Control method and system for unmanned cluster construction

Abstract

The invention relates to an unmanned cluster construction control method and system, and the method comprises the steps: obtaining basic data; calculating the track number of the road rollers in a single work area based on the basic data, and performing route planning of the road rollers in the single work area on each track; path planning of the road roller in multiple work areas and in the transition process is carried out based on the path planning of the road roller in the single work area, and track planning is generated; the real-time data of the road roller for executing the track planning is obtained, and the synchronous forward and backward cooperative control is carried out based on the real-time data, and the system is used for realizing the method and the road roller control. Compared with the prior art, multi-module unmanned cluster construction control is integrated, path planning and cooperative control are achieved at the same time, and cooperative operation of multiple devices is achieved on the premise that the construction precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery and automation, and in particular to a control method and system for unmanned cluster construction. Background Art

[0002] In recent years, although my country's road construction technology has made great progress, the quality of some projects is still limited by geological conditions and traditional construction methods, and there are problems such as difficult quality control and low efficiency. With the rapid development of the Internet and information technology, the road construction industry has ushered in a transformation of intelligent management. Through the "smart construction site" to achieve refined management, it will effectively improve the level of safe production and scientific management, thereby gradually improving the problems of low efficiency, information lag, and major safety hazards in traditional construction.

[0003] The road construction industry is currently facing many challenges: the harsh construction environment not only affects the difficulty of construction, but also poses a threat to the health and safety of workers. The quality control efficiency under the traditional management model is inefficient, which affects the durability and service life of the project. At the same time, frequent safety accidents, staff shortages and rising labor costs have further promoted the industry's transformation to automation. At present, the application of automation and Internet of Things technology is driving the road construction and maintenance process towards automated operation and remote monitoring of equipment, significantly improving construction efficiency and accuracy, and reducing dependence on manual labor. Through the data collection and real-time transmission of sensors, intelligent management can be achieved, which helps scientific decision-making and efficient maintenance. At the same time, the integration of the industrial Internet provides strong technical support for the high-quality development of the construction machinery industry.

[0004] In this context, the country vigorously promotes the construction of intelligent roads, encourages the introduction of intelligent and automated equipment to improve construction efficiency, optimize quality control and reduce safety risks, and brings broad development prospects to the industry. This transformation not only alleviates the pressure of employment and reduces costs, but also promotes road construction to move towards efficiency, safety and advancement. However, there are still some technical difficulties in the collaborative operation of multiple unmanned driving equipment: 1) Path planning and trajectory control: In actual construction, different rollers often require independent trajectories in the operating area, and at the same time they cannot interfere with each other. Traditional path planning methods cannot ensure accurate trajectory control while ensuring the efficient operation of multiple devices; 2) Real-time monitoring and collaborative control: When multiple devices are working synchronously, due to speed differences or path deviations, there may be a risk of collision between devices. Traditional control systems are difficult to achieve real-time monitoring and dynamic adjustment of multiple devices; 3) Environmental complexity: In complex construction environments, obstacle detection and avoidance control are crucial. Traditional manual driving has a high accident rate and it is difficult to ensure construction safety. Therefore, an automated detection and obstacle avoidance method based on a simulation environment is needed to meet the dynamic obstacle avoidance requirements under unmanned driving conditions.

[0005] In summary, the existing technology still has significant deficiencies in path planning, collaborative control and real-time monitoring of multiple devices. There is an urgent need for an integrated multi-module unmanned cluster construction control method to improve the safety, accuracy and efficiency of construction. Summary of the invention

[0006] The purpose of the present invention is to provide a control method and system for unmanned cluster construction in order to overcome the defects of the above-mentioned prior art. By integrating trajectory generation, task allocation, construction simulation, real-time monitoring and obstacle detection and collaborative control modules, an efficient and intelligent unmanned cluster construction solution is constructed, which significantly improves the degree of automation and safety of construction.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] According to a first aspect of the present invention, a control method for unmanned cluster construction is provided, characterized in that the method comprises:

