respectively connected to the master handle switch.

[0024] Secondly, embodiments of this application also provide a control method for the travel of a road roller, the control method being applied to a control system for the travel of a road roller as described in any of the preceding claims, the control method comprising:

[0025] The control device acquires the braking information of the road roller and the target handle currently used by the road roller, generates an acquisition command based on the target handle and sends it to the handle device, receives the current handle position of the target handle sent by the handle device, and generates a driving control command for the road roller based on the braking information and the current handle position of the target handle, and sends the driving control command for the road roller to the solenoid valve device.

[0026] The control handle device receives an acquisition command sent by the control device, acquires the current handle position of the target handle based on the acquisition command, and sends the current handle position of the target handle to the control device.

[0027] The control solenoid valve device receives the driving control command of the road roller sent by the control device, and performs corresponding driving control on the road roller according to the driving control command.

[0028] This application provides a control system for the movement of a road roller and the control of the road roller's movement. The control system includes: a control device, a handle device, and a solenoid valve device; the handle device and the solenoid valve device are respectively connected to the control device; the control device is used to acquire braking information of the road roller and the target handle currently used by the road roller; generate an acquisition command based on the target handle and send it to the handle device, and receive the current handle position of the target handle sent by the handle device, and generate a driving control command for the road roller based on the braking information and the current handle position of the target handle, and send the driving control command for the road roller to the solenoid valve device; the handle device is used to receive the acquisition command sent by the control device, acquire the current handle position of the target handle based on the acquisition command, and send the current handle position of the target handle to the control device; the solenoid valve device is used to receive the driving control command for the road roller sent by the control device, and perform corresponding driving control on the road roller according to the driving control command.

[0029] Thus, by connecting the handle device and the solenoid valve device to the control device respectively, the driving control command of the road roller is generated based on the acquired braking information and the current handle position of the target handle, thereby improving the accuracy and safety of controlling the driving of the road roller.

[0030] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This invention provides a schematic diagram of the structure of a control system for the travel of a road roller according to an embodiment of this application.

[0033] Figure 2 This is a second schematic diagram of the structure of a control system for the travel of a road roller provided in an embodiment of this application;

[0034] Figure 3 This paper shows a schematic diagram of the internal structure of a road roller travel control system provided in an embodiment of this application;

[0035] Figure 4 A flowchart of a control method for the movement of a road roller provided in an embodiment of this application is shown;

[0036] Figure 5 This invention provides a schematic diagram of the internal structure of another control system for the travel of a road roller according to an embodiment of this application.

[0037] Figure 6 This application provides a flowchart illustrating a method for controlling the movement of a road roller according to an embodiment of the present application.

[0038] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0039] Icons: 100-Control system; 110-Control device; 120-Handle device; 130-Solenoid valve device; 140-Indicator device; 111-First module; 112-Second module; 121-Left handle; 122-Right handle; 131-Brake solenoid valve; 132-Forward solenoid valve; 133-Reverse solenoid valve; 141-Left handle indicator light; 142-Right handle indicator light; 1111-Controller; 1112-First parking brake switch; 1113-Left handle switch; 1114-Right handle switch; 1121-Left handle relay; 1122-Right handle relay; 1123-Second parking brake switch; 1124-Master handle switch; 700-Electronic equipment; 710-Processor; 720-Memory; 730-Bus. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0041] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0042] In order to enable those skilled in the art to use the content of this application and combine it with the specific application scenario of "controlling the movement of a road roller", the following implementation method is given. For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application.

[0043] The systems, methods, electronic devices, or computer-readable storage media described in this application can be applied to any scenario that requires control of the movement of a road roller. This application does not limit the specific application scenario. Any scheme using a road roller movement control system and road roller movement control method provided in this application is within the protection scope of this application.

[0044] It is worth noting that during road roller construction, when compacting the road boundaries, the operator needs to turn to the side to observe the compaction or edge trimming. If the machine is equipped with a single control handle, it becomes difficult to control the overall speed while observing the other side of the handle. Therefore, for ease of operation, the machine is generally equipped with two control handles, located on either side of the operator. Existing road roller travel control schemes use two handles connected by a lever; when one handle is operated, the other handle operates simultaneously. Some systems also use two electrically controlled handles, but switching between them requires the machine to stop.

[0045] Currently, in designs where two handles are connected by a lever, the driving torque of the adjusting handle is relatively large, resulting in poor micro-control. Furthermore, accidentally touching the handle on the non-driving side can alter the vehicle's movement. In designs using two electronically controlled handles, the vehicle must be stopped to switch handles. When switching while the vehicle is not stopped, the position of the switched handle may not be accurate, leading to sudden changes in vehicle speed, such as shifting from forward to reverse or vice versa, which can be dangerous. Therefore, how to control the movement of the road roller has become an urgent problem to be solved.

