Articulated unmanned roller construction robot and working method thereof

Abstract

The application discloses a hinged unmanned rolling construction robot and a working method thereof, and relates to the field of robots.The robot comprises an electric road roller chassis, a posture measuring unit, a sensor and a communication unit, a power unit, a control and motor driving unit and a power supply unit.The posture measuring unit measures the posture of the road roller.The sensor and the communication unit collect the driving data of the road roller and complete information interaction.The power unit provides the road roller with forward and steering power and drives the road roller to complete construction.The control and motor driving unit controls the power unit to complete forward and steering movement.The power supply unit supplies power to the posture measuring unit, the sensor and the communication unit, the power unit and the control and motor driving unit.The unmanned rolling construction robot is small in size and light in weight, can be used to conduct unmanned rolling construction algorithm experiments in a laboratory indoor environment, reduces the working strength of researchers and engineers, improves the research and development efficiency and reduces the research and development cost.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to an articulated unmanned compaction construction robot and its working method. Background Technology

[0002] To improve the quality and efficiency of road construction and address the problems encountered in vibratory roller operation, it is necessary to design and develop unmanned vibratory rollers. Unmanned rollers can operate 24 hours a day without interruption, improving construction efficiency while reducing driver fatigue and safety risks. Furthermore, unmanned rollers can enhance construction safety through multi-level safety precautions and real-time monitoring. Examples include the following solutions:

[0003] 1. The invention patent with publication number CN116164740A, "A Multi-Sensor Fusion Multi-Scenario Unmanned Vibratory Roller", uses a sensor fusion positioning method with GPS, RGB camera, wheel odometer, inertial measurement unit and other sensors to enable the unmanned driving mode of the roller to be switched, which is suitable for unmanned high-precision compaction operations in a variety of scenarios.

[0004] 2. The invention patent CN110499696A, entitled "An Autonomous Road Construction Robot," employs a control system that takes over the circuit control signals of the road roller to achieve automatic driving. This enables both remote control operation and automated operation under human planning. In addition, there are similar unmanned road roller technologies, such as: the invention patent CN105002810A, entitled "A Compaction Robot"; the utility model patent CN211340302U, entitled "Unmanned Road Roller Compaction System"; and the invention patent CN113512924A, entitled "An External Road Roller Unmanned Assisted Driving System," etc.

[0005] The existing verification schemes for unmanned road roller systems mainly include the following:

[0006] 1. Simulation Verification: The control algorithm is simulated on a computer using third-party simulation software (such as ADAMS, EDEMS, etc.). Running the simulation software allows the algorithm to run in a virtual environment, thus verifying the feasibility of the unmanned compaction construction control algorithm. The advantages of this verification method are minimal environmental limitations, easy parameter adjustment, and high development efficiency; the disadvantage is that if the parameters are not set precisely enough, the simulation will deviate significantly from the real environment, resulting in lower reliability.

[0007] 2. Small-Scale Model Verification: A small-scale road roller model is modified by adding sensors, communication components, power sources, etc. The control algorithm is written into a microcontroller and run, and its reliability is verified in a laboratory environment. The advantages of this verification method are that the verification environment is a real-world environment, improving reliability compared to simulation, and reducing development costs compared to modifying a physical machine. The disadvantages are that if the power source uses electric components while the actual vehicle uses hydraulic components, the electric components have a fast response speed and low latency, while the hydraulic components have a slow response speed and high latency. Therefore, the reliability of the control algorithm is not high when transferred to the actual vehicle. Furthermore, using hydraulic components significantly increases the model size and overall vehicle cost.

[0008] 3. Real-world modification and verification: Existing road rollers are modified by incorporating the control algorithm into an industrial control computer. This computer then controls the roller's steering wheel, throttle, and other functions in real time. Wireless communication equipment is installed, and the program runs and interacts with the host computer to verify the feasibility of the unmanned compaction control algorithm. The advantages of this verification method are its realistic environment and high reliability; the disadvantages are high development costs, limitations imposed by the testing site, and relatively low development efficiency.

[0009] Therefore, how to overcome the shortcomings of existing verification schemes for unmanned road roller systems and provide a low-cost, high-reliability unmanned compaction robot to provide a verification platform for the control algorithm of unmanned road rollers is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0010] In view of this, the present invention provides an articulated unmanned compaction construction robot and its working method, which solves the problems existing in the background technology.

[0011] To achieve the above objectives, the present invention provides the following technical solution:

[0012] An articulated unmanned compaction construction robot includes: an electric roller chassis and an attitude measurement unit, a sensor and communication unit, a power unit, a control and motor drive unit, and a power supply unit mounted on the electric roller chassis.