[0009] Acquiring basic data, wherein the basic data includes coordinate points of construction area boundaries, initial state of the roller, parameters of the roller, construction requirements, and division of work areas;

[0010] Calculate the number of tracks of the road roller in a single work area based on the basic data and perform route planning for the road roller in a single work area for each track;

[0011] Based on the route planning of the road roller in a single work area, path planning of the road roller in multiple work areas and during the transfer process is performed to generate trajectory planning;

[0012] The real-time data of the roller executing the trajectory planning is obtained, and "synchronous forward and backward" collaborative control is performed based on the real-time data. The real-time data includes the moving direction of the roller, the executed trajectory coordinate points and the total number of coordinate points in the trajectory planning.

[0013] As a preferred technical solution, the method for calculating the number of tracks of the road roller in a single work area is:

[0014] Based on the roller parameters, the compaction width, overlap width and roller width are obtained, and the number of tracks is calculated, and the expression is:

[0015]

[0016] Where Nt represents the number of trajectories, W represents the compaction width, and W o Indicates the overlap width, W r Indicates the width of the roller.

[0017] As a preferred technical solution, the method for planning the route of a road roller in a single work area is:

[0018] Construct the third-order Belset curve of each trajectory, which is expressed as follows:

[0019] B(x)=(1-x) 3 P 0 +3(1-x) 2 xP 1 +3(1-x)x 2 P 2 +x 3 P 3

[0020] Among them, P 0 Indicates that the control starting point in the curve trajectory is a known value, P 1 and P 2 Indicates that the intermediate control point in the curve trajectory is an unknown value, P 3 Indicates that the control end point in the curve trajectory is a known value, and x represents the position parameter;

[0021] The intermediate control point is calculated based on the initial state of the roller and the construction requirements, and its expression is:

[0022]

[0023] Among them, (x 1 ,y 1 ) represents the intermediate control point P 1 ,(x 2 ,y 2 ) represents the intermediate control point P 2 , x 0 and 0 Indicates the coordinate point value of the control starting point, x 3 and 3 represents the coordinate point value of the control end point, q represents the adjustable parameter, represents the initial angle of the roller, Indicates the target steering angle of the roller;

[0024] The third-order Belset curve of each trajectory is calculated based on the intermediate control points obtained by the calculation, that is, the path planning in a single work area.

[0025] As a preferred technical solution, the method for generating trajectory planning is:

[0026] The route planning of the road roller in the single work area is performed by using the improved RRT* algorithm to avoid obstacles and optimize the processing to generate an initial path planning scheme;

[0027] De Brun curves are used to define direction constraints for the starting point and the end point of each path in the initial path planning scheme, and the direction constraints are used to ensure that the directions of the starting point and the end point of the path are consistent during the transition process, thereby obtaining an intermediate path planning scheme;

[0028] B-spline curves are used to smooth each path in the intermediate path planning scheme, and discrete path coordinate points are converted into continuous paths.

[0029] As a preferred technical solution, the generation of trajectory planning further includes: constructing kinematic constraints and maximum curvature constraints to guide the generation of trajectory planning, wherein the kinematic constraints are:

[0030]

[0031] in, represents the motion minimum constraint, θ max represents the maximum value of the vehicle's articulation angle, v represents the vehicle's speed, R min Indicates the minimum turning radius of the equipment;

[0032] The calculation expression of the maximum curvature limit is:

[0033]

[0034] Where a and b represent the distances from the front and rear axles of the roller to the articulation point, and θ represents the articulation angle.

[0035] As a preferred technical solution, the method for performing "synchronous forward and backward" collaborative control includes:

[0036] Calculating the trajectory execution rate based on the executed trajectory coordinate points and the total number of coordinate points in the trajectory planning, and estimating the priority direction of each roller in the construction area at the next moment in combination with the moving direction of the roller;

[0037] Constructing same-direction sets and different-direction sets based on the priority directions;

[0038] Extract the rollers corresponding to the conflicting priority directions from the same-direction set and the different-direction set to construct a conflict set;

[0039] Control the rollers in the same direction set, different direction set and conflicting set in batches.

