Unmanned road roller and operation control mode

Abstract

The invention relates to the technical field of road rollers, and provides an unmanned road roller and a control operation mode, the unmanned road roller adopts two steel wheels which are matched with each other, through composite operation of the two steel wheels, the rolling effect is better, the unmanned road roller is more practical, the unmanned road roller comprises the two steel wheels and two split type road rollers, and each split type road roller comprises a road roller body. Main mounting frames and auxiliary mounting frames are mounted on the two road roller bodies, the two steel wheels are rotationally connected with the two main mounting frames respectively and rotationally connected with the two auxiliary mounting frames respectively, servo motors are mounted on the two main mounting frames respectively, and the two servo motors are used for rotationally driving the two steel wheels respectively. A control end communication lamp, a central controller, a wireless access module and a radar device are mounted on one of the two road roller bodies, the two road roller bodies are connected through a connecting assembly, and the servo motor, the control end communication lamp, the wireless access module and the radar device are electrically connected with the central controller.

Description

Technical Field

[0001] The present invention relates to the technical field of road rollers, and in particular to an unmanned road roller and a control operation method. Background Art

[0002] As is well known, an unmanned road roller is an intelligent construction equipment that realizes unmanned operation through technologies such as autonomous navigation, environment perception, and decision-making control. It can automatically complete the rolling task and can provide real-time feedback on the working state and data, improving construction efficiency and quality.

[0003] After retrieval, a patent with the Chinese patent publication number CN210288040U discloses an unmanned road roller, which generally includes a steel wheel and a rubber wheel road roller. At the top of the road roller, there are a GPS+BDS+GNS satellite receiver, a microwave communication host, and a radio signal receiving antenna, which constitute a remote control system. An integrated control cabinet is provided on the road roller, and an industrial control computer is provided inside the integrated control cabinet. The GPS+BDS+GNS satellite receiver, the microwave communication host, and the radio signal receiving antenna are respectively connected to the industrial control computer inside the integrated control cabinet on the road roller through various special lines. The industrial control computer is provided with many components such as a hard disk, a processor, a PCB, a switch, and a GPS+BDS+GNSS satellite chip, as well as system control software. When in use, by installing an automatic control device on the driving / reversing system, an oil circuit automatic control device on the oil circuit system, and a steering control motor on the steering system and other technical means, and then through components such as the processor, program software, and switch provided in the industrial control computer, the full-intelligent unmanned driving of the road roller is realized.

[0004] Although the above-mentioned prior art solution can be applied to the rolling operation, the working component for forming the rolling is a single steel wheel, and the rolling effect of the rubber wheel is limited. Therefore, during the rolling process, the single steel wheel needs to repeatedly roll the operation area, and its practicability needs to be further enhanced, and the operation efficiency needs to be further improved. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides an unmanned road roller and a control operation method, which adopt two mutually cooperating steel wheels. Through the combined operation of the two steel wheels, the rolling effect is further improved, and the practicability is further enhanced.

[0006] To achieve the above object, the present invention provides the following technical solution: An unmanned roller, including two steel wheels, further including two split rollers. Both of the split rollers include a roller body. On both of the roller bodies, a main mounting frame and an auxiliary mounting frame are installed. The two steel wheels are respectively rotatably connected to the two main mounting frames and the two auxiliary mounting frames. On both of the main mounting frames, a servo motor is installed. The two servo motors are respectively used for driving the rotation of the two steel wheels. On one of the two roller bodies, a control terminal communication light, a central controller, a wireless access module and a radar device are installed. The two roller bodies are connected by a connection component. The servo motor, the control terminal communication light, the wireless access module and the radar device are all electrically connected to the central controller. The wireless access module is equipped with a wireless control handheld device. The wireless control handheld device forms information interaction with the wireless access module to realize the display of the operation state of the roller body on the wireless control handheld device and the transmission of control information to the roller body.

[0007] Preferably, the connection component includes a mounting sleeve and a mounting plate. The mounting sleeve and the mounting plate are respectively fixedly connected to one end of the two roller bodies close to each other. A rotating column is rotatably connected in the mounting sleeve, and an electric telescopic rod is installed on the mounting sleeve. The electric telescopic rod is used for adjusting the rotation angle of the rotating column relative to the mounting sleeve. An upper connecting frame and a lower connecting frame are rotatably connected to the rotating column. The upper connecting frame and the lower connecting frame are both rotatably connected to the mounting plate. An electric adjustment member is installed between the mounting plate and the rotating column. An electric adjustment rod is hinged to the rotating column. The telescopic rod of the electric adjustment rod is connected between the upper connecting frame and the lower connecting frame. The electric telescopic rod and the electric adjustment rod are both electrically connected to the central controller.

