Remote control method and system for highway construction equipment

Abstract

The invention relates to the technical field of remote control, in particular to a remote control method and system for road construction equipment, and the method comprises the following steps: for the road construction equipment, collecting the equipment inclination angle through a vehicle-mounted inclination sensor, calculating the inclination angle variation, recording the ground contact area of a track or a tire, calling the data of a load sensor, and calculating the inclination angle variation. According to the method, through comprehensive evaluation of the inclination angle, the track or tire grounding area and load data, the driving stability is guaranteed, terrain adaptability calculation covers slope gradient, topographic relief and obstacle height analysis, path selection of equipment in a complex construction environment is optimized, and path planning is combined with friction force, traction force and slip angle data; the operation resistance distribution is optimized, the construction efficiency is improved, the energy consumption is reduced, a remote control instruction is calculated according to positioning data and coordinate offset, accurate execution of path adjustment is ensured, error accumulation is reduced, and remote control response is more stable.

Description

Technical Field

[0001] The present invention relates to the field of remote control technology, and in particular to a remote control method and system for highway construction equipment. Background Art

[0002] The field of remote control technology includes remote operation and monitoring of equipment, systems or processes. Its core content involves the transmission of control instructions through wired or wireless communication to achieve precise control of target objects. This technical field covers industrial automation, intelligent manufacturing, intelligent transportation, unmanned driving and remote monitoring, and usually relies on key technical means such as computer control, communication networks, sensors and actuators. The overall development trend of remote control technology includes improving control accuracy, optimizing data transmission efficiency and enhancing system stability to meet the needs of remote operation in different application scenarios.

[0003] Among them, the remote control method of highway construction equipment refers to the operation of highway construction machinery and equipment, which realizes its working state adjustment, motion trajectory control and construction task execution through remote commands. This method usually relies on wireless communication technology for data transmission, and combines position detection and feedback control to ensure that the equipment performs construction tasks according to preset requirements under remote operation. In addition, this method also covers real-time monitoring of the equipment's operating status, by obtaining the working parameters of the construction equipment, and combining computer control technology for command parsing and equipment driving, so as to achieve precise control of remote construction machinery.

[0004] Existing technologies only rely on single tilt angle monitoring for equipment posture adjustment, without combining ground contact area and load data, resulting in inaccurate stability assessment. Terrain adaptability analysis lacks comprehensive judgment of slope gradient, undulation amplitude and obstacles, limiting the equipment's ability to adapt to complex terrain. Path planning does not fully consider real-time friction and traction, and the path adjustment method lags behind, affecting the stability of equipment operation. Due to insufficient positioning accuracy, remote control commands have large deviations during the adjustment process, and path execution is prone to offset, reducing construction accuracy. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art and to propose a remote control method and system for highway construction equipment.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: a method for remote control of highway construction equipment, comprising the following steps: S1: For highway construction equipment, the inclination angle of the equipment is collected through the vehicle-mounted inclination sensor, the inclination angle change is calculated, the track or tire contact area is recorded, the load sensor data is called, and the stable state value of the highway construction equipment is generated; S2: Based on the stable state value of the highway construction equipment, the slope change rate of the slope is calculated through the laser radar point cloud data, the ground concave and convex sensor is recorded to obtain the undulation amplitude, the obstacle detection radar is called to record the obstacle height, the slope change rate, the ground undulation index and the obstacle influence factor are calculated, and the terrain adaptability coefficient of the construction area is generated through weighted fusion; S3: Based on the terrain adaptability coefficient of the construction area, collect friction measurement data, read the traction sensor value, call the slip angle reading, calculate the resistance gradient, and generate the road construction equipment path resistance distribution rate; S4: Based on the road construction equipment path resistance distribution rate, collecting target route data, reading slope gradient data, calculating a path adjustment plan, and generating a road construction equipment optimized path coordinate set; S5: Based on the optimized path coordinate set of the highway construction equipment, equipment positioning data is collected, remote control system coordinates are called, offset angles are read, adjustment angles are calculated, and remote path control instructions for the highway construction equipment are generated.

[0007] As a further solution of the present invention, the stable state value of the highway construction equipment is specifically the inclination angle change, the track or tire contact area, and the load sensor data; the terrain adaptability coefficient of the construction area includes the slope gradient, undulation amplitude, obstacle height, slope curvature, and contour gradient; the path resistance distribution rate of the highway construction equipment is specifically the friction measurement data, traction sensor value, slip angle reading, and resistance gradient; the highway construction equipment optimized path coordinate set includes target route data, slope gradient data, and path adjustment plan; the highway construction equipment remote path control instruction specifically refers to equipment positioning data, remote control system coordinates, offset angle, and adjustment angle.

[0008] As a further solution of the present invention, the step of obtaining the stable state value of the highway construction equipment is specifically as follows: S101: Based on the highway construction equipment, the inclination angle of the equipment is collected through the vehicle-mounted inclination sensor, the inclination change is calculated, the contact area of ​​the track or tire is recorded, the load sensor data is called, and the original inclination data is obtained; S102: calling the original inclination data to calculate the inclination change, using the formula: ; Calculate and obtain the inclination angle change value per unit ground contact area to obtain the inclination angle change amount; in, Represents the change in inclination per unit ground contact area, represents the current inclination angle, represents the inclination angle at the previous moment, Represents the contact area of ​​the track or tire, Represents load sensor data; S103: Based on the inclination angle variation, the inclination angle stability threshold range is compared to determine the stability state of the highway construction equipment and obtain a stability state value of the highway construction equipment.