[0040] As a preferred technical solution, the method for constructing a conflict set is:

[0041] For each roller in the same direction set and the opposite direction set, a rectangular area is constructed based on the length and width of the roller;

[0042] Based on the rectangular area, it is determined whether each roller in the same direction set overlaps with the rectangular area of ​​any roller in the different direction set;

[0043] If there is a conflict between the two rollers, the two rollers with conflict are named conflict pairs. 1 ,R 2 ], where R 1 represents the conflicting pair of rollers concentrated in the same direction, R 2 represents the rollers in the conflicting pairs with different directions, and R 2 Store in the conflict set; if not, it means there is no conflict.

[0044] As a preferred technical solution, the method for controlling the rollers in the same direction set, different direction set and conflicting set in batches is:

[0045] Obtaining the trajectory execution rate of each roller in the same direction set, controlling the rollers with trajectory execution rates less than 100% to execute tasks according to the trajectory planning, and stopping the rollers with trajectory execution rates equal to 100%;

[0046] Control all rollers in the non-directional concentrated area to suspend their tasks and analyze the priority direction of each roller in real time until the priority direction is consistent with the priority direction of the rollers in the same direction concentrated area, determine their trajectory execution rate, and perform the same control as the rollers in the same direction concentrated area based on the trajectory execution rate;

[0047] The overlapping area of ​​the conflicting pair is calculated and a safety distance is set, the trajectory execution rate of the two rollers in the conflicting pair is calculated based on the safety distance, and the control instruction is generated based on the trajectory execution rate of the two rollers in the conflicting pair.

[0048] As a preferred technical solution, the method for generating control instructions is:

[0049] Calculate the first trajectory execution rate and the second trajectory execution rate at the conflict-safe distance;

[0050] When R 2 When the execution rate of the trajectory is equal to the execution rate of the second trajectory, control R 2 Pause until R 1 The trajectory execution rate is equal to 100% control R 1 Pause and set R 2 Transfer to the heterogeneous set;

[0051] When R 2 The execution rate of the trajectory is greater than the execution rate of the second trajectory and R 1 When the trajectory execution rate is less than the first trajectory execution rate, control R 1 and R 2 Continue to execute the task until R 1 When the trajectory execution rate is equal to the first trajectory execution rate, control R1 Pause until R 2 When leaving the overlapping area and the priority direction is switched, R 1 and R 2 Transfer to the same direction set and / or different direction set;

[0052] When R 2 The execution rate of the trajectory is greater than the execution rate of the second trajectory and R 1 When the trajectory execution rate is greater than the first trajectory execution rate, a warning message is generated for human intervention.

[0053] According to a second aspect of the present invention, there is provided an unmanned cluster construction control system, the system being used to implement the above method, comprising:

[0054] Data input module: used to collect basic data, including construction area boundary coordinate points, roller initial state, roller parameters, construction requirements and work area division, and process them;

[0055] Trajectory generation module: based on the basic data collected by the data input module, generates trajectory planning files for a single work area, multiple work areas and a transition process, wherein the trajectory planning files include trajectory point coordinates and the speed, travel direction and vibration mode of the roller at the trajectory point;

[0056] Task allocation module: used to generate real-time task allocation information according to the basic data, and generate a roller operation plan in combination with the trajectory file;

[0057] Construction simulation module: used to simulate the process of the roller executing the operation plan, and to monitor the progress of the roller task and the accuracy of the trajectory file in real time;

[0058] Real-time monitoring and obstacle detection module: used to monitor the roller's running track and obstacles in the track in real time, trigger emergency braking commands, and generate path adjustment commands based on the running track and track files;

[0059] Collaborative control module: used to generate "synchronous forward and backward" collaborative control instructions;

[0060] Controller: used to receive the operation plan, path adjustment instructions and coordinated control instructions, control the roller to execute and feedback the execution status.