[0046] Based on this, this application proposes a control system for the movement of a road roller and the control of the road roller's movement. The control system includes: a control device, a handle device, and a solenoid valve device; the handle device and the solenoid valve device are respectively connected to the control device; the control device is used to acquire the braking information of the road roller and the target handle currently used by the road roller; generate an acquisition command based on the target handle and send it to the handle device, and receive the current handle position of the target handle sent by the handle device, and generate a driving control command for the road roller based on the braking information and the current handle position of the target handle, and send the driving control command for the road roller to the solenoid valve device; the handle device is used to receive the acquisition command sent by the control device, acquire the current handle position of the target handle based on the acquisition command, and send the current handle position of the target handle to the control device; the solenoid valve device is used to receive the driving control command for the road roller sent by the control device, and perform corresponding driving control on the road roller according to the driving control command.

[0047] Thus, by connecting the handle device and the solenoid valve device to the control device respectively, the driving control command of the road roller is generated based on the acquired braking information and the current handle position of the target handle, thereby improving the accuracy and safety of controlling the driving of the road roller.

[0048] To facilitate understanding of this application, the technical solutions provided in this application will be described in detail below with reference to specific embodiments.

[0049] Please see Figure 1 , Figure 1 This is one of the structural schematic diagrams of a road roller travel control system provided in an embodiment of this application, such as... Figure 1As shown, the control system 100 includes: a control device 110, a handle device 120, and a solenoid valve device 130; the handle device 120 and the solenoid valve device 130 are respectively connected to the control device 110; the control device 110 generates a driving control command for the road roller by acquiring the braking information of the road roller and the current handle position of the target handle currently used by the road roller, and the solenoid valve device 130 performs corresponding driving control on the road roller according to the driving control command.

[0050] Specifically, the control device 110 is used to acquire the braking information of the road roller and the target handle currently used by the road roller; generate an acquisition command based on the target handle and send it to the handle device 120, and receive the current handle position of the target handle sent by the handle device 120, and generate a driving control command for the road roller based on the braking information and the current handle position of the target handle, and send the driving control command for the road roller to the solenoid valve device 130; the handle device 120 is used to receive the acquisition command sent by the control device 110, acquire the current handle position of the target handle based on the acquisition command, and send the current handle position of the target handle to the control device 110; the solenoid valve device 130 is used to receive the driving control command for the road roller sent by the control device 110, and perform corresponding driving control on the road roller according to the driving control command.

[0051] Here, the target handle can be either the left handle 121 or the right handle 122.

[0052] For further details, please refer to Figure 2 , Figure 2 This is a second schematic diagram of a control system for the travel of a road roller provided in an embodiment of this application, as shown below. Figure 2 As shown, the solenoid valve device 130 includes a brake solenoid valve 131; the control device 110 is used to detect whether the braking information indicates that the road roller is in a braking state. If so, it generates a power-off control command and sends it to the brake solenoid valve 131; if the braking information indicates that the road roller is in a released braking state, it generates a power-on control command and sends it to the brake solenoid valve 131; the brake solenoid valve 131 is used to receive the power-off control command sent by the control device 110, and control the brake solenoid valve 131 to be de-energized based on the power-off control command; and to receive the power-on control command sent by the control device 110, and control the brake solenoid valve 131 to be energized based on the power-on control command.

[0053] Furthermore, such as Figure 2As shown, the solenoid valve device 130 includes a forward solenoid valve 132 and a reverse solenoid valve 133; the control device 110 is used to, after energizing the brake solenoid valve 131, if the current handle position of the target handle is updated from the middle position to the forward position, acquire the handle opening of the target handle, and supply the forward solenoid valve 132 with a corresponding current according to the handle opening to control the road roller to move forward; if the current handle position of the target handle is updated from the middle position to the reverse position, acquire the handle opening of the target handle, and supply the reverse solenoid valve 133 with a corresponding current according to the handle opening to control the road roller to move backward.

[0054] Furthermore, such as Figure 2 As shown, the handle device 120 includes a left handle 121 and a right handle 122; the control device 110 includes a first module 111 or a second module 112; the first module 111 includes a controller 1111, a first parking brake switch 1112, a left handle switch 1113, and a right handle switch 1114; the left handle 121, right handle 122, first parking brake switch 1112, left handle switch 1113, and right handle switch 1114 are respectively connected to the controller 1111; the controller 1111 is used to update the left handle 121 to the currently used target handle in response to a touch operation of the left handle switch 1113 when the currently used target handle is the right handle 122; and to update the right handle 122 to the currently used target handle in response to a touch operation of the right handle switch 1114 when the currently used target handle is the left handle 121.