[0009] As a further solution of the present invention, the steps for obtaining the terrain adaptability coefficient of the construction area are specifically as follows: S201: Based on the stable state value of the highway construction equipment, the slope change rate of the slope is calculated through the laser radar point cloud data, and the fluctuation amplitude obtained by the ground concave-convex sensor is recorded, the obstacle detection radar is called to record the obstacle height, the slope gradient is compared with the fluctuation amplitude, the slope curvature is calculated, and the slope curvature and the obstacle height are jointly analyzed to obtain the slope curvature adjustment value; S202: calling the slope curvature adjustment value and comparing it with the contour gradient, using the formula: ; The slope curvature gradient deviation is obtained by operation, and the initial coefficient of terrain adaptability is calculated in combination with the slope gradient to generate the slope adaptability gradient coefficient; in, represents the slope adaptation gradient coefficient, Represents the slope curvature adjustment value, represents the contour gradient, represents the obstacle height weight coefficient, represents the sum of the slope curvature dataset, represents the sum of the contour gradient data set, Represents the total number of obstacles in the obstacle height dataset, Representative Group obstacle height data; S203: calling the slope adaptation gradient coefficient, combining the slope curvature adjustment value and the contour gradient, screening the differences in multiple parameters, eliminating data outside the adaptability threshold, and summarizing the adaptability range of the terrain to obtain the terrain adaptability coefficient of the construction area.

[0010] As a further solution of the present invention, the step of obtaining the path resistance distribution rate of the highway construction equipment is specifically as follows: S301: Based on the terrain adaptability coefficient of the construction area, collect friction measurement data, record the measured values ​​of the friction data under differentiated traction, read the traction sensor value, combine the friction data under the traction, compare the friction coefficient change trend under multiple traction levels, and obtain the friction coefficient distribution value; S302: Call the slip angle reading, combine the traction sensor value, calculate the change of the slip angle under the action of the differentiated traction force, and analyze the increment of the slip angle under the action of the traction force based on the friction coefficient distribution value, using the formula: ; Obtain the resistance gradient value through calculation and obtain the changing trend of the traction resistance; in, Represents the resistance gradient value, Representative The traction force measured by the traction sensor of the group, Representative Group friction coefficient distribution value, Represents the total number of samples measured, Representative Group slip angle readings, Representative The slip angle increment measured by the group traction sensor; S303: Based on the traction resistance change trend and in combination with the friction coefficient distribution value, a path resistance distribution matrix is ​​established, the resistance level under multiple path units is calculated, the resistance characteristic data of differentiated path units are obtained, and the resistance characteristics of multiple units are integrated to generate a path resistance distribution rate of highway construction equipment.

[0011] As a further solution of the present invention, the steps for obtaining the optimized path coordinate set of the highway construction equipment are specifically as follows: S401: Based on the road construction equipment path resistance distribution rate, target route data is collected, spatial coordinates, road surface type, and curvature radius parameters of the route are extracted, slope gradient data is read, and slope change rates and distribution of slope continuous intervals at multiple points are calculated to obtain slope gradient distribution data; S402: Call the slope gradient distribution data to calculate the path adjustment plan, and use the formula based on the comprehensive calculation value of the slope change rate, curvature radius and resistance distribution rate: ; Calculate and obtain path optimization adjustment parameters, and generate a path optimization adjustment matrix; in, Represents the new adjustment parameters of the path, Represents the slope change rate data value, Represents the curvature radius data value, Represents the resistance distribution rate data value, stands for adjusted value added, represents the continuous data value of slope, represents the continuous additional value of slope, Represents the number of path segments; S403: calling the path optimization adjustment matrix, recalculating the original path data according to the adjustment weight, screening the path coordinate set that meets the optimization conditions, and obtaining the optimized path coordinate set of the highway construction equipment.

[0012] As a further solution of the present invention, the step of acquiring the remote path control instruction of the highway construction equipment is specifically as follows: S501: Based on the optimized path coordinate set of the highway construction equipment, the equipment positioning data is collected to obtain the current spatial coordinates and motion state information of the equipment, and the remote control system coordinates are called to obtain the target path coordinates stored in the remote control system, and the deviation between the current coordinates and the target path coordinates is compared to calculate the equipment offset trajectory data; S502: Call the device offset trajectory data, read the offset angle, compare the direction angle of the target path coordinates, calculate the adjustment angle, and combine the current movement speed and steering inertia of the device to use the formula: ; Calculate and obtain the device adjustment angle parameters to obtain the device angle adjustment matrix; in, Represents the adjustment angle parameter, Represents the current angle of the device. represents the target direction angle, Represents the current speed of the device. represents the steering inertia factor, represents the angle error, represents the correction factor, represents the number of time steps, represents the number of inertia data points, represents the number of calibration data points; S503: calling the device angle adjustment matrix, combining the control instruction structure of the device remote control system, converting the adjustment matrix into the remote control system instruction format, and generating a highway construction equipment remote path control instruction.