[0008] Further, the electric adjustment member includes a telescopic sleeve and a telescopic column. The telescopic sleeve and the telescopic column are respectively rotatably connected to the rotating column and the mounting plate. The telescopic sleeve and the telescopic column are slidably connected to each other. An electric control rod is installed on the telescopic sleeve. The telescopic rod of the electric control rod is fixedly connected to the telescopic column.

[0009] Preferably, a connecting shaft is fixedly connected between the upper connecting frame and the lower connecting frame. A hinge member is hinged to the telescopic rod of the electric adjustment rod. The hinge member is hinged to the connecting shaft. A hinge seat is fixedly connected to the rotating column. The electric adjustment rod is rotatably connected in the hinge seat.

[0010] Further, a rotating seat is rotatably connected to the mounting sleeve. The electric telescopic rod is fixedly connected to the rotating seat. An eccentric groove is formed in the rotating column. An eccentric shaft is fixedly connected in the eccentric groove. The telescopic rod of the electric telescopic rod is hinged to the eccentric shaft.

[0011] Preferably, a double-shaft bracket and a connecting seat are fixedly connected to both the rotating column and the mounting plate. Upper connecting shafts and lower connecting shafts are fixedly connected to both of the double-shaft brackets. The two upper connecting shafts are rotatably connected to the upper connecting frame, and the two lower connecting shafts are rotatably connected to the lower connecting frame. The telescopic column and the telescopic sleeve are respectively hinged to the two connecting seats.

[0012] Furthermore, external emergency stop buttons are installed on the sides of both of the road roller bodies. The two external emergency stop buttons are electrically connected to the central controller.

[0013] Preferably, a plurality of lighting lamps are installed at the mutually remote ends of both of the road roller bodies. The plurality of lighting lamps are electrically connected to the central controller.

[0014] Furthermore, cleaning scrapers are installed at the mutually remote ends of both of the road roller bodies. The two cleaning scrapers are respectively used for cleaning the surfaces of the two steel wheels.

[0015] A control operation method for an unmanned road roller includes the following steps:

[0016] S1. First, determine whether the unmanned road roller is in good condition, especially whether the peripheral radar device is in good condition, and check whether the battery in the road roller body has sufficient power. Then, turn on the switch on the side of the emergency stop switch on the wireless control hand-held device, prepare to stop immediately at any time, adjust the manual-automatic switching switch on the wireless control hand-held device, set the control mode of the wireless control hand-held device to the manual state, power on the central controller, and the wireless control hand-held device connects to the network of the wireless access module. When the communication light of the control end starts to flash, it means that the wireless access module and the wireless control hand-held device have completed the communication link, and the preparation work before the operation of the unmanned road roller is completed;

[0017] S2. Then, collect the navigation points of the rolling area, collect along the boundary of the rolling area. During the collection process, use the GPS module in the wireless control hand-held device to collect coordinates, save the collected coordinates as a TXT text, and finally upload them to the computer of the central controller. Select the vehicle number of this unmanned road roller that is the same as the vehicle number displayed in the communication with the wireless control hand-held device, click on the real-time information, select the path of the navigation data coordinate file, open the coordinate file, set the rolling parameters, and start the unmanned construction;

[0018] S3. Please ensure that the unmanned road roller is in the automatic state before starting. Two millimeter-wave radars are installed at the front and rear of the unmanned road roller. When an obstacle is detected, the unmanned road roller will automatically stop. When driving unmanned in the automatic state, the switch on the side of the emergency stop switch on the wireless control hand-held device should still be turned on in case of an emergency. An external emergency stop button is installed on the side of the road roller body. After pressing it, the unmanned road roller will immediately enter the parked state;

[0019] S4. During the process of traveling and rolling, by applying corresponding commands to the connecting component, the relative position of the two steel wheels can be adjusted through the adjustment of the connecting component. When the two steel wheels are parallel to each other, the unmanned roller is in a straight-line traveling state, and by controlling the rotation direction of the servo motor, the forward and backward movement of the whole unmanned roller can be achieved. When the two steel wheels are parallel to each other and arranged in a mutually offset manner, the rolling surface of a single pass formed by the two steel wheels can be effectively increased. When a certain angle is formed between the two steel wheels, the steering operation of the unmanned roller can be achieved.