[0055] Furthermore, such as Figure 2 As shown, the control system 100 further includes a prompting device 140, which includes a left handlebar indicator light 141 and a right handlebar indicator light 142. The left handlebar indicator light 141 and the right handlebar indicator light 142 are respectively connected to the control device 110. The left handlebar indicator light 141 is used to receive a control command sent by the control device 110 indicating that the currently used target handle is the left handlebar 121, and controls the left handlebar indicator light 141 to light up based on the control command. The right handlebar indicator light 142 is used to receive a control command sent by the control device 110 indicating that the currently used target handle is the right handlebar 122, and controls the right handlebar indicator light 142 to light up based on the control command.

[0056] Furthermore, when the control device 110 includes a first module 111, both the left handle 121 and the right handle 122 are friction positioning handles; both the left handle switch 1113 and the right handle switch 1114 are self-resetting buttons or self-resetting switches.

[0057] Here, both the left handle 121 and the right handle 122 are friction positioning handles, and the controller 1111 can detect the current position of the handles.

[0058] Here, when the control device 110 is the first module 111, please refer to the internal structure of the control system 100. Figure 3 , Figure 3 This is a schematic diagram of the internal structure of a road roller travel control system provided in an embodiment of this application; as shown. Figure 3 As shown, the control system 100 includes: a controller 1111, a first parking brake switch 1112, a left handlebar switch 1113, a right handlebar switch 1114, a left handlebar 121, a right handlebar 122, a brake solenoid valve 131, a left handlebar indicator light 141, a forward solenoid valve 132, a reverse solenoid valve 133, and a right handlebar indicator light 142; and the first parking brake switch 1112, the left handlebar switch 1113, the right handlebar switch 1114, the left handlebar 121, the right handlebar 122, the brake solenoid valve 131, the left handlebar indicator light 141, the forward solenoid valve 132, the reverse solenoid valve 133, and the right handlebar indicator light 142 are respectively connected to the controller 1111.

[0059] It should be noted that the control process of the integral roller is divided into the starting process and the traveling process. Please refer to [link / reference]. Figure 4 , Figure 4 A flowchart of a control method for the travel of a road roller provided in an embodiment of this application is shown below. Figure 4 As shown, the starting process is as follows: After the machine is powered on, the right handle 122 is used by default (the user can set the default to either the left handle 121 or the right handle 122 in the instrument panel settings). The controller 1111 illuminates the right handle indicator light 142 to remind the user of the current status. When the left handle switch 1113 is pressed, the controller 1111 illuminates the left handle indicator light 141 and extinguishes the right handle indicator light 142. When the right handle switch 1114 is pressed again, the controller 1111 illuminates the right handle indicator light 142 and extinguishes the left handle indicator light 141. The controller 1111 detects the status of the first parking brake switch 1112. When the first parking brake switch 1112 is in the braking position, the controller 1111 de-energizes the brake solenoid valve 131, and the vehicle is in a braking state. When the first parking brake switch 1112 is in the release position, the controller 1111 energizes the brake solenoid valve 131, and the vehicle is in a released braking state. When controller 1111 detects that the current driving handle is in the neutral position and the first parking brake switch 1112 is in the braking position, it controls the brake solenoid valve 131 to be de-energized, thus parking the vehicle and allowing the driver to start it; otherwise, the vehicle cannot be started by the driver. During operation: After the driver starts the vehicle, controller 1111 detects the current position of the first parking brake switch 1112 and the current driving handle, and determines the following situations:

[0060] 1) When the first parking brake switch 1112 is in the braking position (indicated as parking), the vehicle is parked and does not move. The currently used handle (assuming it is the right handle 122) is in the neutral position (when the left handle switch 1113 is not pressed). At this time, when the driver operates the first parking brake switch 1112 to release the brake, the controller 1111 controls the brake solenoid valve 131 to be energized. When the right handle 122 is operated out of the neutral position and into the forward position, the controller 1111 controls the forward solenoid valve 132 to supply the corresponding current according to the opening degree of the right handle 122, controlling the vehicle to move forward. When the right handle 122 is operated out of the neutral position and into the reverse position, the controller 1111 controls the reverse solenoid valve 133 to supply the corresponding current according to the opening degree of the right handle 122, controlling the vehicle to move backward.