[0013] A highway construction equipment remote control system, the highway construction equipment remote control system is used to execute the above-mentioned highway construction equipment remote control method, the system comprises: The equipment stability monitoring module obtains the inclination angle of the vehicle-mounted inclination sensor, detects the contact area of ​​the track or tire, calls the load sensor data, calculates the inclination angle change, selects the maximum value among the inclination angle, contact area of ​​the track or tire and the load data change, calculates the equipment inclination state coefficient, selects the equipment inclination state coefficient and compares it with the set stability reference value, calculates the stable state offset, and establishes the stable state value of the highway construction equipment; The construction area terrain adaptability assessment module obtains the laser radar slope gradient based on the stable state value of the highway construction equipment, calls the ground concave and convex sensor data to calculate the undulation amplitude, reads the obstacle detection radar data to calculate the obstacle height, calculates the slope curvature, screens the slope curvature and compares it with the contour gradient, and generates the construction area terrain adaptability coefficient; The path resistance distribution calculation module obtains friction measurement data based on the terrain adaptability coefficient of the construction area, calls the traction sensor value, reads the slip angle reading, calculates the resistance gradient, screens the maximum value of the resistance gradient and compares it with the friction measurement data, and establishes the path resistance distribution rate of the highway construction equipment; The construction equipment path optimization module obtains the target route data based on the highway construction equipment path resistance distribution rate, calls the slope gradient data, calculates the path adjustment plan, screens the difference between the target route data and the path adjustment plan, and establishes the highway construction equipment optimized path coordinate set; The remote path control instruction generation module obtains equipment positioning data, calls the remote control system coordinates, reads the offset angle, calculates the adjustment angle, and establishes the remote path control instruction for the highway construction equipment based on the highway construction equipment optimized path coordinate set.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are: In the present invention, the accuracy of remote control is improved based on multi-dimensional data fusion calculation. The equipment posture is comprehensively evaluated through the tilt angle, track or tire contact area and load data to ensure driving stability. The terrain adaptability calculation covers the analysis of slope gradient, terrain undulation and obstacle height to optimize the path selection of equipment in complex construction environments. Path planning combines friction, traction and slip angle data to optimize the distribution of operating resistance, improve construction efficiency and reduce energy consumption. Remote control instructions are calculated based on positioning data and coordinate offset to ensure accurate execution of path adjustments, reduce error accumulation, and make remote control response more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the workflow of the present invention; Figure 2 A flow chart of the steps for obtaining the stable state value of the highway construction equipment of the present invention; Figure 3 The flowchart of the steps for obtaining the terrain adaptability coefficient of the construction area of ​​the present invention is as follows; Figure 4 A flow chart of the steps for obtaining the path resistance distribution rate of highway construction equipment according to the present invention; Figure 5 A flow chart of the steps for obtaining the optimized path coordinate set of the highway construction equipment of the present invention; Figure 6 This is a flow chart of the steps for obtaining remote path control instructions for highway construction equipment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0018] Example 1: Please refer to Figure 1 The present invention provides a technical solution: a method for remotely controlling highway construction equipment, comprising the following steps: S1: Obtaining the operating parameters of the highway construction equipment, collecting the equipment inclination angle measured by the vehicle-mounted inclination sensor, the ground contact area obtained by the track or wheel ground contact pressure sensor, and the load distribution data recorded by the load sensor, calling the driving torque and speed data of the equipment drive system, calculating the inclination angle change, judging the stable state of the equipment when traveling on the slope, and obtaining the stable state value of the highway construction equipment based on the inclination angle change; S2: Based on the stable state value of highway construction equipment, obtain the terrain data of the construction area, collect the surface slope gradient measured by the laser radar, the surface undulation obtained by the ground convexity sensor, and the obstacle height recorded by the obstacle detection radar, call the slope curvature calculation unit to calculate the surface slope change rate, combine the contour gradient analysis module to calculate the continuous undulation degree of the slope, calculate the impact of the slope gradient on the operation of the equipment, screen the equipment adaptation area based on the slope gradient impact rate, and generate the terrain adaptability coefficient of the construction area; S3: Based on the terrain adaptability coefficient of the construction area, obtain the resistance parameters of the construction path, collect the surface friction coefficient recorded by the surface friction measuring device, the driving torque measured by the equipment traction sensor, and the driving load calculated by the driving load monitoring device, call the slip angle recorded by the track slip angle measuring module, and the slope change calculated by the path slope change measuring module, calculate the path resistance gradient, determine the resistance distribution area, screen the low resistance travel area, and obtain the road construction equipment path resistance distribution rate; S4: Based on the road construction equipment path resistance distribution rate, the target route of the equipment is obtained, the path point coordinates set in the construction path planning, the slope gradient change calculated by the slope gradient optimization module, and the obstacle impact data recorded by the obstacle detour judgment module are called, the path point adjustment plan is calculated, the impact of the path point adjustment on the equipment operation status is judged, the stable path points are selected, and the optimized path coordinate set of the road construction equipment is established; S5: Based on the optimized path coordinate set of the highway construction equipment, obtain the equipment travel offset angle, call the current position of the equipment recorded by the GPS positioning system and the target path point coordinates set by the remote control system, calculate the travel direction adjustment angle, determine whether the adjustment angle exceeds the equipment stability range, filter the control instructions within the adjustment range, and generate remote path control instructions for the highway construction equipment.

[0019] The stable state value of highway construction equipment specifically includes the inclination angle change, the track or tire contact area, and the load sensor data. The terrain adaptability coefficient of the construction area includes the slope gradient, undulation amplitude, obstacle height, slope curvature, and contour gradient. The path resistance distribution rate of highway construction equipment specifically includes the friction measurement data, traction sensor value, slip angle reading, and resistance gradient. The optimized path coordinate set of highway construction equipment includes the target route data, slope gradient data, and path adjustment plan. The remote path control instructions of highway construction equipment specifically refer to the equipment positioning data, remote control system coordinates, offset angle, and adjustment angle.

[0020] See also Figure 2 ,The specific steps for obtaining the stable state value of highway construction equipment are: S101: Based on the highway construction equipment, the inclination angle of the equipment is collected through the vehicle-mounted inclination sensor, the inclination change is calculated, the contact area of ​​the track or tire is recorded, the load sensor data is called, and the original inclination data is obtained; First, install the vehicle-mounted tilt sensor at a suitable position on the equipment body structure to ensure that the real-time tilt angle of the equipment can be accurately measured. The data collected by the sensor is in the form of angle units (°) and transmitted to the data processing system. At the same time, the track or tire contact area is calculated based on the geometric dimensions of the equipment chassis and the contact with the ground. For example, for the total length of the track and track width , the formula for calculating the contact area of ​​the track or tire is Taking a certain model of equipment as an example, assuming that the track length is 3.5m and the width is 0.8m, then its ground contact area is calculated as Square meters, load sensors are installed at the key load-bearing parts of the equipment chassis to monitor the equipment load force in real time The sensor output unit is kN. The data is transmitted to the data processing system through the acquisition system. For example, under certain working conditions, the load sensor measures data. At the same time, the tilt sensor collects the current tilt value and the inclination value at the previous moment ,For example , , all data are input into the data processing system for calculation and storage.

[0021] S102: Calling the original inclination data, calculating the inclination change, using the formula: ; Calculate and obtain the inclination angle change value per unit ground contact area to obtain the inclination angle change amount; in, Represents the change in inclination per unit ground contact area, represents the current inclination angle, represents the inclination angle at the previous moment, Represents the contact area of ​​the track or tire, Represents load sensor data; formula: ; First, find the change in inclination angle, that is, , taking the absolute value, we get , taking the above example, , Secondly, calculate the change in inclination angle per unit ground contact area , the formula is , bring in data ,in ,final , the value is stored in the system for subsequent stable state judgment, as shown in Table 1.

