Unmanned rolling machine group control system and method integrating centralization and decentralization

Abstract

The invention discloses a centralized and decentralized integrated unmanned rolling machine group control system and method. The control system comprises a remote monitoring terminal, a wireless local area network and a control unit arranged on each unmanned rolling machine, the control unit comprises a sensor system, a computer system and a driving system; a computer system on each unmanned rolling machine is used as a node; in each unmanned rolling machine group, the nodes are mutually connected to form an extended star topology structure, the nodes communicate with one another through a wireless local area network, and a father node is responsible for collecting monitoring data of the father node and child nodes of the father node, integrating the monitoring data and then sending the monitoring data to the father node of the father node; and the root node comprehensively analyzes monitoring data of each unmanned rolling machine, plans a global optimal path, sends a rolling operation task and path planning to the child node, and sequentially transmits the rolling operation task and the path planning downwards to the leaf node. According to the method, sensing information is fully utilized, the optimality of collaborative rolling operation control is realized through global dynamic planning, and sensing information processing tasks are decentralized.

Description

Technical Field

[0001] The present invention relates to the field of automated construction of earth-rock dams, and in particular to a control system and method for an unmanned roller group integrating centralization and decentralization. Background Art

[0002] At present, filling is an important part of earth-rock dam construction. The traditional earth-rock dam compaction process relies on manually driven vibrating rollers, which are difficult to accurately control in terms of key process parameters such as driving speed, strip overlap, and number of rolling passes. In recent years, the developed rolling real-time monitoring system has achieved real-time control of rolling parameters such as number of rolling passes, driving speed, layer thickness, and vibration excitation state by installing a high-precision positioning device on the roller.

[0003] With the rapid development of science and technology, unmanned automatic control technology has been widely studied and developed. In agriculture, drones have achieved good application results in tasks such as pesticide spraying, agricultural exploration, and yield assessment. At present, unmanned vehicles have been initially applied in scenarios such as unmanned delivery, unmanned taxis, and unmanned freight. In relatively closed scenarios such as unmanned delivery, mining, and unmanned retail, L4 unmanned vehicles have been put into practical use. However, in the field of road traffic, the level of automatic driving assistance functions in mass-produced cars is usually at the L2 to L2.5 level, and L4 unmanned driving is still the current development goal.

[0004] Traditional rolling construction has disadvantages such as poor working environment, intensive labor, and low machine utilization. In the construction process of large-scale water conservancy projects, the application of unmanned driving technology frees personnel from heavy, boring and repetitive labor, which plays a significant role in ensuring construction quality, improving construction efficiency and increasing productivity. According to the rolling construction process, rolling construction relies on the collaboration of multiple rollers. Summary of the invention

[0005] The present invention provides a control system and method for an unmanned roller group integrating centralization and decentralization in order to solve the technical problems existing in the known technology.

[0006] The technical solution adopted by the present invention to solve the technical problems existing in the known technology is:

[0007] A control system for an unmanned roller group integrating centralization and decentralization, the control system includes a remote monitoring terminal, a wireless local area network and a control unit arranged on each unmanned roller; the control unit includes a sensor system, a computer system and a drive system;

[0008] The remote monitoring terminal includes a communication interface, which is used to receive monitoring data of the working status of each unmanned roller and the working site, analyze the monitoring data, visualize the monitoring process, and issue rolling work instructions to each unmanned roller;

[0009] The sensor system is used to monitor the driving status and surrounding environment in real time; it sends the monitoring data to the computer system located in the same unmanned roller;

[0010] The computer system is used for receiving, storing, processing and sending signals; it receives and transmits monitoring data and rolling work instructions, and sends control signals to the drive system of the unmanned rolling machine located on the same machine;

[0011] The driving system is used to drive the actuator of the unmanned roller to perform corresponding actions according to the control signal;

[0012] The computer system on each unmanned roller is regarded as a node; in each unmanned roller group, each node is interconnected to form an extended star topology, and the nodes communicate with each other through a wireless local area network. Any node is regarded as a root node, and the distance between adjacent nodes is set to 1. Among any two adjacent nodes, the node with a smaller distance to the root node is the parent node, and the other node is the child node. The parent node is responsible for collecting the monitoring data of itself and its child nodes, and sending the integrated data to its parent node; the root node receives the rolling work instructions from the remote monitoring terminal, and sends the monitoring data of the unmanned roller group to the remote monitoring terminal; the root node comprehensively analyzes the monitoring data of each unmanned roller and plans the global optimal path, and sends the rolling operation task and path planning to its child nodes, which are passed down in sequence until the leaf node.