[0061] Compared with the prior art, the present invention has the following advantages:

[0062] 1) The present invention provides an unmanned construction method integrating path planning and collaborative control, which realizes efficient automation and ensures the safety of multiple devices and their simultaneous operation. Path planning is first performed in a single work area, and then path planning is performed under complex working conditions such as multiple work areas and transfers. At the same time, regional optimization and global optimization are achieved; through the "synchronous forward and backward" control strategy, the collaborative control module can effectively avoid the risk of collision between devices and ensure the smooth collaborative operation of multiple devices;

[0063] 2) The system provided by the present invention has intelligent monitoring, and according to the results of the intelligent monitoring, the entire system can achieve adaptive optimization and adjustment to ensure high efficiency of the work. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is a flow chart of the method of the present invention;

[0065] Figure 2 A schematic diagram of the construction path planning of the cubic Bezier curve of the present invention;

[0066] Figure 3 It is a schematic diagram of the conflict area of ​​the present invention;

[0067] Figure 4 The kinematic model of the double steel wheel roller of the present invention;

[0068] Figure 5 This is a flow chart of the "synchronous forward and backward" collaborative control strategy of the present invention;

[0069] Figure 6 It is a schematic diagram of the system structure of the present invention. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0071] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0072] Example 1

[0073] This embodiment provides a control method for unmanned cluster construction, the process of which is as follows: Figure 1 As shown, including:

[0074] S1. Obtain basic data, wherein the basic data includes coordinate points of construction area boundaries, initial state of rollers, roller parameters, construction requirements, and work area divisions.

[0075] S2. Calculate the number of tracks of the road roller in a single work area based on the basic data and perform route planning for the road roller in a single work area for each track.

[0076] S21, based on the roller parameters, the compaction width, the overlap width and the roller width are obtained, and the number of tracks is calculated, and the expression is:

[0077]

[0078] Where Nt represents the number of trajectories, W represents the compaction width, and W o Indicates the overlap width, W r Indicates the width of the roller.

[0079] S22. Plan the route of the road roller in a single work area for each track.

[0080] A Bezier curve is a curve surrounded by a polygon with control points as vertices. In space, if there are n+1 polygons consisting of P i (i=0,1,2,...,n) represents the control points, then the Bezier curve equation formed by these control points can be expressed as:

[0081]

[0082] Among them, x is the position parameter, is the binomial coefficient.

[0083] This embodiment uses a third-order Bezier curve to perform route planning for a road roller in a single work area for each trajectory. The schematic diagram of this step is shown in FIG. Figure 2 As shown, including:

[0084] S221. Construct the third-order Belset curve for each trajectory, whose expression is as follows:

[0085] B(x)=(1-x) 3 P 0 +3(1-x) 2 xP 1 +3(1-x)x 2 P 2 +x 3 P 3

[0086] Among them, P 0 Indicates that the control starting point in the curve trajectory is a known value, P 1 and P 2 Indicates that the intermediate control point in the curve trajectory is an unknown value, P 3 Indicates that the control end point in the curve trajectory is a known value, and x represents the position parameter;

[0087] S222. Calculate the intermediate control point based on the initial state of the roller and the construction requirements, and the expression is:

[0088]

[0089] Among them, (x 1 ,y 1 ) represents the intermediate control point P 1 ;(x 2 ,y 2 ) represents the intermediate control point P 2 ;x 0 and 0 Indicates the coordinate point value of the control starting point; x 3 and 3 Indicates the coordinate point value of the control end point; q indicates an adjustable parameter used to refine the curve shape to ensure that the turning radius requirements of the roller are met; Indicates the initial angle of the roller; Indicates the target steering angle of the roller.

[0090] S223. Calculate the third-order Belset curve of each trajectory based on the calculated intermediate control points, i.e., the path planning in a single work area, including work area number, roller number, trajectory point number, expected time, GPS coordinates, expected speed, motion state (including forward, backward or stationary), distance between trajectory points, etc. Preferably, for a straight trajectory, the spacing of the trajectory points is set to 20 cm, and the spacing of the curved trajectory points is set to 5 cm to ensure tracking accuracy.