[0013] Attitude measurement unit, used to measure the attitude of the road roller;

[0014] Sensors and communication units are used to collect the driving data of the road roller and complete information exchange;

[0015] The power unit provides the road roller with forward and steering power, driving the road roller to complete the construction.

[0016] The control and motor drive unit is used to control the power unit to complete the forward and turning movements of the road roller;

[0017] The power supply unit is connected to the attitude measurement unit, sensor and communication unit, power unit, and control and motor drive unit to provide electrical energy.

[0018] Optionally, the electric roller chassis includes: a front frame, a front support frame, front steel wheels, a rear support frame, and a rear chassis;

[0019] The front frame is connected to the front steel wheel by an axle; the front support is fixed to the upper end of the front frame; the rear end of the front frame is hinged to the front end of the rear chassis; the rear support is rigidly connected to the rear chassis, and the rear support is divided into three layers.

[0020] Optionally, the attitude measurement unit includes: a front vehicle attitude measurement unit and a rear vehicle attitude measurement unit;

[0021] The front vehicle attitude measurement unit is fixed on the front vehicle bracket and is used to measure the attitude of the front vehicle of the road roller; the rear vehicle attitude measurement unit is fixed on the top layer of the rear vehicle bracket and is used to measure the attitude of the rear vehicle of the road roller.

[0022] Optionally, the sensors and communication units include: ultrasonic sensors, UWB tags, UWB base stations, communication antennas, airborne human-machine interface panels, and central control platforms;

[0023] Ultrasonic sensors are fixed to the front sides of the front frame to detect obstacles ahead;

[0024] The UWB tag is fixed to the front of the front frame, and the UWB tag works with the UWB base station to provide the control algorithm for positioning the road roller;

[0025] The communication antenna and the onboard human-machine interface panel are located on the top layer of the rear vehicle bracket, and are used to interact with the central control platform to complete the tasks of issuing commands and collecting data.

[0026] Optionally, the power unit includes a gear drive system and a gear steering system, both located above the rear chassis;

[0027] The gear drive system includes a first reduction gear, a drive shaft, a second reduction gear, and a DC motor. The output shafts between the first reduction gear and the drive shaft, between the drive shaft and the tire, and between the second reduction gear and the DC motor are all rigidly connected. The first reduction gear and the second reduction gear mesh, and the DC motor, drive shaft, and tire are connected in sequence.

[0028] The gear steering system includes a stepper motor and a front gear, which meshes with a gear mounted on the output shaft of the stepper motor.

[0029] Optionally, the control and motor drive unit includes: a main control board and a low-level controller;

[0030] The main control board is installed in the middle layer of the rear bracket to receive sensor and communication signals and use control algorithms to send control commands to the underlying controller.

[0031] The bottom controller is located at the bottom of the rear support frame and is used to control the power unit to complete the forward and steering movements of the road roller according to the control instructions of the main control board.

[0032] Optionally, the power supply unit includes a battery and a power management module, both located in the middle layer of the rear support frame, which provide power sources of different voltages to the attitude measurement unit, sensor and communication unit, power unit, control and motor drive unit and count the energy consumption of the actuators.

[0033] A method for operating an articulated unmanned compaction construction robot as described above includes:

[0034] The steering actuator of the road roller is simplified into a first-order inertial element mathematical model;

[0035] Collect data from the hydraulic actuators of a real road roller;

[0036] The parameters of the mathematical model of the first-order inertial unit are identified using data from the hydraulic actuator. After obtaining the complete model, it is introduced into the underlying controller.

[0037] The top-level planning and control algorithms are imported into the main control board and the operation tasks and operation paths are issued through the central control platform. Tracking data is collected during the tracking control process of the unmanned compaction construction robot and uploaded to the central control platform through the communication antenna.

[0038] By collecting and comparing operational data from multiple sets of different control algorithms, the most suitable tracking algorithm and parameters are determined.

[0039] Optionally, the calculation method for the mathematical model of the first-order inertial unit is as follows:

[0040]

[0041] In the formula: ang(k) represents the target steering angle of the steering stepper motor; i represents the stepper motor steering gear reduction ratio; K represents the inertial gain of the first-order inertial steering unit; δt represents the sampling time interval; γ(k) represents the target hinge angle; T represents the time constant of the first-order inertial steering unit; ang(k-1) represents the target steering angle of the stepper motor at the previous moment.