[0013] Furthermore, the sensor system includes GNSS, IMU, radar, inclination sensor, camera, and accelerometer;

[0014] GNSS is used to determine the spatial position of the unmanned roller;

[0015] IMU is used to measure the three-axis attitude and acceleration of the unmanned roller;

[0016] The radar is used to measure the distance between the unmanned roller and other entities and the speed of the unmanned roller;

[0017] The inclination sensor is used to sense and measure the inclination angle of the unmanned roller or its parts;

[0018] The camera is used to collect images of the surrounding environment of the unmanned roller;

[0019] The acceleration sensor is used to measure the acceleration of the unmanned roller.

[0020] Furthermore, the radar includes millimeter wave radar and / or laser radar.

[0021] Furthermore, the monitoring terminal includes a fixed monitoring terminal and / or a mobile monitoring terminal; the fixed monitoring terminal includes a server and a display; the mobile monitoring terminal includes a portable computer and / or a mobile phone.

[0022] The present invention also provides a control method for an unmanned roller group integrating centralization and decentralization. The control method sets a remote monitoring terminal and a wireless local area network, and sets a control unit on each unmanned roller; the control unit sets a sensor system, a computer system and a drive system;

[0023] The remote monitoring terminal is provided with a communication interface, and the remote monitoring terminal is used to receive the monitoring data of the working status of each unmanned roller and the working site, analyze the monitoring data, visualize the monitoring process, and issue rolling work instructions to each unmanned roller;

[0024] A sensor system is used to monitor the driving status and surrounding environment of the unmanned roller in real time; the monitoring data is sent to a computer system located in the same unmanned roller;

[0025] A computer system is used to receive, store, process and send signals; it receives and transmits monitoring data and rolling work instructions, and sends control signals to the drive system of the unmanned roller located in the same place;

[0026] The driving system drives the actuator of the unmanned roller to perform corresponding actions according to the control signal;

[0027] The computer system on each unmanned roller is regarded as a node; in each unmanned roller group, each node is interconnected into an extended star topology structure, and the nodes communicate with each other through a wireless local area network. Any node is regarded as a root node, and the distance between adjacent nodes is set to 1. Among any two adjacent nodes, the node with a smaller distance value to the root node is the parent node, and the other node is the child node. The parent node is responsible for collecting the monitoring data of itself and its child nodes, and sending the integrated data to its parent node; the root node receives the rolling work instructions from the remote monitoring terminal, and sends the monitoring data of the unmanned roller group to the remote monitoring terminal; the root node comprehensively analyzes the monitoring data of each unmanned roller and plans the global optimal path, and sends the rolling operation task and path planning to its child node, which is passed down in sequence until the leaf node.

[0028] Furthermore, the root node integrates the monitoring data of each unmanned roller to obtain global environmental perception information, and the global environmental perception information is transmitted from the root node to the leaf node at a set frequency.

[0029] Furthermore, the computer system serving as the root node stores global environment perception information and path planning, but does not store monitoring data of child nodes; and the computer system of each node independently stores its own monitoring data and path planning.

[0030] Furthermore, when an individual unmanned roller fails, the extended star topology structure is dynamically adjusted in the following manner: a node obtains monitoring data from its child node, and it packages the monitoring data information of the corresponding child node and transmits it to its parent node. After its parent node successfully receives the information, it sends verification information to its child node; if its child node does not receive the verification information, it is determined that the node is abnormal; if there is an abnormal node, the abnormal node is removed from the extended star topology structure, and a new extended star topology structure is regenerated.