[0061] 2) When the first parking brake switch 1112 is in the braking position and the currently used lever (assuming it is the right lever 122) is in the non-neutral position, the vehicle will not move. At this time, if the driver operates the first parking brake switch 1112 to release the brake, the controller 1111 will not output current to the forward solenoid valve 132 or the reverse solenoid valve 133 without pressing the right lever. The driver must operate the right lever 122 back to the neutral position and re-engage the gear to the forward or reverse position before the controller 1111 will output current to the forward solenoid valve 132 or the reverse solenoid valve 133 to control the vehicle to move forward or backward.

[0062] 3) During operation, if the driver operates the current-use lever without returning it to the neutral position and directly switches the first parking brake switch 1112 to the braking position, the controller 1111 will stop the current output of the forward solenoid valve 132 or the reverse solenoid valve 133, and the vehicle will stop moving and be parked. When the driver switches the first parking brake switch 1112 to the brake release position, the controller 1111 will not output current to the forward solenoid valve 132 or the reverse solenoid valve 133 according to the lever position. The driver must operate the lever back to the neutral position and re-engage the gear to the forward or reverse position before the controller 1111 will output current to the forward solenoid valve 132 or the reverse solenoid valve 133 according to the lever position to control the vehicle to move forward or backward.

[0063] 4) During operation, assuming the driver is currently using the right lever 122, if the driver presses the left lever switch 1113, illuminating the left lever indicator light 141, the vehicle stops moving when the left lever 121 is in the neutral position. After the driver operates the left lever 121 to engage a gear in the forward or reverse position, the controller 1111 outputs current to the forward solenoid valve 132 or the reverse solenoid valve 133 according to the position of the left lever 121, controlling the vehicle to move forward or backward. When the left lever 121 is not in the neutral position, the vehicle stops moving, and the controller 1111 does not output current to the forward or reverse solenoid valve 132 according to the position of the left lever 121. The driver must operate the left lever 121 back to the neutral position and engage a gear in the forward or reverse position before the controller 1111 will output current to the forward or reverse solenoid valve 132 according to the position of the left lever 121, controlling the vehicle to move forward or backward.

[0064] Furthermore, the second module 112 includes a left handlebar relay 1121, a right handlebar relay 1122, a second parking brake switch 1123, and a master handlebar switch 1124; the left handlebar 121 is connected to the left handlebar relay 1121, the right handlebar 122 is connected to the right handlebar relay 1122, the left handlebar relay 1121 and the right handlebar relay 1122 are respectively connected to the master handlebar switch 1124, and the master handlebar switch 1124 is connected to the second parking brake switch 1123.

[0065] Here, when the control device 110 is the second module 112, both the left handle 121 and the right handle 122 are electrically controlled handles.

[0066] Furthermore, the master handle switch 1124 is a toggle switch. If the toggle position of the master handle switch 1124 is on the left, the left handle 121 is connected to the master handle switch 1124, and the right handle 122 is disconnected from the master handle switch 1124. If the toggle position of the master handle switch 1124 is on the right, the right handle 122 is connected to the master handle switch 1124, and the left handle 121 is disconnected from the master handle switch 1124.

[0067] Furthermore, the second parking brake switch 1123 is connected to the brake solenoid valve 131 in the solenoid valve device 130; the forward solenoid valve 132 and the reverse solenoid valve 133 in the solenoid valve device 130 are respectively connected to the master handle switch 1124.

[0068] It should be noted that when the control device 110 is the second module 112, please refer to the internal structure of the control system 100. Figure 5 , Figure 5This is a schematic diagram of the internal structure of another control system for the travel of a road roller provided in an embodiment of this application; as shown. Figure 5 As shown, the control system 100 includes: a second parking brake switch 1123, a master lever switch 1124, a left lever 121, a right lever 122, a left lever relay 1121, a right lever relay 1122, a brake solenoid valve 131, a left lever indicator light 141, a forward solenoid valve 132, a reverse solenoid valve 133, and a right lever indicator light 142.

[0069] Here, the left handle 121 and right handle 122: The handles integrate PWM output amplifier circuits, which control the forward solenoid valve 132 or the reverse solenoid valve 133 according to the handle opening degree. When the handle is in the neutral position, the neutral switch is closed. When the handle is in the reverse position, the corresponding current is output to control the reverse solenoid valve 133 according to the handle opening degree. Simultaneously, the reverse switch can also be closed to activate the reversing buzzer. When the handle is in the forward position, the corresponding current is output to control the forward solenoid valve 132 according to the handle opening degree.