[0042] As can be seen from the above technical solution, compared with the prior art, the present invention provides an articulated unmanned compaction construction robot and its working method. The robot is small in size and light in weight, and can be used to conduct unmanned compaction construction algorithm experiments in a laboratory environment. It can be used for preliminary algorithm verification, reducing the workload of R&D personnel and engineers, improving R&D efficiency, and reducing R&D costs. Specific optimization effects are as follows:

[0043] (1) This invention uses a first-order inertial model plus a pure electric scheme to replace the expensive hydraulic system and components. This not only reflects the characteristics of slow execution and high delay of the actual vehicle hydraulic components, but also improves the reliability of algorithm verification and saves costs.

[0044] (2) The present invention adopts UWB ultra-wideband indoor positioning scheme, which is more adaptable to the experimental site, has higher positioning accuracy and stronger anti-interference ability compared with GPS positioning.

[0045] (3) The present invention uses a variety of sensors to evaluate the state of the robot during the tracking process from multiple angles, thereby making targeted improvements to the tracking algorithm, planning algorithm, etc. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0047] Figure 1 A schematic diagram of the overall structure of the articulated unmanned compaction construction robot provided by the present invention;

[0048] Figure 2 A front view of the articulated unmanned compaction construction robot provided by the present invention;

[0049] Figure 3 Internal structural diagram of the power unit provided for this invention;

[0050] Figure 4 This is a schematic diagram of the communication structure provided by the present invention;

[0051] Figure 5 This is a schematic diagram of an electrical signal network provided by the present invention;

[0052] Figure 6 A schematic diagram of the steering logic provided by the present invention;

[0053] Reference numerals: 1-Front frame, 2-Ultrasonic sensor, 3-UWB tag, 4-Front vehicle bracket, 5-Front vehicle attitude measurement unit, 6-Front steel wheel, 7-Communication antenna, 8-Rear vehicle attitude measurement unit, 9-Battery, 10-Power management module, 11-Airborne human-machine interface panel, 12-Main control board, 13-Rear vehicle bracket, 14-Underlying controller, 15-Rear vehicle chassis, 16-Gear drive system, 16.1-First reduction gear, 16.2-Drive shaft, 16.3-Second reduction gear, 16.4-DC motor, 17-Tire, 18-Gear steering system, 18.1-Front vehicle gear, 18.2-Stepper motor, 19-UWB base station, 20-Central control platform. Detailed Implementation

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

[0055] To overcome the shortcomings of existing technologies, this invention provides a low-cost, high-reliability unmanned compaction construction robot, offering a verification platform for unmanned road roller control algorithms. Throughout the algorithm verification process, it is only necessary to arrange the experimental site as follows... Figure 1 As shown, the control algorithm is uploaded and the operation instructions are sent out. The motor drives a small-scale road roller to compact the road, and the driving data is collected by the sensors to verify the control algorithm of the unmanned road roller.

[0056] In this embodiment, refer to Figures 1-5 Specifically, an articulated unmanned compaction construction robot is disclosed, including: an electric roller chassis and an attitude measurement unit, a sensor and communication unit, a power unit, a control and motor drive unit, and a power supply unit installed on the electric roller chassis.

[0057] Attitude measurement unit, used to measure the attitude of the road roller;

[0058] Sensors and communication units are used to collect the driving data of the road roller and complete information exchange;

[0059] The power unit provides the road roller with forward and steering power, driving the road roller to complete the construction.

[0060] The control and motor drive unit is used to control the power unit to complete the forward and turning movements of the road roller;

[0061] The power supply unit is connected to the attitude measurement unit, sensor and communication unit, power unit, and control and motor drive unit to provide electrical energy.

[0062] Furthermore, the electric roller chassis includes: a front frame 1, a front support 4, a front steel wheel 6, a rear support 13, and a rear chassis 15; the front frame 1 and the front steel wheel 6 are connected by an axle; the front support 4 is fixed to the upper end of the front frame 1; the rear end of the front frame 1 is hinged to the front end of the rear chassis 15; the rear support 13 is rigidly connected to the rear chassis 15 and is used to carry various sensors and control systems, and the rear support 13 is divided into three layers.

[0063] Furthermore, the attitude measurement unit includes: a front vehicle attitude measurement unit 5 and a rear vehicle attitude measurement unit 8; the front vehicle attitude measurement unit 5 is fixed on the front vehicle support 4 and is used to measure the attitude of the front vehicle of the road roller; the rear vehicle attitude measurement unit 8 is fixed on the uppermost layer of the rear vehicle support 13 and is used to measure the attitude of the rear vehicle of the road roller.