[0031] Furthermore, each parent node has two child nodes, and the nodes of the unmanned roller are numbered according to the location of the node; each node has a unique path to the root node, and the node number represents the path searched from the root node to a certain node. When a node fails, the node is excluded and replaced by one of the child nodes under the node, which is directly connected to the parent node of the node to form a new extended star topology.

[0032] Furthermore, the rolling work instructions sent by the monitoring terminal to the unmanned rolling machine group include:

[0033] Task description instructions: warehouse surface operation area, rolling speed, rolling vibration frequency, rolling operation times;

[0034] Job status instructions: start, pause, abandon and end of job tasks;

[0035] Unmanned roller control commands: ignition, shutdown, forward, reverse, parking;

[0036] Data acquisition instructions: obtain the position, posture, global map, and path planning from the specified unmanned roller.

[0037] The advantages and positive effects of the present invention are: the present invention adopts a framework that integrates centralization and decentralization to achieve information sharing and collaborative operation between rollers.

[0038] By transferring the path planning function and perception information fusion from the monitoring terminal to the unmanned roller group, the coupling degree between the unmanned roller group and the monitoring terminal is reduced, and the reliability of the entire system is improved.

[0039] Make full use of perception information, achieve optimal control of collaborative rolling operations through global dynamic planning, and distribute perception information processing tasks to each unmanned rolling machine to balance the computing load and ensure the real-time, safe and stable operation of the unmanned rolling machine fleet.

[0040] A simple and flexible extended star topology is used to organize the unmanned roller cluster, thereby enhancing the scalability of the unmanned roller cluster.

[0041] The operating data of the unmanned roller group is managed by independently storing each unmanned roller and extracting it on demand by the monitoring terminal, thereby improving the security of data storage.

[0042] The consistency and efficiency of construction environment perception are ensured through information sharing, and the optimality of collaborative rolling operation control is achieved through global dynamic planning. The reliability of the unmanned rolling machine group is improved through a simple and flexible extended star topology structure and a reduced coupling degree between the monitoring terminal and the unmanned rolling machine group, which is convenient for maintenance and management. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The present invention is a schematic diagram of an extended star topology structure embodiment of the unmanned roller group control system that integrates centralization and decentralization.

[0044] Figure 2 for Figure 1 Schematic diagram of internal node information transmission in an extended star topology embodiment. DETAILED DESCRIPTION

[0045] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0046] The Chinese meanings of the following English words, phrases and abbreviations are as follows:

[0047] GNSS: Global Navigation Satellite System is an air-based radio navigation and positioning system that can provide all-weather, 3D coordinates, speed and time information.

[0048] IMU: Inertial Measurement Unit, a sensor mainly used to detect and measure acceleration and rotational motion.

[0049] SLAM: Simultaneous Localization and Mapping, a simultaneous positioning and mapping method that can estimate the vehicle position in real time and build a map of the surrounding environment at the same time.

[0050] In the description of the present invention, the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. The terms "connected" and "connection" used in the present invention should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can also be an electrical connection or signal transmission; for those of ordinary skill in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0051] See also Figure 1 to Figure 2 , a centralized and decentralized unmanned roller group control system, the control system includes a remote monitoring terminal, a wireless local area network and a control unit arranged on each unmanned roller; the control unit includes a sensor system, a computer system and a drive system;

[0052] The remote monitoring terminal includes a communication interface, which is used to receive monitoring data of the working status of each unmanned roller and the working site, analyze the monitoring data, visualize the monitoring process, and issue rolling work instructions to each unmanned roller;

[0053] The sensor system is used to monitor the driving status and surrounding environment in real time; it sends the monitoring data to the computer system located in the same unmanned roller;

[0054] The computer system is used for receiving, storing, processing and sending signals; it receives and transmits monitoring data and rolling work instructions, and sends control signals to the drive system of the unmanned rolling machine located on the same machine;

[0055] The driving system is used to drive the actuator of the unmanned roller to perform corresponding actions according to the control signal; the actuator of the unmanned roller includes a walking mechanism, a vibration mechanism, a steering mechanism and a lifting mechanism, which are responsible for completing the compaction operation.