[0022] Table 1 Calculation data table of inclination angle variation: ; As shown in Table 1, the inclination angle changes under different equipment and working conditions It can be calculated based on the inclination angle, load and ground contact area, and the data is used to determine the stability of the equipment.

[0023] S103: Based on the inclination change, the inclination stability threshold range is compared to determine the stability state of the highway construction equipment, and obtain a stability state value of the highway construction equipment.

[0024] based on The system compares the calculated results with the preset tilt stability threshold range and sets the threshold interval ,when If it falls within this range, the device is in a stable state, otherwise it enters the abnormal state judgment. For example, in this example, the calculation results are If the device is stable, The equipment is judged to be unstable, and the relevant data is further recorded and analyzed, as shown in Table 2.

[0025] Table 2 Equipment stability status determination table: ; As shown in Table 2, the system determines the current stable state of the equipment based on the calculation results and the set thresholds, and stores the relevant data for subsequent analysis and optimization adjustments.

[0026] See also Figure 3 , the specific steps for obtaining the terrain adaptability coefficient of the construction area are: S201: Based on the stable state value of the highway construction equipment, the slope change rate is calculated through the laser radar point cloud data, and the fluctuation amplitude obtained by the ground concave-convex sensor is recorded, the obstacle detection radar is called to record the obstacle height, the slope gradient is compared with the fluctuation amplitude, the slope curvature is calculated, and the slope curvature and the obstacle height are jointly analyzed to obtain the slope curvature adjustment value; First, call the laser radar to scan the current construction area and collect slope gradient data. Specifically, the laser radar measures the height of multiple points and calculates the slope gradient based on the height difference between adjacent points. For example, in a construction area, if the height of point A is 120m, the height of point B is 124m, and the horizontal distance between the two is 5m, the slope gradient is calculated as ; At the same time, record the fluctuation amplitude obtained by the ground bump sensor. The sensor detects small height changes of the construction ground. The data can be obtained by calculating the height changes of multiple points. For example, if the heights of five points in a construction area are measured to be 120m, 121.5m, 123m, 122m, and 124m respectively, the fluctuation amplitude can be expressed as the difference between its maximum and minimum values, that is, ; Then, the obstacle detection radar is called to detect the obstacle height in the construction area. The radar returns the highest point data of the obstacle. For example, the highest point height of an obstacle is measured to be 130m, and the reference ground height of the obstacle is 122m. The obstacle height is calculated as ; Compare the slope gradient with the fluctuation amplitude to analyze the overall change trend of the slope. For example, when the slope gradient is high and the fluctuation amplitude is small, it means that the slope change tends to be smooth, otherwise it means that the slope is rugged. For example, if the slope gradient of a construction area is 0.9 and the fluctuation amplitude is 2, it can be considered that the slope is steep but overall gentle. If the slope gradient is 0.3 and the fluctuation amplitude is 6, it can be judged that the slope is undulating. Based on the calculation results of the slope gradient and the fluctuation amplitude, the slope curvature is further calculated, that is, considering the overall fluctuation of the slope. For example, if multiple slope gradient values ​​in a certain area are 0.8, 1.0, 0.6, and 0.7, respectively, the slope curvature can be calculated by the second-order derivative, reflecting the continuity of the slope. Finally, the slope curvature and the obstacle height are jointly analyzed to determine whether the slope is suitable for construction as a whole. For example, if the slope curvature is large and the obstacle height exceeds the set threshold, such as higher than 5m, the construction equipment may be difficult to operate stably. Therefore, the slope curvature adjustment value is calculated to facilitate subsequent adjustment of the construction plan.

[0027] S202: Call the slope curvature adjustment value and compare it with the contour gradient using the formula: ; The slope curvature gradient deviation is obtained by operation, and the initial coefficient of terrain adaptability is calculated in combination with the slope gradient to generate the slope adaptability gradient coefficient; in, represents the slope adaptation gradient coefficient, Represents the slope curvature adjustment value, represents the contour gradient, represents the obstacle height weight coefficient, represents the sum of the slope curvature dataset, represents the sum of the contour gradient data set, Represents the total number of obstacles in the obstacle height dataset, Representative Group obstacle height data; For example, if the contour line spacing of a certain area is 10m and the height difference of the contour lines is 2m, then the contour line gradient is calculated as ; When calculating the slope adaptation gradient coefficient, the formula is used: ; in, represents the slope curvature adjustment value, set its value to 0.5, and represents the contour gradient, which is 0.2 as calculated above. ; Represents the total number of obstacles. Suppose 3 obstacles are detected, with heights of 6m, 4m, and 5m respectively. Set the obstacle height weight coefficient The values ​​are 0.8, 0.7, and 0.9 respectively, and the summation term is calculated as follows: ; Represents the sum of the slope curvature data set. Suppose the five slope curvature values ​​in a certain area are 0.4, 0.5, 0.3, 0.6, and 0.7, then their sum ; Represents the sum of the contour gradient data set. Assume that the contour gradient data set contains five values: 0.2, 0.3, 0.25, 0.15, and 0.35. Then its sum is ; Finally calculate the denominator part: ; Finally, the slope adaptation gradient coefficient is calculated : ; Table 3 Slope Adaptation Gradient Coefficient Calculation Parameters: ; As shown in Table 3, the table shows the various parameters and calculation results involved in the calculation process of the slope adaptation gradient coefficient.

[0028] S203: calling the slope adaptation gradient coefficient, combining the slope curvature adjustment value and the contour gradient, screening the differences in multiple parameters, eliminating the data outside the adaptability threshold, and summarizing the adaptability range of the terrain to obtain the terrain adaptability coefficient of the construction area.