[0020] Compared with the prior art, the present invention provides an unmanned roller and a control operation method, having the following beneficial effects:

[0021] (1). In the present invention, through the design of a split roller, it is convenient to form the installation structure of the two steel wheels, and at the same time form the carrier of the necessary unmanned functional components to form the functional components of the unmanned roller. Through the combined operation of the two steel wheels, the rolling effect is further improved.

[0022] (2). In the present invention, through the design of the connecting component, a relative connection and installation structure between the two split rollers is formed. While meeting the relative installation of the two split rollers, it is convenient to adjust the positions of the two steel wheels, so as to facilitate the adjustment of the relative steering and offset working states of the two steel wheels, and the practicability is further enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a three-dimensional structure schematic diagram of the whole of the present invention;

[0024] Figure 2 is a three-dimensional structure schematic diagram of the connecting component of the present invention;

[0025] Figure 3 is an exploded three-dimensional structure schematic diagram of the cooperation of the mounting sleeve, mounting plate, rotating column, etc. of the present invention;

[0026] Figure 4 is a three-dimensional structure schematic diagram of another angle of the whole of the present invention;

[0027] Figure 5 is a three-dimensional structure schematic diagram of another angle of the connecting component of the present invention;

[0028] Figure 6 is an exploded three-dimensional structure schematic diagram of another angle of the cooperation of the mounting sleeve, mounting plate, rotating column, etc. of the present invention;

[0029] Figure 7Schematic diagram of the overall upward-looking three-dimensional structure of the present invention;

[0030] Figure 8 Schematic diagram of the three-dimensional structure of the partial cross-section corresponding to the installation of the central controller of the present invention inside the road roller body;

[0031] Figure 9 Schematic diagram of the three-dimensional structure of a state where two steel wheels of the present invention rotate relative to each other;

[0032] Figure 10 Schematic diagram of the three-dimensional structure of another state where two steel wheels of the present invention rotate relative to each other;

[0033] Figure 11 Schematic diagram of the three-dimensional structure of the present invention where two steel wheels work with misaligned lines;

[0034] Figure 12 Schematic diagram for calibrating points P1 and P2 in the rolling area of the present invention;

[0035] Figure 13 Data text format after marking points of the present invention;

[0036] Figure 14 Schematic diagram of the roll forming state where two steel wheels of the present invention are adjusted to the ridge shape with the middle high and both ends low;

[0037] Figure 15 Schematic diagram of the operation interface of the present invention for wirelessly controlling the handheld device to select the vehicle number (select No. 1) that is the same as the communication display vehicle number and click on real-time information;

[0038] Figure 16 Schematic diagram of the operation interface of the present invention for wirelessly controlling the handheld device to select the navigation data coordinate file path and open the coordinate file;

[0039] Figure 17 Schematic diagram of the operation interface of the present invention for wirelessly controlling the handheld device to select JN - YLJ.txt and click OK;

[0040] Figure 18 Schematic diagram of the operation interface of the present invention for wirelessly controlling the handheld device to set rolling parameters;

[0041] Figure 19 Schematic diagram of the operation interface of the present invention for wirelessly controlling the handheld device to start driverless construction.

[0042] In the figure: 1. Steel wheel; 2. Road roller body; 3. Main mounting frame; 4. Auxiliary mounting frame; 5. Servo motor; 6. Control terminal communication light; 7. Central controller; 8. Wireless access module; 9. Wireless control hand-held device; 10. Radar device; 11. Mounting sleeve; 12. Mounting plate; 13. Rotating column; 14. Electric telescopic rod; 15. Upper connecting frame; 16. Lower connecting frame; 17. Electric adjustment rod; 18. Telescopic sleeve; 19. Telescopic column; 20. Electric control rod; 21. Connecting shaft; 22. Hinge; 23. Hinge seat; 24. Rotating seat; 25. Eccentric groove; 26. Eccentric shaft; 27. Biaxial frame; 28. Connecting seat; 29. Upper connecting shaft; 30. Lower connecting shaft; 31. External emergency stop button; 32. Lighting lamp; 33. Cleaning scraper. Detailed implementation manners