[0056] The computer system on each unmanned roller is regarded as a node; in each unmanned roller group, each node is interconnected to form an extended star topology, and the nodes communicate with each other through a wireless local area network. Any node is regarded as a root node, and the distance between adjacent nodes is set to 1. Among any two adjacent nodes, the node with a smaller distance to the root node is the parent node, and the other node is the child node. The parent node is responsible for collecting the monitoring data of itself and its child nodes, and sending the integrated data to its parent node; the root node receives the rolling work instructions from the remote monitoring terminal, and sends the monitoring data of the unmanned roller group to the remote monitoring terminal; the root node comprehensively analyzes the monitoring data of each unmanned roller and plans the global optimal path, and sends the rolling operation task and path planning to its child nodes, which are passed down in sequence until the leaf node.

[0057] Extended star topology refers to a network structure that is formed by connecting multiple star networks to form a larger scale. In the extended star topology, each star network has its own central node, and these central nodes are connected by links. This topology retains the simplicity and reliability of the star topology while meeting the needs of large-scale networks.

[0058] Preferably, the sensor system may include GNSS, IMU, radar, tilt sensor, camera, acceleration sensor;

[0059] GNSS is used to determine the spatial position of the unmanned roller;

[0060] IMU is used to measure the three-axis attitude and acceleration of the unmanned roller;

[0061] The radar is used to measure the distance between the unmanned roller and other entities and the speed of the unmanned roller;

[0062] The inclination sensor is used to sense and measure the inclination angle of the unmanned roller or its parts;

[0063] The camera is used to collect images of the surrounding environment of the unmanned roller;

[0064] The acceleration sensor is used to measure the acceleration of the unmanned roller.

[0065] Preferably, the radar may include a millimeter wave radar and / or a laser radar.

[0066] Preferably, the monitoring terminal may include a fixed monitoring terminal and / or a mobile monitoring terminal; the fixed monitoring terminal includes a server and a display; the mobile monitoring terminal includes a portable computer and / or a mobile phone.

[0067] The present invention also provides a control method for an unmanned roller group integrating centralization and decentralization. The control method sets a remote monitoring terminal and a wireless local area network, and sets a control unit on each unmanned roller; the control unit sets a sensor system, a computer system and a drive system;

[0068] The remote monitoring terminal is provided with a communication interface, and the remote monitoring terminal is used to receive the monitoring data of the working status of each unmanned roller and the working site, analyze the monitoring data, visualize the monitoring process, and issue rolling work instructions to each unmanned roller;

[0069] A sensor system is used to monitor the driving status and surrounding environment of the unmanned roller in real time; the monitoring data is sent to a computer system located in the same unmanned roller;

[0070] A computer system is used to receive, store, process and send signals; it receives and transmits monitoring data and rolling work instructions, and sends control signals to the drive system of the unmanned roller located in the same place;

[0071] The driving system drives the actuator of the unmanned roller to perform corresponding actions according to the control signal;

[0072] The computer system on each unmanned roller is regarded as a node; in each unmanned roller group, each node is interconnected into an extended star topology structure, so that the nodes can communicate with each other through a wireless local area network. Any node can be used as a root node, and the distance between adjacent nodes can be set to 1. Among any two adjacent nodes, the node with a smaller distance value to the root node is the parent node, and the other node is the child node. The parent node can be responsible for collecting monitoring data of itself and its child nodes, and sending the integrated data to its parent node; the root node can receive rolling work instructions from a remote monitoring terminal, and send the monitoring data of the unmanned roller group to the remote monitoring terminal; the root node comprehensively analyzes the monitoring data of each unmanned roller and plans the global optimal path, and sends the rolling operation task and path planning to its child node, which is passed down in sequence until the leaf node.

[0073] Preferably, the root node can integrate the monitoring data of each unmanned roller to obtain global environmental perception information, and the global environmental perception information is transmitted from the root node to the leaf node at a set frequency. The frequency of global environmental perception information transmission can be determined according to the travel speed of the unmanned roller.