[0029] First, set the adaptability threshold range. For example, set the slope adaptability gradient coefficient between 4.0 and 7.0 as the adaptability range. If the calculated , which meets the adaptability range; for the slope curvature adjustment value, if the value is within the set range (such as 0.3 to 0.7), the data is retained, otherwise it is discarded. For example, if the slope curvature adjustment value calculated in a certain area is 0.2, it should be discarded; finally, the adaptability range of the terrain is summarized, and the terrain adaptability coefficient of the construction area is calculated. If the adaptability coefficient calculated in a certain area is 0.75, it is judged that the area is suitable for construction, otherwise the construction plan is adjusted or the slope parameters are improved to meet the adaptability requirements.

[0030] See also Figure 4 ,The specific steps for obtaining the path resistance distribution rate of highway construction equipment are as follows: S301: Based on the terrain adaptability coefficient of the construction area, collect friction measurement data, record the measured values ​​of the friction data under differentiated traction, read the traction sensor value, combine the friction data under the traction force, compare the friction coefficient change trend under multiple traction force levels, and obtain the friction coefficient distribution value; First, the construction area is divided into zones, each zone is numbered according to the terrain characteristics (such as slope, soil hardness, humidity, etc.), and the adaptability coefficient of each zone is recorded. (The range is set from 0.1 to 1.0, the higher the adaptability, the larger the value), and then a friction measuring device is arranged in each partition to collect friction measurement data, including the friction of construction equipment at different traction levels and the pressure at the ground contact point , using the formula Calculate the coefficient of friction and collect data at least three times at each measuring point with different traction levels , and record the corresponding friction coefficient , and then read the traction sensor value, which measures the instantaneous traction value and the stability of the traction, and combines the friction data under the traction to compare multiple traction levels. The friction coefficient under Calculating the rate of change The friction coefficient distribution value is calculated by region, that is, the measured friction data is calculated according to the terrain adaptability coefficient The weighted calculation is performed as shown in Table 4.

[0031] Table 4 Friction coefficient distribution data table: ; As shown in Table 4, the friction data shows a trend that the friction coefficient decreases with the increase of traction. This result shows that the influence of the change of friction coefficient on traction in different terrain areas is different. This numerical result can be used for subsequent traction resistance calculation to determine the traction adaptability of different areas.

[0032] S302: Call the slip angle reading, combine the traction sensor value, calculate the change of the slip angle under the action of the differentiated traction force, and analyze the increment of the slip angle under the action of the traction force based on the friction coefficient distribution value, using the formula: ; Obtain the resistance gradient value through calculation and obtain the changing trend of the traction resistance; in, Represents the resistance gradient value, Representative The traction force measured by the traction sensor of the group, Representative Group friction coefficient distribution value, Represents the total number of samples measured, Representative Group slip angle readings, Representative The slip angle increment measured by the group traction sensor; The sensor captures the angle change caused by ground resistance during the traction process, calculates the change of slip angle under different traction levels, sets different traction levels, such as 600N, 1200N, 1800N, and records the slip angle respectively. , calculate the slip angle increment at each traction level , based on the friction coefficient distribution value, calculate the friction force The accumulated value of corresponds to the trend of traction resistance change, according to the formula: ; The following test data is used for calculation: ; Calculation results: ; The results show the resistance gradient value at different traction levels in the current construction area, which can be used to evaluate the resistance trend of the traction equipment and further used to calculate the path resistance distribution.

[0033] S303: Based on the trend of traction resistance change and the friction coefficient distribution value, a path resistance distribution matrix is ​​established to calculate the resistance level under multiple path units, obtain the resistance characteristic data of differentiated path units, integrate the resistance characteristics of multiple units, and generate the path resistance distribution rate of highway construction equipment.

[0034] The construction area is divided into multiple path units. Each path unit is quantified according to its friction coefficient, traction resistance, and slip angle to form a matrix: ; The resistance level of each path unit is calculated, and the resistance characteristic data of each path unit is analyzed according to the path resistance matrix to form a resistance level, which is divided into three levels from low to high: 0-300N, 301-600N, and 601-900N. Finally, the resistance characteristics of multiple units are integrated to generate the path resistance distribution rate of highway construction equipment, as shown in Table 5.

[0035] Table 5 Construction equipment path resistance distribution table: ; As shown in Table 5, the resistance distribution rate varies with the path resistance gradient. This result shows that the resistance characteristics of different path units can be classified through the resistance distribution matrix, and the driving path of the construction equipment can be optimized accordingly, so that the equipment can run in a lower resistance area and improve traction efficiency.

[0036] See also Figure 5 ,The specific steps for obtaining the optimized path coordinate set of highway construction equipment are: S401: Based on the road construction equipment path resistance distribution rate, the target route data is collected, the spatial coordinates, road surface type, and curvature radius parameters of the route are extracted, the slope gradient data is read, the slope change rate of multiple points and the distribution of the slope continuous interval are calculated, and the slope gradient distribution data is obtained; First, it is necessary to determine the geographic information data of the target route, collect the latitude and longitude information of the target route through high-precision GPS equipment, and extract spatial coordinates in combination with GIS (geographic information system). When obtaining road surface type data, it is necessary to conduct on-site surveys of the road and confirm different types of road surface structures such as asphalt, concrete, and gravel in combination with the database of the traffic management department. Furthermore, for the measurement of the route curvature radius, drone aerial surveys or road surveying equipment can be used to calculate the corresponding curvature radius through continuous point coordinates. For the reading of slope gradient data, a three-dimensional laser scanner or electronic level is used to measure the slope angle at equal intervals along the route, and the slope change rate is calculated in combination with the elevation data. For the calculation of multi-point slope change rate, the slope angle difference of adjacent measuring points is selected and divided by the corresponding horizontal distance to obtain the slope change rate. For example: the slope angles of adjacent measuring points on a certain section of road are and , the distance between the two points is 10 meters, then the slope change rate is calculated as follows: , and the distribution of the continuous interval of the slope can be determined by setting a threshold, and the continuous area with a slope change rate within the range of ±0.2° / m is regarded as a slope stability area, as shown in Table 6. Finally, the complete slope gradient distribution data is obtained. This result shows that the collection of slope gradient data has been completed and can provide data support for subsequent path optimization adjustments, and further used for path optimization calculations.