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] Embodiment

[0045] Please refer to Figure 1 - Attached Figure 19, An unmanned roller, comprising two steel wheels 1, and further comprising two split rollers. Each of the two split rollers includes a roller body 2. On each of the two roller bodies 2, a main mounting frame 3 and an auxiliary mounting frame 4 are installed. The two steel wheels 1 are respectively rotatably connected to the two main mounting frames 3, and the two steel wheels 1 are respectively rotatably connected to the two auxiliary mounting frames 4. On each of the two main mounting frames 3, a servo motor 5 is installed. The two servo motors 5 are respectively used for driving the rotation of the two steel wheels 1. On one of the two roller bodies 2, a control terminal communication light 6, a central controller 7, a wireless access module 8 and a radar device 10 are installed. Through the design of the split roller, it is convenient to form the installation structure of the two steel wheels 1, and at the same time form the carrier of the necessary unmanned functional components to form the functional components of the unmanned roller. Through the combined operation of the two steel wheels 1, the compaction effect is further improved. The two roller bodies 2 are connected by a connecting component. The servo motor 5, the control terminal communication light 6, the wireless access module 8 and the radar device 10 are all electrically connected to the central controller 7. The wireless access module 8 is equipped with a wireless control handle 9. The wireless control handle 9 forms information interaction with the wireless access module 8 to realize the display of the operating state of the roller body 2 on the wireless control handle 9 and the transmission of the control information to the roller body 2. On the side of each of the two roller bodies 2, an external emergency stop button 31 is installed. The two external emergency stop buttons 31 are both electrically connected to the central controller 7. At one end of each of the two roller bodies 2 away from each other, a plurality of lighting lamps 32 are installed. The plurality of lighting lamps 32 are all electrically connected to the central controller 7. At one end of each of the two roller bodies 2 away from each other, a cleaning scraper 33 is installed. The two cleaning scrapers 33 are respectively used for cleaning the surfaces of the two steel wheels 1.

[0046] It should be further noted that the connecting component includes a mounting sleeve 11 and a mounting plate 12. The mounting sleeve 11 and the mounting plate 12 are respectively fixedly connected to one end of two road roller bodies 2 that are close to each other. A rotating column 13 is rotatably connected inside the mounting sleeve 11, and an electric telescopic rod 14 is installed on the mounting sleeve 11. The electric telescopic rod 14 is used to adjust the rotation angle of the rotating column 13 relative to the mounting sleeve 11. An upper connecting frame 15 and a lower connecting frame 16 are rotatably connected to the rotating column 13. Both the upper connecting frame 15 and the lower connecting frame 16 are rotatably connected to the mounting plate 12. An electric adjusting member is installed between the mounting plate 12 and the rotating column 13. An electric adjusting rod 17 is hinged to the rotating column 13. The telescopic rod of the electric adjusting rod 17 is connected between the upper connecting frame 15 and the lower connecting frame 16. Both the electric telescopic rod 14 and the electric adjusting rod 17 are electrically connected to the central controller 7. The electric adjusting member includes a telescopic sleeve 18 and a telescopic column 19. The telescopic sleeve 18 and the telescopic column 19 are respectively rotatably connected to the rotating column 13 and the mounting plate 12, and they are slidably connected to each other. An electric control rod 20 is installed on the telescopic sleeve 18. The telescopic rod of the electric control rod 20 is fixedly connected to the telescopic column 19. A connecting shaft 21 is fixedly connected between the upper connecting frame 15 and the lower connecting frame 16. A hinge member 22 is hinged to the telescopic rod of the electric adjusting rod 17. The hinge member 22 is hinged to the connecting shaft 21. A hinge seat 23 is fixedly connected to the rotating column 13. The electric adjusting rod 17 is rotatably connected inside the hinge seat 23. A rotating seat 24 is rotatably connected to the mounting sleeve 11. The electric telescopic rod 14 is fixedly connected to the rotating seat 24. An eccentric groove 25 is formed on the rotating column 13. An eccentric shaft 26 is fixedly connected inside the eccentric groove 25. The telescopic rod of the electric telescopic rod 14 is hinged to the eccentric shaft 26. Biaxial frames 27 and connecting seats 28 are fixedly connected to both the rotating column 13 and the mounting plate 12. An upper connecting shaft 29 and a lower connecting shaft 30 are fixedly connected to both biaxial frames 27. Both upper connecting shafts 29 are rotatably connected to the upper connecting frame 15. Both lower connecting shafts 30 are rotatably connected to the lower connecting frame 16. The telescopic column 19 and the telescopic sleeve 18 are respectively hinged to the two connecting seats 28. Through the design of the connecting component, a relative connection and installation structure between two split road rollers is formed. While meeting the relative installation of the two split road rollers, it is convenient to adjust the positions of the two steel wheels 1, so as to facilitate the relative steering and misalignment working state adjustment of the two steel wheels 1, and the practicability is further enhanced.