[0091] S3. Based on the route planning of the roller in a single work area, the path planning of the roller in multiple work areas and during the transfer process is performed to generate a trajectory planning.

[0092] S31. The improved RRT* algorithm is used to generate an initial path planning scheme for the route planning of the road roller in a single work area through obstacle avoidance and optimization processing. The improved RRT* algorithm is used to generate an optimal preliminary path that avoids obstacles. By introducing a target biased sampling strategy, the random tree is expanded to approach the target area first, thereby significantly improving the convergence speed of the path search. By optimizing the path reconnection mechanism and removing redundant path segments, the generated path is ensured to be globally optimal, and the iteration strategy is dynamically adjusted to reduce the computational complexity of the path search, thereby improving the planning efficiency.

[0093] S32. To ensure that the attitude and direction of the roller at the starting and ending points of the path meet the construction requirements, the De Brun curve is used to define the direction constraints for the starting and ending points of each path in the initial path planning scheme. The direction constraints are used to ensure that the directions of the starting and ending points of the path are consistent during the transition process, thereby avoiding the deviation problem at the end of the path and obtaining the intermediate path planning scheme. The De Brun curve divides the path into three stages: starting point to tangent point, tangent point to end point, and global path generation, to achieve unified planning of attitude and curvature constraints.

[0094] S33, using the B-spline curve to smooth each path in the intermediate path planning scheme, improve the continuity and traceability of the path, and convert the discrete path coordinate points into a continuous path. The spline curve equation is:

[0095]

[0096] Among them, N i,k (u) represents the spline basis function, d i represents the i-th control point, and n represents the total number of control points.

[0097] In order to meet the kinematic requirements of the unmanned roller, this embodiment introduces a maximum curvature limit and a curvature change rate limit to the path planning, and constructs kinematic constraints and maximum curvature limits to guide the generation of trajectory planning. The kinematic constraints are:

[0098]

[0099] in, represents the motion minimum constraint, θ max represents the maximum value of the vehicle's articulation angle, v represents the vehicle's speed, R min Indicates the minimum turning radius of the equipment;

[0100] The calculation expression of the maximum curvature limit is:

[0101]

[0102] Where a and b represent the distances from the front and rear axles of the roller to the articulation point, and θ represents the articulation angle.

[0103] S4. Acquire the real-time data of the roller executing trajectory planning, and perform "synchronous forward and backward" collaborative control based on the real-time data. The real-time data includes the moving direction of the roller, the executed trajectory coordinate points and the total number of coordinate points in the trajectory planning.

[0104] S41. Divide the executed trajectory coordinate points by the total number of coordinate points in the trajectory planning to obtain the trajectory execution rate, and estimate the priority direction of each roller in the construction area at the next moment in combination with the moving direction of the roller.

[0105] S42. Constructing the same direction set S based on the priority direction 1 And the heterogeneous set S 2 .

[0106] S43, extract the same direction set S 1 and heterogeneous set S 2 The conflicting priority directions in the road rollers are used to construct the conflict set S c .

[0107] S431, constructing a rectangular area for each roller in the same-direction set and the different-direction set based on the length and width of the roller;

[0108] S432, judging based on the rectangular area whether each roller in the same-direction set overlaps with the rectangular area of ​​any roller in the different-direction set;

[0109] S433, if yes, it indicates that there is a conflict between the two rollers, i.e. Figure 3 In the case shown, the two conflicting rollers are named conflict pairs. 1 ,R 2 ], where R1 represents the conflicting pair of rollers concentrated in the same direction, R 2 represents the rollers in the conflicting pairs with different directions, and R 2 Store in the conflict set; if not, it means there is no conflict.

[0110] S44. Control the rollers in the same-direction set, different-direction set and conflicting set in batches.