[0070] Here, the basic principle of the left handle relay 1121 and the right handle relay 1122 is as follows: Port 86 is the power input port for the relay coil, port 85 is the grounding port for the relay coil, port 30 is the common port for the controlled end of the relay, port 87 is the normally open port for the controlled end of the relay, and port 87a is the normally closed port for the controlled end; when port 86 has a rated voltage and port 85 is grounded at the same time, relay ports 30 and 87 are connected.

[0071] Here, the master handle switch 1124 is a toggle switch. When the switch is to the left, it switches to the left handle 121. Ports 2 and 1 of the master handle switch 1124 are connected, ports 5 and 4 are connected, ports 8 and 7 are connected, and ports 11 and 10 are connected. When the switch is to the right, it switches to the right handle 122. Ports 2 and 3 of the master handle switch 1124 are connected, ports 5 and 6 are connected, ports 8 and 9 are connected, and ports 11 and 12 are connected.

[0072] Here, when the second parking brake switch 1123 is in the parking position, ports 2 and 1 of the second parking brake switch 1123 are connected, and ports 5 and 4 are connected. At this time, port 46 of the second parking brake switch 1123 is disconnected from port 46 of the brake solenoid valve 131, the brake solenoid valve 131 is de-energized, and the entire machine is in a braking state. When the second parking brake switch 1123 is in the release position, ports 3 and 2 are connected, and ports 6 and 5 are connected. At this time, port 46 of the second parking brake switch 1123 is connected to the power supply 207, the brake solenoid valve 131 is energized, and the entire machine is released from braking. When the entire machine is released from braking, when the master handle switch 1124 is in the left handle 121 position, ports 208 and 208L of the master handle switch 1124 are connected, and 208L is energized.

[0073] As an example, when the left handle 121 is in the neutral position, ports 209L and 208L of the left handle 121 are connected, energizing 209L. This energizes diode 211, triggering the user start interlock to prevent the user from starting the machine when it is not in the neutral position. Simultaneously, the diode energizes port 210L, energizing port 86 of the left handle relay 1121. Ports 30 and 87 are connected, energizing 210L and 208L, illuminating the left handle indicator light 141, and locking the left handle relay 1121. When the left handle 121 is disengaged from the neutral position, ports 209L and 208L of the left handle 121 are disconnected, and 209L is de-energized. However, due to relay interlocking, 210L remains energized. When the left handle 121 is pressed, it outputs current. When the left handle 121 is in the forward position, 421L outputs current through the main handle switch 1124, connecting ports 421 and 421L, and outputting to the forward solenoid valve 132, causing the vehicle to move forward. When the left handle 121 is in the reverse position, 420L outputs current through the main handle switch 1124, connecting ports 420 and 420L, and outputting to the reverse solenoid valve 133, causing the vehicle to reverse. To ensure output accuracy, ports 0G and 0GR of the main handle switch 1124 are connected, while ports 0G and 0GR are disconnected.

[0074] As an example, when the left handle 121 is not in the neutral position, 209L and 208L of the left handle 121 are not connected, 209L is not energized, 210L is not energized, the left handle indicator light 141 is not lit, the left handle relay 1121 port 86 is not energized, port 30 and port 87 are not connected, the left handle 121's 421L or 420L does not output, the 421 or 420 after passing through the master handle switch 1124 has no current, the forward solenoid valve 132 or the reverse solenoid valve 133 has no current, and the whole vehicle does not move.

[0075] As an example, when the second parking brake switch 1123 is pressed to the brake position during driving, pins 208 and 207 of the second parking brake switch 1123 are disconnected. Pins 208 and 208L of the main handle switch 1124 are de-energized, pin 210L of the left handle relay 1121 is de-energized, and outputs 421L or 420L of the left handle 121 are de-energized. With pins 421 or 420 de-energized by the main handle switch 1124, there is no current to the forward solenoid valve 132 or the reverse solenoid valve 133, and the vehicle does not move. Simultaneously, pins 46 and 207 of the second parking brake switch 1123 are disconnected, the brake solenoid valve 131 is de-energized, and the vehicle brakes. When the second parking brake switch 1123 is pressed to the release position again, the situation returns to the two examples described above.

[0076] Similarly, when the master handle switch 1124 is switched to use the right handle 122, the two states of the right handle 122 are detected and controlled.

[0077] Here, when using only the left handle 121, simply remove the main handle switch 1124, the right handle 122, the right handle relay 1122, and the right handle indicator light 142, add jumper wires, and short-circuit 208 to 208L, 421 to 421L, 420 to 420L, and 0G to 0GR. When using only the right handle 122, simply remove the main handle switch 1124, the left handle 121, the left handle relay 1121, and the left handle indicator light 141, add jumper wires, and short-circuit 208 to 208R, 421 to 421R, 420 to 420R, and 0G to 0GR.