[0037] Table 6 Slope gradient distribution data table: ; As shown in Table 6, if the slope change rate of multiple consecutive measuring points on a road section is lower than the set threshold (0.2° / m), it is marked as a continuous slope interval.

[0038] S402: Call the slope gradient distribution data to calculate the path adjustment plan, and use the formula based on the comprehensive calculation value of the slope change rate, curvature radius and resistance distribution rate: ; Calculate and obtain path optimization adjustment parameters, and generate a path optimization adjustment matrix; in, Represents the new adjustment parameters of the path, Represents the slope change rate data value, Represents the curvature radius data value, Represents the resistance distribution rate data value, stands for adjusted value added, represents the continuous data value of slope, represents the continuous additional value of slope, Represents the number of path segments; First, read the slope change rate, curvature radius and resistance distribution rate data in Table 6. When calculating the path adjustment plan, it is necessary to conduct a comprehensive analysis based on these data. Assume that in a certain section of the road, the slope change rate The curvature radius is 0.3° / m. For 200m, the resistance distribution rate If it is 0.7, then these data need to be calculated. When calculating the path optimization adjustment parameters, the formula is: ; Setting parameter values: Adjusting additional values 0.5, the slope is continuous data value 1.2, continuous additional value of slope is 0.8, then the calculation is as follows: ; The results show that the current combination of slope change rate, curvature radius and resistance distribution rate of this section does not meet the optimal conditions. The calculated value is less than the set threshold (-50), so it is necessary to optimize and adjust by reducing the slope change rate or increasing the curvature radius. Enter a reasonable range and finally form a path optimization adjustment matrix, as shown in Table 7.

[0039] Table 7 Path optimization adjustment matrix: ; As shown in Table 7, the new slope change rate and resistance distribution rate after adjustment can make the adjustment parameters into the acceptable range (>-50).

[0040] S403: calling the path optimization adjustment matrix, recalculating the original path data according to the adjustment weight, screening the path coordinate set that meets the optimization conditions, and obtaining the optimized path coordinate set of the highway construction equipment.

[0041] When executing, the adjusted slope change rate and resistance distribution rate values ​​in Table 7 are traversed and matched with the original path data to compare the values ​​before and after the adjustment. If the adjusted path If the optimization condition (>-50) is met, the spatial coordinates corresponding to the path are added to the optimized path coordinate set, as shown in Table 8. The results show that the optimized and adjusted path meets the operation requirements of the construction equipment and can be used as part of the optimized path coordinate set.

[0042] Table 8 Optimized path coordinate set for highway construction equipment: ; As shown in Table 8, the final optimized path coordinate set contains the path coordinate information that meets the optimization requirements after calculation and screening. This result shows that the optimized path has met the requirements of smoothness and passability of construction equipment operation and can be used for equipment path planning during the construction process.

[0043] See also Figure 6 ,The specific steps for obtaining remote path control instructions for highway construction equipment are: S501: Based on the optimized path coordinate set of the highway construction equipment, the equipment positioning data is collected to obtain the current spatial coordinates and motion state information of the equipment, and the remote control system coordinates are called at the same time to obtain the target path coordinates stored in the remote control system, and the deviation between the current coordinates and the target path coordinates is compared to calculate the equipment offset trajectory data; First, you need to call the device's built-in positioning system, such as GPS or inertial navigation system (INS), to collect the device's positioning data in real time, including latitude, longitude, elevation, and azimuth, and convert it into spatial coordinates. Specifically, assuming that the device's current GPS coordinates are (34.12345°N, 117.98765°E, elevation 50m), you first need to convert it to UTM (Universal Transverse Mercator) coordinates to obtain plane coordinates. At the same time, the device's motion status information needs to be obtained through a speed sensor or wheel speedometer, including instantaneous speed (Unit: m / s) and current angle (Unit: °), assuming the current device speed is m / s, current angle , while the target path coordinates stored in the remote control system should be a set of discrete points, such as , and obtain the target path space coordinates through coordinate transformation , then compare the device's current location With the target path coordinates The deviation is calculated by the Euclidean distance formula Calculate the offset distance, for example if m, m, then m, and at the same time, calculate the current direction angle of the device Angle with target path The angle between ,like ,but , thereby obtaining the device's offset trajectory data, including position offset and angular offset And other parameters, as shown in Table 9.

[0044] Table 9 Equipment deviation trajectory data table: ; As shown in Table 9, the results show that there is a deviation between the current position of the device and the target path point, where the position offset m, which indicates the distance that the device trajectory deviates from the target path, and the angle deviation , indicating that there is an angle deviation of 5° between the current direction of the device and the target path direction. These data will be used in subsequent steps to calculate and adjust the angle parameters to achieve trajectory correction.

[0045] S502: Call the device offset trajectory data, read the offset angle, compare the direction angle of the target path coordinates, calculate the adjustment angle, and combine the current movement speed and steering inertia of the device, using the formula: ; Calculate and obtain the device adjustment angle parameters to obtain the device angle adjustment matrix; in, Represents the adjustment angle parameter, Represents the current angle of the device. represents the target direction angle, Represents the current speed of the device. represents the steering inertia factor, represents the angle error, represents the correction factor, represents the number of time steps, represents the number of inertia data points, represents the number of calibration data points; First, extract (angular offset) and (target direction angle), compare the target path coordinate direction angle , calculate the adjustment angle , combined with the current speed of the device and steering inertia , using the following calculation formula: ; Assume that the time step of the device is , number of inertial data points , the number of correction data points , calculated as follows: ; ; ; ; ; Therefore, the adjustment angle parameters of the device angle adjustment matrix are calculated , which will be converted into the remote control system command format in the next step and used to control the steering system of the equipment to perform trajectory correction.

[0046] S503: calling the equipment angle adjustment matrix, combining the control instruction structure of the equipment remote control system, converting the adjustment matrix into the remote control system instruction format, and generating the highway construction equipment remote path control instruction.