[0111] S441, obtaining the trajectory execution rate of each roller in the same direction set, and not applying control instructions to the rollers with a trajectory execution rate less than 100%, so that they perform tasks according to the trajectory planning; applying control instructions to the rollers with a trajectory execution rate equal to 100%, so that they stop the tasks;

[0112] S442, controlling all rollers in the non-directional concentrated area to suspend their tasks and analyzing the priority direction of each roller in real time until the priority direction is consistent with the priority direction of the rollers in the same direction concentrated area, determining their trajectory execution rates, and performing the same control as the rollers in the same direction concentrated area based on the trajectory execution rates;

[0113] S443, calculate the overlapping area of ​​the conflicting pairs and set a safety distance (usually set to 5 meters), based on the safety distance Figure 4 In the case shown in FIG. 1 , the trajectory execution rate of the two rollers in the conflicting pair is calculated, and the control instructions are generated based on the trajectory execution rate of the two rollers in the conflicting pair. The detailed process of generating the control instructions is as follows: Figure 5 As shown, the following steps are included:

[0114] A1. Calculate the first trajectory execution rate E at the conflict safety distance to1 and the second trajectory execution rate E to2 .

[0115] A2. When R 2 The trajectory execution rate E ti2 Equal to the second trajectory execution rate E to2 Time Control R 2 Pause until R 1 The trajectory execution rate E ti1 Equal to 100% control R 1 Pause and set R 2 Move to the anisotropic set.

[0116] A3. When R 2 The trajectory execution rate E ti2 Greater than the second trajectory execution rate E to2 And R 1 The trajectory execution rate E ti1 Less than the first trajectory execution rate E to1 When 2 has entered the overlapping area and R 1Not yet entered, control R 1 and R 2 Continue to execute the task until R 1 Trajectory execution rate E ti1 Equal to the first trajectory execution rate E to1 When controlling R 1 Pause until R 2 When leaving the overlapping area and the priority direction is switched, R 1 and R 2 Transfer to the same direction set and / or different direction set;

[0117] A4. When R 2 The trajectory execution rate E ti2 Greater than the second trajectory execution rate E to2 And R 1 The trajectory execution rate E ti1 Greater than the first trajectory execution rate E to1 Generate early warning information for human intervention.

[0118] A5. If there is no conflicting pair, traverse all rollers and start all rollers that are in the stopped state at the same time.

[0119] Example 2

[0120] The above is an introduction to a method embodiment. The following is a further explanation of the solution of the present invention through a system embodiment.

[0121] This embodiment provides an unmanned cluster construction control system for implementing the method of the above embodiment. Its structure is as follows: Figure 6 As shown, including:

[0122] Data input module: used to collect basic data, including construction area boundary coordinate points, roller initial status, roller parameters, construction requirements and work area division, and process them.

[0123] Trajectory generation module: Based on the basic data collected by the data input module, the trajectory planning files for a single work area, multiple work areas and the transition process are generated. The trajectory planning files include the coordinates of the trajectory points and the speed, travel direction and vibration mode of the roller at the trajectory points to ensure the smoothness and continuity of the path.

[0124] Task allocation module: used to generate real-time task allocation information based on basic data, and generate roller operation plan in combination with trajectory files, including information collection, equipment waiting, task issuance, tracking operation and operation completion, to ensure real-time monitoring and adjustment of equipment operation progress and path accuracy.

[0125] Construction simulation module: used to simulate the process of the roller executing the operation plan, and realize real-time monitoring of the roller task progress and the accuracy of the trajectory file.

[0126] Real-time monitoring and obstacle detection module: Each roller is equipped with an obstacle detection device based on lidar and vision fusion, which is used to monitor the roller's operating trajectory and obstacles in the trajectory in real time. It can also trigger emergency braking commands and generate path adjustment commands based on the operating trajectory and trajectory files.

[0127] Collaborative control module: By monitoring the task execution rates of multiple devices, it is used to generate "synchronous forward and backward" collaborative control instructions to avoid collisions between devices, and perform dynamic start and stop scheduling to ensure the safety and efficiency of collaborative operations of multiple devices.