[0074] Preferably, the computer system serving as the root node can store global environment perception information and path planning, but not the monitoring data of the child nodes; the computer system of each node can independently store its own monitoring data and path planning.

[0075] Preferably, when an individual unmanned roller fails, the extended star topology structure can be dynamically adjusted in the following manner: a node obtains monitoring data from its child node, and it packages the monitoring data information of the corresponding child node and transmits it to its parent node. After its parent node successfully receives the information, it sends verification information to its child node; if its child node does not receive the verification information, it is judged that the node is abnormal; if there is an abnormal node, the abnormal node is removed from the extended star topology structure, and a new extended star topology structure is regenerated.

[0076] Preferably, each parent node can have two child nodes, and the nodes of the unmanned roller can be numbered according to the location of the node; each node has a unique path to the root node, and the node number represents the path searched from the root node to a certain node. When a node fails, the node can be excluded and replaced by one of the child nodes under the node, which can be directly connected to the parent node of the node to form a new extended star topology.

[0077] Preferably, the rolling work instruction sent by the monitoring terminal to the unmanned rolling machine group may include:

[0078] Task description instructions: warehouse surface operation area, rolling speed, rolling vibration frequency, rolling operation times;

[0079] Job status instructions: start, pause, abandon and end of job tasks;

[0080] Unmanned roller control commands: ignition, shutdown, forward, reverse, parking;

[0081] Data acquisition instructions: obtain the position, posture, global map, and path planning from the specified unmanned roller.

[0082] The structure, working process and working principle of the present invention are further described below with reference to a preferred embodiment of the present invention:

[0083] A control system for an unmanned roller group integrating centralization and decentralization, the control system includes a remote monitoring terminal, a wireless local area network and a control unit arranged on each unmanned roller; the control unit includes a sensor system, a computer system and a drive system;

[0084] The remote monitoring terminal includes a communication interface, which is used to receive monitoring data of the working status of each unmanned roller and the working site, analyze the monitoring data, visualize the monitoring process, and issue rolling work instructions to each unmanned roller;

[0085] The sensor system is used to monitor the driving status and surrounding environment in real time; it sends the monitoring data to the computer system located in the same unmanned roller;

[0086] The computer system is used for receiving, storing, processing and sending signals; it receives and transmits monitoring data and rolling work instructions, and sends control signals to the drive system of the unmanned rolling machine located on the same machine;

[0087] The driving system is used to drive the actuator of the unmanned roller to perform corresponding actions according to the control signal;

[0088] The computer system on each unmanned roller is regarded as a node; in each unmanned roller group, each node is interconnected to form an extended star topology, and the nodes communicate with each other through a wireless local area network. Any node is regarded as a root node, and the distance between adjacent nodes is set to 1. Among any two adjacent nodes, the node with a smaller distance to the root node is the parent node, and the other node is the child node. The parent node is responsible for collecting the monitoring data of itself and its child nodes, and sending the integrated data to its parent node; the root node receives the rolling work instructions from the remote monitoring terminal, and sends the monitoring data of the unmanned roller group to the remote monitoring terminal; the root node comprehensively analyzes the monitoring data of each unmanned roller and plans the global optimal path, and sends the rolling operation task and path planning to its child nodes, which are passed down in sequence until the leaf node.

[0089] The sensor system includes GNSS, IMU, millimeter-wave radar, inclination sensor, lidar, camera, and acceleration sensor; GNSS is used to determine the spatial position of the unmanned roller; IMU is used to measure the three-axis attitude and acceleration of the unmanned roller; millimeter-wave radar and lidar are used to measure the distance between the unmanned roller and other entities and the speed of the unmanned roller; the inclination sensor is used to sense and measure the inclination angle of the unmanned roller or its components; the camera is used to collect images of the surrounding environment of the unmanned roller; the acceleration sensor is used to measure the acceleration of the unmanned roller. The spatial position and attitude information of the roller is obtained by combining GNSS, IMU, inclination sensor, and lidar sensor with SLAM technology. The surrounding environment information of the roller is obtained by integrating the real-time data of lidar, millimeter-wave radar, and camera.