[0047] According to the remote control system protocol, the adjustment angle data should be converted into a numerical instruction code, such as a 16-bit integer format, and the minimum adjustment unit is set to 0.01°. Convert to The integer value is sent to the remote control system through a remote communication protocol (such as CAN bus or wireless network protocol). The remote control system interprets the command and performs the corresponding steering control. At the same time, it cooperates with the equipment steering mechanism to adjust the equipment steering wheel or track steering angle to The specified angle, if the equipment is a wheeled vehicle, the steering angle is controlled by the motor, and if it is a tracked equipment, the steering is achieved by adjusting the track speed difference, thereby completing the remote path control command generation of the highway construction equipment. This result shows that the adjustment angle of the equipment has been converted into a command that can be recognized by the remote control system, and can drive the equipment to perform corresponding adjustments to correct its driving trajectory and return to the target path.

[0048] A highway construction equipment remote control system, the highway construction equipment remote control system is used to execute the above-mentioned highway construction equipment remote control method, the system comprises: The equipment stability monitoring module obtains the inclination angle of the vehicle-mounted inclination sensor, detects the contact area of ​​the track or tire, calls the load sensor data, calculates the inclination angle change, selects the maximum value among the inclination angle, contact area of ​​the track or tire and the load data change, calculates the equipment inclination state coefficient, selects the equipment inclination state coefficient and compares it with the set stability reference value, calculates the stable state offset, and establishes the stable state value of the highway construction equipment; The construction area terrain adaptability assessment module obtains the laser radar slope gradient based on the stable state value of the highway construction equipment, calls the ground concave and convex sensor data to calculate the undulation amplitude, reads the obstacle detection radar data to calculate the obstacle height, calculates the slope curvature, screens the slope curvature and compares it with the contour gradient, and generates the construction area terrain adaptability coefficient; The path resistance distribution calculation module obtains friction measurement data based on the terrain adaptability coefficient of the construction area, calls the traction sensor value, reads the slip angle reading, calculates the resistance gradient, screens the maximum value of the resistance gradient and compares it with the friction measurement data, and establishes the path resistance distribution rate of the highway construction equipment; The construction equipment path optimization module obtains the target route data, calls the slope gradient data, calculates the path adjustment plan, screens the difference between the target route data and the path adjustment plan, and establishes the highway construction equipment optimized path coordinate set based on the highway construction equipment path resistance distribution rate; The remote path control instruction generation module is based on the optimized path coordinate set of the highway construction equipment, obtains the equipment positioning data, calls the remote control system coordinates, reads the offset angle, calculates the adjustment angle, and establishes the remote path control instructions for the highway construction equipment.

[0049] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A method for remote control of highway construction equipment, characterized in that: The following steps are involved: S1: For highway construction equipment, the inclination angle of the equipment is collected through the vehicle-mounted inclination sensor, the inclination angle change is calculated, the track or tire contact area is recorded, the load sensor data is called, and the stable state value of the highway construction equipment is generated; S2: Based on the stable state value of the highway construction equipment, the slope change rate of the slope is calculated through the laser radar point cloud data, the ground concave and convex sensor is recorded to obtain the undulation amplitude, the obstacle detection radar is called to record the obstacle height, the slope change rate, the ground undulation index and the obstacle influence factor are calculated, and the terrain adaptability coefficient of the construction area is generated through weighted fusion; S3: Based on the terrain adaptability coefficient of the construction area, collect friction measurement data, read the traction sensor value, call the slip angle reading, calculate the resistance gradient, and generate the road construction equipment path resistance distribution rate; S4: Based on the road construction equipment path resistance distribution rate, collecting target route data, reading slope gradient data, calculating a path adjustment plan, and generating a road construction equipment optimized path coordinate set; S5: Based on the optimized path coordinate set of the highway construction equipment, equipment positioning data is collected, remote control system coordinates are called, offset angles are read, adjustment angles are calculated, and remote path control instructions for the highway construction equipment are generated.

2. The highway construction equipment remote control method according to claim 1, characterized in that: The stable state value of the highway construction equipment specifically includes the inclination angle change, the track or tire contact area, and the load sensor data. The terrain adaptability coefficient of the construction area includes the slope gradient, undulation amplitude, obstacle height, slope curvature, and contour gradient. The path resistance distribution rate of the highway construction equipment specifically includes friction measurement data, traction sensor value, slip angle reading, and resistance gradient. The highway construction equipment optimized path coordinate set includes target route data, slope gradient data, and path adjustment plan. The highway construction equipment remote path control instruction specifically refers to equipment positioning data, remote control system coordinates, offset angle, and adjustment angle.

3. The highway construction equipment remote control method according to claim 2, characterized in that: The steps for obtaining the stable state value of the highway construction equipment are specifically as follows: S101: Based on the highway construction equipment, the inclination angle of the equipment is collected through the vehicle-mounted inclination sensor, the inclination change is calculated, the contact area of ​​the track or tire is recorded, the load sensor data is called, and the original inclination data is obtained; S102: calling the original inclination data to calculate the inclination change, using the formula: ； Calculate and obtain the inclination angle change value per unit ground contact area to obtain the inclination angle change amount; in, Represents the change in inclination per unit ground contact area, represents the current inclination angle, represents the inclination angle at the previous moment, Represents the contact area of ​​the track or tire, Represents load sensor data; S103: Based on the inclination angle variation, the inclination angle stability threshold range is compared to determine the stability state of the highway construction equipment and obtain a stability state value of the highway construction equipment.

4. The highway construction equipment remote control method according to claim 3, characterized in that: The steps for obtaining the terrain adaptability coefficient of the construction area are specifically as follows: S201: Based on the stable state value of the highway construction equipment, the slope change rate of the slope is calculated through the laser radar point cloud data, and the fluctuation amplitude obtained by the ground concave-convex sensor is recorded, the obstacle detection radar is called to record the obstacle height, the slope gradient is compared with the fluctuation amplitude, the slope curvature is calculated, and the slope curvature and the obstacle height are jointly analyzed to obtain the slope curvature adjustment value; S202: calling the slope curvature adjustment value and comparing it with the contour gradient, using the formula: ； The slope curvature gradient deviation is obtained by operation, and the initial coefficient of terrain adaptability is calculated in combination with the slope gradient to generate the slope adaptability gradient coefficient; in, represents the slope adaptation gradient coefficient, Represents the slope curvature adjustment value, represents the contour gradient, represents the obstacle height weight coefficient, represents the sum of the slope curvature dataset, represents the sum of the contour gradient data set, Represents the total number of obstacles in the obstacle height dataset, Representative Group obstacle height data; S203: calling the slope adaptation gradient coefficient, combining the slope curvature adjustment value and the contour gradient, screening the differences in multiple parameters, eliminating data outside the adaptability threshold, and summarizing the adaptability range of the terrain to obtain the terrain adaptability coefficient of the construction area.