[0128] The system also includes a controller, which is used to receive operation plans, path adjustment instructions and collaborative control instructions, control the roller to execute and feedback the execution status.

[0129] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0130] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A control method for unmanned cluster construction, characterized in that: The method includes: Acquiring basic data, wherein the basic data includes coordinate points of construction area boundaries, initial state of the roller, roller parameters, construction requirements, and work area division; Calculate the number of tracks of the road roller in a single work area based on the basic data and perform route planning for the road roller in a single work area for each track; Based on the route planning of the roller in a single work area, path planning of the roller in multiple work areas and during the transfer process is performed to generate trajectory planning; The real-time data of the roller executing the trajectory planning is obtained, and the "synchronous forward and backward" collaborative control is performed based on the real-time data. The real-time data includes the moving direction of the roller, the executed trajectory coordinate points and the total number of coordinate points in the trajectory planning.

2. The control method for unmanned cluster construction according to claim 1, characterized in that: The method for calculating the number of tracks of a road roller in a single work area is as follows: Based on the roller parameters, the compaction width, overlap width and roller width are obtained, and the number of tracks is calculated, and the expression is: Where Nt represents the number of trajectories, W represents the compaction width, and W o Indicates the overlap width, W r Indicates the width of the roller.

3. The control method for unmanned cluster construction according to claim 1, characterized in that: The method for planning the route of a road roller in a single work area is as follows: Construct the third-order Belset curve of each trajectory, which is expressed as follows: B(x)=(1-x) 3 P0+3(1-x) 2 xP1+3(1-x)x 2 P2+x 3 P3 Among them, P0 indicates that the control starting point in the curve trajectory is a known value, P1 and P2 indicate that the intermediate control points in the curve trajectory are unknown values, P3 indicates that the control end point in the curve trajectory is a known value, and x indicates the position parameter; The intermediate control point is calculated based on the initial state of the roller and the construction requirements, and its expression is: Among them, (x1, y1) represents the intermediate control point P1, (x2, y2) represents the intermediate control point P2, x0 and y0 represent the coordinate point value of the control starting point, x3 and y3 represent the coordinate point value of the control end point, q represents an adjustable parameter, represents the initial angle of the roller, Indicates the target steering angle of the roller; The third-order Belset curve of each trajectory is calculated based on the intermediate control points obtained by the calculation, that is, the path planning in a single work area.

4. The control method for unmanned cluster construction according to claim 1, characterized in that: The method for generating trajectory planning is: The route planning of the road roller in the single work area is performed by using the improved RRT* algorithm to avoid obstacles and optimize the processing to generate an initial path planning scheme; De Brun curves are used to define direction constraints for the starting point and the end point of each path in the initial path planning scheme, and the direction constraints are used to ensure that the directions of the starting point and the end point of the path are consistent during the transition process, thereby obtaining an intermediate path planning scheme; B-spline curves are used to smooth each path in the intermediate path planning scheme, and discrete path coordinate points are converted into continuous paths.

5. The control method for unmanned cluster construction according to claim 1, characterized in that: The generating trajectory planning further includes: constructing kinematic constraints and maximum curvature constraints to guide the generation of trajectory planning, wherein the kinematic constraints are: in, represents the motion minimum constraint, θ max represents the maximum value of the vehicle's articulation angle, v represents the vehicle's speed, R min Indicates the minimum turning radius of the equipment; The calculation expression of the maximum curvature limit is: Where a and b represent the distances from the front and rear axles of the roller to the articulation point, and θ represents the articulation angle.

6. The control method for unmanned cluster construction according to claim 1, characterized in that: The method for performing "synchronous forward and backward" collaborative control includes: Calculating the trajectory execution rate based on the executed trajectory coordinate points and the total number of coordinate points in the trajectory planning, and estimating the priority direction of each roller in the construction area at the next moment in combination with the moving direction of the roller; Constructing same-direction sets and different-direction sets based on the priority directions; Extract the rollers corresponding to the conflicting priority directions from the same-direction set and the different-direction set to construct a conflict set; Control the rollers in the same direction set, different direction set and conflicting set in batches.