[0090] The main features of a centralized and decentralized unmanned roller group control system framework are:

[0091] First, the roller driving path planning is carried out collaboratively between the remote control terminal and each unmanned roller, which enhances the flexibility and robustness of the system and avoids the failure of the entire unmanned roller group to operate normally due to a single point of failure;

[0092] Second, for dynamic obstacles on the construction site, the fusion processing of perception information and the re-planning of paths can be performed between each unmanned roller, which reduces the burden on the remote control terminal and improves the response speed to dynamic changes.

[0093] Third, the storage of monitoring data no longer relies solely on remote database servers, but uses decentralized data storage methods to ensure the distribution and backup of data among multiple unmanned rollers, reducing the risk of data loss and increasing the possibility of data recovery.

[0094] Figure 1 The unmanned roller group in contains a total of 7 unmanned rollers, each roller is a node, each main node has two child nodes, and the unmanned rollers are numbered according to the location of the node. Each node has a unique path to the root node. The node number (n1, n2, n3) represents the path from the root node to the coded node. The root node is coded as (0, 0, 0). The root node is regarded as the parent node, the child nodes on its left are numbered (0, 1, 0), and the child nodes on its right are numbered (0, 2, 0).

[0095] Consider the node with node number (0,1,0) as the parent node, its left child node is numbered (0,1,1) and its left child node is numbered (0,1,2).

[0096] Consider the node numbered (0,2,0) as the parent node, its left child node numbered (0,2,1) and its left child node numbered (0,2,2).

[0097] If it is a first-level child node, n1 has the same number as its parent node, the root node; n2 is 1, indicating that it is on the left; n2 is 2, indicating that it is on the right; n3 is 0;

[0098] If it is a second-level child node, n1 and n2 have the same number as n1 and n2 of its parent node; when n3 is 1, it is located on the left, and when n3 is 2, it is located on the right.

[0099] If the number of unmanned rollers is K, let 2 k -1≥K.

[0100] Assume that the nodes are numbered (n1, n2, n3, ..., n k ).

[0101] The root node is numbered (0,0,0,…,0).

[0102] If it is a first-level child node, n1 has the same number as its parent node, the root node; when n2 is 1, it is on the left; when n2 is 2, it is on the right; n3, ..., n k Both are 0.

[0103] If it is a second-level child node, n1 and n2 have the same number as n1 and n2 of their parent node; when n3 is 1, it is located on the left, and when n3 is 2, it is located on the right. n4,…,n k Both are 0.

[0104] The encoding method is similar.

[0105] If it is the k-1th layer child node, n1, n2, ..., n k-1 All of them are related to their parent node n1, n2, ..., n k-1 Same number; n k When it is 1, it is on the left. k When it is 2, it is on the right.

[0106] The present invention proposes an embodiment of a centralized and decentralized unmanned roller group control method, which includes the following method steps:

[0107] Step 1: Determine the scale of the unmanned roller group according to the size of the warehouse surface and the available unmanned rollers, and form an extended star topology structure connection;

[0108] Step 2: The monitoring terminal divides the warehouse surface, determines the rolling parameters, and issues the rolling operation task to the root node of the unmanned rolling machine group;

[0109] Step 3, such as Figure 2 As shown, the parent node obtains the spatial position information, posture information and surrounding environment information of the child node from its child node, and transmits the processed information to the parent node's previous node. After successfully receiving the information, the previous node sends verification information to the child node until the root node;

[0110] Step 4: The root node plans the global optimal path according to the status of each unmanned roller and the global environment perception information, sends the rolling task information and path planning results to its child nodes, and passes them down in sequence until they reach the leaf node;

[0111] Step 5: After receiving the information, each unmanned roller generates an action through the driving system;

[0112] Repeat steps 3 to 5 above until the rolling operation is completed.