[0078] In summary, the solution of this embodiment allows the user to apply the parking brake by pressing the parking switch while controlling the roller's movement. After releasing the brake by pressing the parking switch, the user must return the handle to the neutral position and re-engage the gear before normal movement can resume. This prevents the handle from suddenly moving while in gear when the parking brake is released, thus avoiding safety hazards. Furthermore, when switching between the left and right handles while controlling the roller's movement, the user must return the used handle to the neutral position and re-engage the gear before normal movement can resume. This also prevents the handle from suddenly moving while in gear, thus avoiding safety hazards. Indicator lights allow the user to easily identify the currently used handle. Moreover, the use of relays eliminates the need for a controller, bringing economic benefits and reducing costs. Additionally, the dual handles in this embodiment are optional, and users can also install a single handle, making installation convenient and improving applicability.

[0079] This application provides a control system for the movement of a road roller. The control system includes: a control device, a handle device, and a solenoid valve device. The handle device and the solenoid valve device are respectively connected to the control device. The control device is used to acquire braking information of the road roller and the target handle currently being used by the road roller; generate an acquisition command based on the target handle and send it to the handle device; receive the current handle position of the target handle sent by the handle device; and generate a driving control command for the road roller based on the braking information and the current handle position of the target handle, and send the driving control command for the road roller to the solenoid valve device. The handle device is used to receive the acquisition command sent by the control device, acquire the current handle position of the target handle based on the acquisition command, and send the current handle position of the target handle to the control device. The solenoid valve device is used to receive the driving control command for the road roller sent by the control device and perform corresponding driving control on the road roller according to the driving control command.

[0080] Thus, by connecting the handle device and the solenoid valve device to the control device respectively, the driving control command of the road roller is generated based on the acquired braking information and the current handle position of the target handle, thereby improving the accuracy and safety of controlling the driving of the road roller.

[0081] Based on the same concept, this application also provides a control method for the movement of a road roller, which is applied to the control system for the movement of a road roller described in any of the above claims. Since the principle of the method in this application is similar to that of the control system for the movement of a road roller in the above-mentioned embodiments of this application, the implementation of the method can refer to the implementation of the system, and the repeated parts will not be described again.

[0082] Please see Figure 6 , Figure 6 A flowchart of a control method for the travel of a road roller provided in an embodiment of this application is shown below. Figure 6 As shown, the control method includes:

[0083] S601. The control device acquires the braking information of the road roller and the target handle currently used by the road roller, generates an acquisition command based on the target handle and sends it to the handle device, receives the current handle position of the target handle sent by the handle device, and generates a driving control command for the road roller based on the braking information and the current handle position of the target handle, and sends the driving control command for the road roller to the solenoid valve device.

[0084] S602. The control handle device receives an acquisition command sent by the control device, acquires the current handle position of the target handle based on the acquisition command, and sends the current handle position of the target handle to the control device.

[0085] S603. The control solenoid valve device receives the driving control command of the road roller sent by the control device, and performs corresponding driving control on the road roller according to the driving control command.

[0086] It should be noted that the control method further includes:

[0087] 1. The control device detects whether the braking information indicates that the road roller is in a braking state. If so, it generates a power-off control command and sends it to the braking solenoid valve. If the braking information indicates that the road roller is in a released braking state, it generates a power-on control command and sends it to the braking solenoid valve.

[0088] 2. The control system receives a power-off control command from the control device and controls the brake solenoid valve to de-energize based on the power-off control command; it also receives a power-on control command from the control device and controls the brake solenoid valve to energize based on the power-on control command.

[0089] Furthermore, after the control device powers on the brake solenoid valve, if the current handle position of the target handle is updated from the center position to the forward position, the control device acquires the handle opening of the target handle and applies a corresponding current to the forward solenoid valve according to the handle opening to control the road roller to move forward; if the current handle position of the target handle is updated from the center position to the reverse position, the control device acquires the handle opening of the target handle and applies a corresponding current to the reverse solenoid valve according to the handle opening to control the road roller to move backward.

[0090] Furthermore, the handle device includes a left handle and a right handle; the control device includes a first module or a second module; the first module includes a controller, a first parking brake switch, a left handle switching switch, and a right handle switching switch; the left handle, right handle, first parking brake switch, left handle switching switch, and right handle switching switch are respectively connected to the controller; the controller is controlled to update the left handle to the currently used target handle in response to the touch operation of the left handle switching switch when the currently used target handle is the right handle; and to update the right handle to the currently used target handle in response to the touch operation of the right handle switching switch when the currently used target handle is the left handle.