7. The control method for unmanned cluster construction according to claim 6, characterized in that: The method for constructing the conflict set is: For each roller in the same direction set and the opposite direction set, a rectangular area is constructed based on the length and width of the roller; Based on the rectangular area, it is determined whether each roller in the same direction set overlaps with the rectangular area of ​​any roller in the different direction set; If yes, it indicates that there is a conflict between the two rollers. The two conflicting rollers are named conflict pair [R1, R2], where R1 represents the rollers in the same direction concentration in the conflict pair, and R2 represents the rollers in the opposite direction concentration in the conflict pair, and R2 is stored in the conflict set; if no, it indicates that there is no conflict.

8. The control method for unmanned cluster construction according to claim 7, characterized in that: The method for controlling the rollers in the same direction set, different direction set and conflicting set in batches is as follows: Obtaining the trajectory execution rate of each roller in the same direction set, controlling the rollers with trajectory execution rates less than 100% to execute tasks according to the trajectory planning, and stopping the rollers with trajectory execution rates equal to 100%; Control all rollers in the non-directional concentrated area to suspend their tasks and analyze the priority direction of each roller in real time until the priority direction is consistent with the priority direction of the rollers in the same direction concentrated area, determine their trajectory execution rate, and perform the same control as the rollers in the same direction concentrated area based on the trajectory execution rate; The overlapping area of ​​the conflicting pair is calculated and a safety distance is set, the trajectory execution rate of the two rollers in the conflicting pair is calculated based on the safety distance, and the control instruction is generated based on the trajectory execution rate of the two rollers in the conflicting pair.

9. The control method for unmanned cluster construction according to claim 8, characterized in that: The method for generating control instructions is: Calculate the first trajectory execution rate and the second trajectory execution rate at the conflict-safe distance; When the trajectory execution rate of R2 is equal to the second trajectory execution rate, R2 is controlled to pause, and when the trajectory execution rate of R1 is equal to 100%, R1 is controlled to pause and R2 is transferred to the out-of-direction set; When the trajectory execution rate of R2 is greater than the second trajectory execution rate and the trajectory execution rate of R1 is less than the first trajectory execution rate, R1 and R2 are controlled to continue to execute the task until the trajectory execution rate of R1 is equal to the first trajectory execution rate, R1 is controlled to pause until R2 leaves the overlapping area and the priority direction is switched, and R1 and R2 are transferred to the same direction set and / or the different direction set according to the current priority direction; When the trajectory execution rate of R2 is greater than the second trajectory execution rate and the trajectory execution rate of R1 is greater than the first trajectory execution rate, a warning message is generated for human intervention; If there is no conflicting pair, all rollers are traversed and all rollers that are in the stopped state are started at the same time.

10. An unmanned cluster construction control system, characterized in that: The system is used to implement the method according to any one of claims 1 to 9, comprising: Data input module: used to collect basic data, including construction area boundary coordinate points, roller initial state, roller parameters, construction requirements and work area division, and process them; Trajectory generation module: based on the basic data collected by the data input module, generates trajectory planning files for a single work area, multiple work areas and a transition process, wherein the trajectory planning files include trajectory point coordinates and the speed, travel direction and vibration mode of the roller at the trajectory point; Task allocation module: used to generate real-time task allocation information according to the basic data, and generate a roller operation plan in combination with the trajectory file; Construction simulation module: used to simulate the process of the roller executing the operation plan, and to monitor the progress of the roller task and the accuracy of the trajectory file in real time; Real-time monitoring and obstacle detection module: used to monitor the roller's running track and obstacles in the track in real time, trigger emergency braking commands, and generate path adjustment commands based on the running track and track files; Collaborative control module: used to generate "synchronous forward and backward" collaborative control instructions; Controller: used to receive the operation plan, path adjustment instructions and coordinated control instructions, control the roller to execute and feedback the execution status.

Images