5. The highway construction equipment remote control method according to claim 4, characterized in that: The steps for obtaining the path resistance distribution rate of the highway construction equipment are specifically as follows: S301: Based on the terrain adaptability coefficient of the construction area, collect friction measurement data, record the measured values ​​of the friction data under differentiated traction, read the traction sensor value, combine the friction data under the traction, compare the friction coefficient change trend under multiple traction levels, and obtain the friction coefficient distribution value; S302: Call the slip angle reading, combine the traction sensor value, calculate the change of the slip angle under the action of the differentiated traction force, and analyze the increment of the slip angle under the action of the traction force based on the friction coefficient distribution value, using the formula: ； Obtain the resistance gradient value through calculation and obtain the changing trend of the traction resistance; in, Represents the resistance gradient value, Representative The traction force measured by the traction sensor of the group, Representative Group friction coefficient distribution value, Represents the total number of samples measured, Representative Group slip angle readings, Representative The slip angle increment measured by the group traction sensor; S303: Based on the traction resistance change trend and in combination with the friction coefficient distribution value, a path resistance distribution matrix is ​​established, the resistance level under multiple path units is calculated, the resistance characteristic data of differentiated path units are obtained, and the resistance characteristics of multiple units are integrated to generate a path resistance distribution rate of highway construction equipment.

6. The highway construction equipment remote control method according to claim 5, characterized in that: The steps for obtaining the optimized path coordinate set of the highway construction equipment are specifically as follows: S401: Based on the road construction equipment path resistance distribution rate, target route data is collected, spatial coordinates, road surface type, and curvature radius parameters of the route are extracted, slope gradient data is read, and slope change rates and distribution of slope continuous intervals at multiple points are calculated to obtain slope gradient distribution data; S402: Call the slope gradient distribution data to calculate the path adjustment plan, and use the formula based on the comprehensive calculation value of the slope change rate, curvature radius and resistance distribution rate: ； Calculate and obtain path optimization adjustment parameters, and generate a path optimization adjustment matrix; in, Represents the new adjustment parameters of the path, Represents the slope change rate data value, Represents the curvature radius data value, Represents the resistance distribution rate data value, stands for adjusted value added, represents the continuous data value of slope, represents the continuous additional value of slope, Represents the number of path segments; S403: calling the path optimization adjustment matrix, recalculating the original path data according to the adjustment weight, screening the path coordinate set that meets the optimization conditions, and obtaining the optimized path coordinate set of the highway construction equipment.

7. The highway construction equipment remote control method according to claim 6, characterized in that: The steps for obtaining the remote path control instructions of the highway construction equipment are specifically as follows: S501: Based on the optimized path coordinate set of the highway construction equipment, the equipment positioning data is collected to obtain the current spatial coordinates and motion state information of the equipment, and the remote control system coordinates are called to obtain the target path coordinates stored in the remote control system, and the deviation between the current coordinates and the target path coordinates is compared to calculate the equipment offset trajectory data; S502: Call the device offset trajectory data, read the offset angle, compare the direction angle of the target path coordinates, calculate the adjustment angle, and combine the current movement speed and steering inertia of the device to use the formula: ； Obtain the device angle adjustment parameters through calculation to obtain the device angle adjustment matrix; in, Represents the adjustment angle parameter, Represents the current angle of the device. represents the target direction angle, Represents the current speed of the device. represents the steering inertia factor, represents the angle error, represents the correction factor, represents the number of time steps, represents the number of inertia data points, represents the number of calibration data points; S503: calling the device angle adjustment matrix, combining the control instruction structure of the device remote control system, converting the adjustment matrix into the remote control system instruction format, and generating a highway construction equipment remote path control instruction.

8. A highway construction equipment remote control system, characterized in that: According to the highway construction equipment remote control method according to any one of claims 1 to 7, the system comprises: The equipment stability monitoring module obtains the inclination angle of the vehicle-mounted inclination sensor, detects the contact area of ​​the track or tire, calls the load sensor data, calculates the inclination angle change, selects the maximum value among the inclination angle, contact area of ​​the track or tire and the load data change, calculates the equipment inclination state coefficient, selects the equipment inclination state coefficient and compares it with the set stability reference value, calculates the stable state offset, and establishes the stable state value of the highway construction equipment; The construction area terrain adaptability assessment module obtains the laser radar slope gradient based on the stable state value of the highway construction equipment, calls the ground concave and convex sensor data to calculate the undulation amplitude, reads the obstacle detection radar data to calculate the obstacle height, calculates the slope curvature, screens the slope curvature and compares it with the contour gradient, and generates the construction area terrain adaptability coefficient; The path resistance distribution calculation module obtains friction measurement data based on the terrain adaptability coefficient of the construction area, calls the traction sensor value, reads the slip angle reading, calculates the resistance gradient, screens the maximum value of the resistance gradient and compares it with the friction measurement data, and establishes the path resistance distribution rate of the highway construction equipment; The construction equipment path optimization module obtains the target route data based on the highway construction equipment path resistance distribution rate, calls the slope gradient data, calculates the path adjustment plan, screens the difference between the target route data and the path adjustment plan, and establishes the highway construction equipment optimized path coordinate set; The remote path control instruction generation module obtains equipment positioning data, calls the remote control system coordinates, reads the offset angle, calculates the adjustment angle, and establishes the remote path control instruction for the highway construction equipment based on the highway construction equipment optimized path coordinate set.

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