[0113] The global environment perception information is transmitted to the leaf nodes at a lower frequency to prevent the previous perception information from being effectively utilized when the root node fails. The root node only retains the global environment perception information and path planning results, and does not store the location, posture, surrounding environment and other information shared by the child nodes. Each unmanned roller independently stores its own operating data to enhance the autonomy and flexibility of the system.

[0114] Each unmanned roller can be either a master node or a child node, that is, when a certain unmanned roller fails or the number of unmanned rollers increases or decreases, the extended star topology can be flexibly changed and dynamically adjusted. In a decentralized framework, each node is equal. When a node failure is detected in the extended star topology, the corresponding adjustment strategy is: exclude the faulty node, connect the left branch directly to the parent node of the faulty node, and re-encode the child nodes under the right branch to form a new extended star topology.

[0115] In order to reduce the impact of monitoring terminal failures, the structural types of monitoring terminals can be diversified, including but not limited to PC-side exe programs, web pages, and mobile terminals. In this way, the system can enhance the autonomy and flexibility of each unmanned roller while maintaining centralized information sharing, thereby improving overall operating efficiency and reliability.

[0116] The above-mentioned process monitoring terminal, wireless local area network, control unit, sensor system, computer system, drive system, unmanned roller actuator, walking mechanism, vibration mechanism, steering mechanism and lifting mechanism, GNSS, IMU, millimeter wave radar, tilt sensor, laser radar, camera, acceleration sensor, etc. can all adopt components and systems in the existing technology, or adopt components and systems in the existing technology and construct them by conventional technical means.

[0117] The embodiments described above are only used to illustrate the technical ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The patent scope of the present invention cannot be limited only by this embodiment, that is, any equivalent changes or modifications made to the spirit disclosed by the present invention still fall within the patent scope of the present invention.

Claims

1. A centralized and decentralized unmanned roller group control system, characterized in that: The control system includes a remote monitoring terminal, a wireless local area network and a control unit arranged on each unmanned roller; the control unit includes a sensor system, a computer system and a drive system; The remote monitoring terminal includes a communication interface, which is used to receive monitoring data of the working status of each unmanned roller and the working site, analyze the monitoring data, visualize the monitoring process, and issue rolling work instructions to each unmanned roller; The sensor system is used to monitor the driving status and surrounding environment in real time; It sends monitoring data to a computer system located in the same unmanned roller compactor; The computer system is used for receiving, storing, processing and sending signals; it receives and transmits monitoring data and rolling work instructions, and sends control signals to the drive system of the unmanned rolling machine located on the same machine; The driving system is used to drive the actuator of the unmanned roller to perform corresponding actions according to the control signal; The computer system on each unmanned roller is regarded as a node; in each unmanned roller group, the nodes are interconnected to form an extended star topology, and the nodes communicate with each other through a wireless local area network. Any node is regarded as a root node, and the distance between adjacent nodes is set to 1. Among any two adjacent nodes, the node with a smaller distance to the root node is the parent node, and the other node is the child node. The parent node is responsible for collecting the monitoring data of itself and its child nodes, and sending the integrated data to its parent node; the root node receives the rolling work instructions from the remote monitoring terminal, and sends the monitoring data of the unmanned roller group to the remote monitoring terminal; the root node comprehensively analyzes the monitoring data of each unmanned roller and plans the global optimal path, and sends the rolling operation task and path planning to its child nodes, which are passed down in sequence until the leaf node.

2. The unmanned roller group control system integrating centralization and decentralization according to claim 1 is characterized in that: The sensor system includes GNSS, IMU, radar, inclinometer, camera, and accelerometer; GNSS is used to determine the spatial position of the unmanned roller; IMU is used to measure the three-axis attitude and acceleration of the unmanned roller; The radar is used to measure the distance between the unmanned roller and other entities and the speed of the unmanned roller; The inclination sensor is used to sense and measure the inclination angle of the unmanned roller or its parts; The camera is used to collect images of the surrounding environment of the unmanned roller; The acceleration sensor is used to measure the acceleration of the unmanned roller.