[0091] Furthermore, the control system also includes a prompting device, which includes a left handlebar indicator light and a right handlebar indicator light; the left handlebar indicator light and the right handlebar indicator light are respectively connected to the control device; the control device receives a control command from the control device indicating that the currently used target handlebar is the left handlebar, and controls the left handlebar indicator light to light up based on the control command; the control device receives a control command from the control device indicating that the currently used target handlebar is the right handlebar, and controls the right handlebar indicator light to light up based on the control command.

[0092] Furthermore, when the control device includes a first module, both the left handle and the right handle are friction positioning handles; both the left handle switch and the right handle switch are self-resetting buttons or self-resetting switches.

[0093] Furthermore, the second module includes a left handlebar relay, a right handlebar relay, a second parking brake switch, and a master handlebar switch; the left handlebar is connected to the left handlebar relay, the right handlebar is connected to the right handlebar relay, the left handlebar relay and the right handlebar relay are respectively connected to the master handlebar switch, and the master handlebar switch is connected to the second parking brake switch.

[0094] Furthermore, the master handle switch is a toggle switch. If the toggle position of the master handle switch is on the left, the left handle is connected to the master handle switch, and the right handle is disconnected from the master handle switch. If the toggle position of the master handle switch is on the right, the right handle is connected to the master handle switch, and the left handle is disconnected from the master handle switch.

[0095] Furthermore, the second parking brake switch is connected to the brake solenoid valve in the solenoid valve device; the forward solenoid valve and the reverse solenoid valve in the solenoid valve device are respectively connected to the master handle switch.

[0096] This application provides a method for controlling the movement of a road roller. The method is applied to a control system for the movement of a road roller as described in any of the above-mentioned embodiments. The method includes: controlling a control device to acquire braking information of the road roller and the target handle currently being used by the road roller; generating an acquisition command based on the target handle and sending it to the handle device; receiving the current handle position of the target handle from the handle device; generating a driving control command for the road roller based on the braking information and the current handle position of the target handle; and sending the driving control command for the road roller to a solenoid valve device; controlling the handle device to receive the acquisition command from the control device; acquiring the current handle position of the target handle based on the acquisition command; and sending the current handle position of the target handle to the control device; and controlling the solenoid valve device to receive the driving control command for the road roller from the control device and perform corresponding driving control on the road roller according to the driving control command.

[0097] Thus, by connecting the handle device and the solenoid valve device to the control device respectively, the driving control command of the road roller is generated based on the acquired braking information and the current handle position of the target handle, thereby improving the accuracy and safety of controlling the driving of the road roller.

[0098] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 7 As shown, the electronic device 700 includes a processor 710, a memory 720, and a bus 730.

[0099] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 communicates with the memory 720 via the bus 730. When the machine-readable instructions are executed by the processor 710, they can perform the operations described above. Figure 6 The steps of the control method for the movement of the road roller in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0100] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 6 The steps of the control method for the movement of the road roller in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0101] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0103] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0104] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0105] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0106] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control system for the travel of a road roller, characterized in that, The control system includes: a control device, a handle device, and a solenoid valve device; the handle device and the solenoid valve device are respectively connected to the control device. The control device is used to acquire the braking information of the road roller and the target handle currently used by the road roller; generate an acquisition command based on the target handle and send it to the handle device; receive the current handle position of the target handle sent by the handle device; and generate a driving control command for the road roller based on the braking information and the current handle position of the target handle, and send the driving control command for the road roller to the solenoid valve device. The handle device is used to receive an acquisition command sent by the control device, acquire the current handle position of the target handle based on the acquisition command, and send the current handle position of the target handle to the control device. The solenoid valve device is used to receive the driving control command of the road roller sent by the control device, and to perform corresponding driving control on the road roller according to the driving control command; The solenoid valve device includes a braking solenoid valve. The control device is used to detect whether the braking information indicates that the road roller is in a braking state. If so, it generates a power-off control command and sends it to the braking solenoid valve. If the braking information indicates that the road roller is in a released braking state, it generates a power-on control command and sends it to the braking solenoid valve. The brake solenoid valve is used to receive a power-off control command sent by the control device, and control the brake solenoid valve to de-energize based on the power-off control command; and to receive a power-on control command sent by the control device, and control the brake solenoid valve to energize based on the power-on control command. The control device is used to control the road roller to not move when the current handle position of the target handle is not in the neutral position after the brake solenoid valve is energized; and to control the road roller to move forward or backward according to the current handle position of the target handle after the current handle position of the target handle returns to the neutral position and is updated to the forward or backward position.