[0064] Furthermore, the sensor and communication unit includes: ultrasonic sensor 2, UWB tag 3, UWB base station 19, communication antenna 7, onboard human-machine interface panel 11, and central control platform 20; ultrasonic sensor 2 is fixed on both sides of the front of the front frame 1 to sense obstacles in front and achieve parking obstacle avoidance; UWB tag 3 is fixed in front of the front of the front frame 1, and UWB tag 3 works with UWB base station 19 to provide control algorithms for positioning the road roller; communication antenna 7 and onboard human-machine interface panel 11 are both located on the top layer of the rear frame 13, and are used to interact with the central control platform 20 to complete tasks such as command issuance and data collection.

[0065] Furthermore, the power unit includes a gear drive system 16 and a gear steering system 18, both located above the rear chassis 15;

[0066] The gear drive system 16 includes a first reduction gear 16.1, a drive shaft 16.2, a second reduction gear 16.3, and a DC motor 16.4. The output shafts between the first reduction gear 16.1 and the drive shaft 16.2, between the drive shaft 16.2 and the tire 17, and between the second reduction gear 16.3 and the DC motor 16.4 are all rigidly connected. The first reduction gear 16.1 and the second reduction gear 16.3 mesh. The DC motor 16.4, the drive shaft 16.2, and the tire 17 are connected in sequence. The power of the DC motor 16.4 is transmitted to the drive shaft 16.2 and drives the vehicle body forward through the tire 17.

[0067] The gear steering system 18 includes a stepper motor 18.1 and a front gear 18.2. The front gear 18.2 meshes with a gear mounted on the output shaft of the stepper motor 18.1, which enables vehicle steering.

[0068] Furthermore, the control and motor drive unit includes: a main control board 12 and a bottom controller 14; the main control board 12 is installed in the middle layer of the rear support 13, and is used to receive sensor and communication signals, and to issue control commands to the bottom controller 14 using control algorithms; the bottom controller 14 is located at the bottom layer of the rear support 13, and is used to control the power unit to complete the forward and turning movements of the road roller according to the control commands of the main control board 12.

[0069] Furthermore, the power supply unit includes a battery 9 and a power management module 10, both located in the middle layer of the rear support 13, which are used to provide power sources of different voltages to the attitude measurement unit, sensor and communication unit, power unit, control and motor drive unit and to count the energy consumption of the actuators.

[0070] This embodiment also provides a working method for the articulated unmanned compaction construction robot as described above, including:

[0071] The steering actuator of the road roller is simplified into a first-order inertial element mathematical model;

[0072] Collect data from the hydraulic actuators of a real road roller;

[0073] The parameters of the first-order inertial unit mathematical model are identified using hydraulic actuator data. After obtaining the complete model, the underlying controller 14 is introduced.

[0074] The top-level planning and control algorithm is imported into the main control board 12 and the operation tasks and operation paths are issued through the central control platform 20 to realize the tracking control of the unmanned compaction construction robot. During this process, tracking data is collected and uploaded to the central control platform 20 through the communication antenna 7. The tracking data includes: tracking curve, vehicle posture, front and rear vehicle body hinge angle, tracking energy consumption, etc.

[0075] By collecting and comparing operational data from multiple sets of different control algorithms, the most suitable tracking algorithm and parameters are determined, providing a highly reliable reference for the next stage of practical experiments.

[0076] The attitude adjustment logic of the articulated unmanned crushing robot is as follows: Figure 6 As shown, the top-level tracking algorithm takes into account the UWB tag positioning coordinates x(k) and y(k) collected at this moment, and the headings θ of the preceding and following vehicles. r (k), θ f (k) and the coordinates x of the target construction path c y c The target hinge angle γ(k) is output. The target hinge angle γ(k) is fed into the lower-level controller, which calculates the target steering angle ang(k) of the steering stepper motor using a first-order inertial unit. The lower-level controller then controls the steering stepper motor to execute the control angle to achieve robot steering. The calculation method of the first-order inertial unit mathematical model in this embodiment is as follows:

[0077]

[0078] In the formula: ang(k) represents the target steering angle of the steering stepper motor; i represents the stepper motor steering gear reduction ratio; K represents the inertial gain of the first-order inertial steering unit; δt represents the sampling time interval; γ(k) represents the target hinge angle; T represents the time constant of the first-order inertial steering unit; ang(k-1) represents the target steering angle of the stepper motor at the previous moment.