3. The unmanned roller group control system integrating centralization and decentralization according to claim 2 is characterized in that: The radar includes millimeter wave radar and / or laser radar.

4. The unmanned roller group control system integrating centralization and decentralization according to claim 1 is characterized in that: The monitoring terminal includes a fixed monitoring terminal and / or a mobile monitoring terminal; the fixed monitoring terminal includes a server and a display; the mobile monitoring terminal includes a portable computer and / or a mobile phone.

5. A centralized and decentralized unmanned roller group control method, characterized in that: The control method sets a remote monitoring terminal and a wireless local area network, and sets a control unit on each unmanned roller; the control unit sets a sensor system, a computer system and a drive system; The remote monitoring terminal is provided with a communication interface, and the remote monitoring terminal is used to receive the monitoring data of the working status of each unmanned roller and the working site, analyze the monitoring data, visualize the monitoring process, and issue rolling work instructions to each unmanned roller; A sensor system is used to monitor the driving status and surrounding environment of the unmanned roller in real time; the monitoring data is sent to a computer system located in the same unmanned roller; A computer system is used to receive, store, process and send signals; it receives and transmits monitoring data and rolling work instructions, and sends control signals to the drive system of the unmanned rolling machine located in the same place; The driving system drives the actuator of the unmanned roller to perform corresponding actions according to the control signal; The computer system on each unmanned roller is regarded as a node; in each unmanned roller group, each node is interconnected into an extended star topology structure, and the nodes communicate with each other through a wireless local area network. Any node is regarded as a root node, and the distance between adjacent nodes is set to 1. Among any two adjacent nodes, the node with a smaller distance value to the root node is the parent node, and the other node is the child node. The parent node is responsible for collecting the monitoring data of itself and its child nodes, and sending the integrated data to its parent node; the root node receives the rolling work instructions from the remote monitoring terminal, and sends the monitoring data of the unmanned roller group to the remote monitoring terminal; the root node comprehensively analyzes the monitoring data of each unmanned roller and plans the global optimal path, and sends the rolling operation task and path planning to its child node, which is passed down in sequence until the leaf node.

6. The control method of unmanned roller group integrating centralization and decentralization according to claim 5 is characterized in that: The root node integrates the monitoring data of each unmanned roller to obtain the global environment perception information, and the global environment perception information is transmitted from the root node to the leaf node at a set frequency.

7. The control method of unmanned roller group integrating centralization and decentralization according to claim 6 is characterized in that: The computer system as the root node stores the global environment perception information and path planning, but does not store the monitoring data of the child nodes; the computer system of each node independently stores its own monitoring data and path planning.

8. The control method of unmanned roller group integrating centralization and decentralization according to claim 5 is characterized in that: When an individual unmanned roller fails, the extended star topology is dynamically adjusted as follows: a node obtains monitoring data from its child node, and it packages and transmits the monitoring data information of the corresponding child node to its parent node. After successfully receiving the information, its parent node sends verification information to its child node; If its child node does not receive the validation information, it is determined that the node is abnormal; If there are abnormal nodes, remove the abnormal nodes from the extended star topology and regenerate a new extended star topology.

9. The method for controlling an unmanned roller group integrating centralization and decentralization according to claim 8 is characterized in that: Each parent node has two child nodes, and the nodes of the unmanned roller are numbered according to the location of the node; each node has a unique path to the root node, and the node number represents the path searched from the root node to a certain node. When a node fails, the node is excluded and replaced by one of the child nodes under the node, which is directly connected to the parent node of the node to form a new extended star topology.

10. The control method of unmanned roller group integrating centralization and decentralization according to claim 5 is characterized in that: The rolling work instructions sent by the monitoring terminal to the unmanned rolling machine group include: Task description instructions: warehouse surface operation area, rolling speed, rolling vibration frequency, rolling operation times; Job status instructions: start, pause, abandon and end of job tasks; Unmanned roller control commands: ignition, shutdown, forward, reverse, parking; Data acquisition instructions: obtain the position, posture, global map, and path planning from the specified unmanned roller.

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