2. The control system according to claim 1, characterized in that, The solenoid valve device includes a forward solenoid valve and a reverse solenoid valve. The control device is configured to, after energizing the brake solenoid valve, if the current handle position of the target handle is updated from the center position to the forward position, acquire the handle opening of the target handle, and supply a corresponding current to the forward solenoid valve according to the handle opening to control the road roller to move forward; if the current handle position of the target handle is updated from the center position to the reverse position, acquire the handle opening of the target handle, and supply a corresponding current to the reverse solenoid valve according to the handle opening to control the road roller to move backward.

3. The control system according to claim 1, characterized in that, The handle device includes a left handle and a right handle; the control device includes a first module or a second module; the first module includes a controller, a first parking brake switch, a left handle switch, and a right handle switch; the left handle, right handle, first parking brake switch, left handle switch, and right handle switch are respectively connected to the controller; The controller is configured to, when the currently used target controller is the right controller, update the left controller to the currently used target controller in response to a touch operation of the left controller switch; and when the currently used target controller is the left controller, update the right controller to the currently used target controller in response to a touch operation of the right controller switch. The controller is used to control the road roller to stop moving when the target handle is switched and the switched target handle is not in the neutral position during the movement of the road roller; and to control the road roller to move forward or backward according to the current handle position of the target handle when the switched target handle returns to the neutral position and is updated to the forward or backward position.

4. The control system according to claim 1, characterized in that, The control system also includes a prompting device, which includes a left handle indicator light and a right handle indicator light; the left handle indicator light and the right handle indicator light are respectively connected to the control device. The left handle indicator light is used to receive a control command from the control device that the currently used target handle is the left handle, and to control the left handle indicator light to light up based on the control command; The right handle indicator light is used to receive a control command from the control device indicating that the currently used target handle is the right handle, and to control the right handle indicator light to light up based on the control command.

5. The control system according to claim 3, characterized in that, When the control device includes a first module, both the left handle and the right handle are friction positioning handles; both the left handle switch and the right handle switch are self-resetting buttons or self-resetting switches.

6. The control system according to claim 3, characterized in that, The second module includes a left handlebar relay, a right handlebar relay, a second parking brake switch, and a master handlebar switch; the left handlebar is connected to the left handlebar relay, the right handlebar is connected to the right handlebar relay, the left handlebar relay and the right handlebar relay are respectively connected to the master handlebar switch, and the master handlebar switch is connected to the second parking brake switch.

7. The control system according to claim 6, characterized in that, The master handle switch is a toggle switch. If the master handle switch is in the left position, the left handle is connected to the master handle switch, and the right handle is disconnected from the master handle switch. If the switch of the master handle is in the right position, the right handle is connected to the master handle switch, and the left handle is disconnected from the master handle switch.

8. The control system according to claim 6, characterized in that, The second parking brake switch is connected to the brake solenoid valve in the solenoid valve device; the forward solenoid valve and the reverse solenoid valve in the solenoid valve device are respectively connected to the master handle switch.

9. A method for controlling the movement of a road roller, characterized in that, The control method is applied to the control system for the travel of the road roller as described in any one of claims 1-8, and the control method includes: The control device acquires the braking information of the road roller and the target handle currently used by the road roller, generates an acquisition command based on the target handle and sends it to the handle device, receives the current handle position of the target handle sent by the handle device, and generates a driving control command for the road roller based on the braking information and the current handle position of the target handle, and sends the driving control command for the road roller to the solenoid valve device. The control handle device receives an acquisition command sent by the control device, acquires the current handle position of the target handle based on the acquisition command, and sends the current handle position of the target handle to the control device. The control solenoid valve device receives the driving control command of the road roller sent by the control device, and performs corresponding driving control on the road roller according to the driving control command; The control method further includes: The control device detects whether the braking information indicates that the road roller is in a braking state. If so, it generates a power-off control command and sends it to the braking solenoid valve. If the braking information indicates that the road roller is in a released braking state, it generates a power-on control command and sends it to the braking solenoid valve. The control system receives a power-off control command from the control device and controls the brake solenoid valve to de-energize based on the power-off control command; it also receives a power-on control command from the control device and controls the brake solenoid valve to energize based on the power-on control command. After the control device powers on the brake solenoid valve, if the current handle position of the target handle is not in the neutral position, it controls the road roller not to move; if the current handle position of the target handle returns to the neutral position and is updated to the forward or backward position, it controls the road roller to move forward or backward according to the current handle position of the target handle.

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