[0079] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0080] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An articulated unmanned compaction construction robot, characterized in that, include: The electric roller chassis and the attitude measurement unit, sensor and communication unit, power unit, control and motor drive unit and power supply unit installed on the electric roller chassis; Attitude measurement unit, used to measure the attitude of the road roller; Sensors and communication units are used to collect the driving data of the road roller and complete information exchange; The power unit provides the road roller with forward and steering power, driving the road roller to complete the construction. The control and motor drive unit is used to control the power unit to complete the forward and turning movements of the road roller; The power supply unit is connected to the attitude measurement unit, sensor and communication unit, power unit, and control and motor drive unit to provide electrical energy. The working method of the above-mentioned articulated unmanned compaction construction robot includes the following steps: The steering actuator of the road roller is simplified into a first-order inertial element mathematical model; Collect data from the hydraulic actuators of a real road roller; The parameters of the mathematical model of the first-order inertial unit are identified using data from the hydraulic actuator. After obtaining the complete model, it is introduced into the underlying controller. The top-level planning and control algorithms are imported into the main control board and the operation tasks and operation paths are issued through the central control platform. Tracking data is collected during the tracking control process of the unmanned compaction construction robot and uploaded to the central control platform through the communication antenna. By collecting and comparing operational data from multiple sets of different control algorithms, the most suitable tracking algorithm and parameters are determined. The calculation method for the mathematical model of the first-order inertial unit is as follows: In the formula: ang(k) represents the target steering angle of the steering stepper motor; i represents the stepper motor steering gear reduction ratio; K represents the inertial gain of the first-order inertial steering unit; δt represents the sampling time interval; γ(k) represents the target hinge angle; T represents the time constant of the first-order inertial steering unit; ang(k-1) represents the target steering angle of the stepper motor at the previous moment.

2. The articulated unmanned compaction construction robot according to claim 1, characterized in that, The chassis of an electric road roller includes: a front frame, a front support frame, front steel wheels, a rear support frame, and a rear chassis; The front frame is connected to the front steel wheel by an axle; the front support is fixed to the upper end of the front frame; the rear end of the front frame is hinged to the front end of the rear chassis; the rear support is rigidly connected to the rear chassis, and the rear support is divided into three layers.

3. The articulated unmanned compaction construction robot according to claim 2, characterized in that, The attitude measurement unit includes: a front vehicle attitude measurement unit and a rear vehicle attitude measurement unit; The front vehicle attitude measurement unit is fixed on the front vehicle bracket and is used to measure the attitude of the front vehicle of the road roller; the rear vehicle attitude measurement unit is fixed on the top layer of the rear vehicle bracket and is used to measure the attitude of the rear vehicle of the road roller.

4. The articulated unmanned compaction construction robot according to claim 2, characterized in that, The sensor and communication unit includes: ultrasonic sensor, UWB tag, UWB base station, communication antenna, airborne human-machine interface panel, and central control platform; Ultrasonic sensors are fixed to the front sides of the front frame to detect obstacles ahead; The UWB tag is fixed to the front of the front frame, and the UWB tag works with the UWB base station to provide the control algorithm for positioning the road roller; The communication antenna and the onboard human-machine interface panel are located on the top layer of the rear vehicle bracket, and are used to interact with the central control platform to complete the tasks of issuing commands and collecting data.

5. The articulated unmanned compaction construction robot according to claim 2, characterized in that, The power unit includes a gear drive system and a gear steering system, both located above the rear chassis. The gear drive system includes a first reduction gear, a drive shaft, a second reduction gear, and a DC motor. The output shafts between the first reduction gear and the drive shaft, between the drive shaft and the tire, and between the second reduction gear and the DC motor are all rigidly connected. The first reduction gear and the second reduction gear mesh, and the DC motor, drive shaft, and tire are connected in sequence. The gear steering system includes a stepper motor and a front gear, which meshes with a gear mounted on the output shaft of the stepper motor.

6. The articulated unmanned compaction construction robot according to claim 2, characterized in that, The control and motor drive unit includes: main control board and underlying controller; The main control board is installed in the middle layer of the rear bracket to receive sensor and communication signals and use control algorithms to send control commands to the underlying controller. The bottom controller is located at the bottom of the rear support frame and is used to control the power unit to complete the forward and steering movements of the road roller according to the control instructions of the main control board.

7. The articulated unmanned compaction construction robot according to claim 2, characterized in that, The power supply unit includes a battery and a power management module, both located in the middle layer of the rear support frame. These modules provide different voltage power sources to the attitude measurement unit, sensor and communication unit, power unit, control and motor drive unit, and monitor actuator energy consumption.

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