[0047] The servo motor 5, control terminal communication light 6, central controller 7, wireless access module 8, wireless control handheld device 9, radar device 10, electric telescopic rod 14, electric adjustment rod 17, external emergency stop button 31, and lighting lamp 32 in this embodiment are all conventional devices well-known to those skilled in the art and purchased on the market. In the present invention, we only use them without improving their structures and functions. Their setting methods, installation methods, and electrical connection methods can be debugged and operated by those skilled in the art as long as they follow the requirements of their user manuals, and will not be elaborated here.

[0048] In summary, the operation process of this driverless roller is as follows. First, determine whether the driverless roller is complete, especially whether the peripheral radar device 10 is in good condition, and check whether the battery in the roller body 2 has sufficient power. When the battery power is low, the battery should be charged first. Then, turn on the switch on the side of the emergency stop switch on the wireless control handheld device 9 to be ready for emergency stop at any time. Adjust the manual / automatic switch on the wireless control handheld device 9 to set the control mode of the wireless control handheld device 9 to the manual state. Power on the central controller 7. The wireless control handheld device 9 connects to the network of the wireless access module 8. When the control terminal communication light 6 starts to flash, it indicates that the wireless access module 8 and the wireless control handheld device 9 have completed the communication link, completing the preparation work before the operation of this driverless roller. Then, collect the navigation points in the rolling area, along the boundary of the rolling area. During the collection process, use the GPS module in the wireless control handheld device 9 to collect coordinates and save the collected coordinates as a TXT text, and finally upload it to the computer of the central controller 7. Select the vehicle number of the driverless roller that is the same as the vehicle number displayed in communication with the wireless control handheld device 9, click on real-time information, select the navigation data coordinate file path, open the coordinate file, set the rolling parameters, and start the driverless construction. Please ensure that this driverless roller is in the automatic state before starting. There are two millimeter-wave radars installed at the front and rear of this driverless roller. When an obstacle is detected, this driverless roller will automatically stop. In the automatic state, when driving without a driver, the switch on the side of the emergency stop switch on the wireless control handheld device 9 should still be turned on in case of an emergency. There is an external emergency stop button 31 installed on the side of the roller body 2. When pressed, this driverless roller will immediately enter the parked state.

[0049] Furthermore, during the process of traveling and rolling, corresponding commands are applied to the connection components, and the relative positions of the two steel wheels 1 can be adjusted by adjusting the connection components. When the two steel wheels 1 are parallel to each other, the driverless roller is in a straight-line traveling state. By controlling the rotation direction of the servo motor 5, the forward and backward movement of the driverless roller can be achieved. When the two steel wheels 1 are parallel to each other and are arranged in a mutually offset manner, the rolling surface of a single pass formed by the two steel wheels 1 can be effectively increased. When a certain angle is formed between the two steel wheels 1, the steering operation of the driverless roller can be achieved. The adjustment of the connection components is mainly achieved through the coordinated work of the electric adjustment rod 17 and the electric control rod 20. The work of the electric adjustment rod 17 realizes the rotational adjustment of the upper connecting frame 15 and the lower connecting frame 16 relative to the rotating column 13. The work of the electric control rod 20 realizes the adjustment of the overall length formed by the telescopic sleeve 18 and the telescopic column 19. The length of the upper connecting frame 15 is the same as the length of the lower connecting frame 16. When the two steel wheels 1 are driven by the servo motor 5 to move forward, when the electric control rod 20 works to control the overall length of the telescopic sleeve 18 and the telescopic column 19 to be consistent with the length of the upper connecting frame 15, and when the electric adjustment rod 17 works to control both the lower connecting frame 16 and the lower connecting frame 16 to rotate relative to the rotating column 13, the two steel wheels 1 can be controlled to enter a relatively offset state while maintaining a relatively parallel state. At this time, as shown in the attached Figure 11 figure. When the electric adjustment rod 17 keeps the relative angles of the upper connecting frame 15 and the lower connecting frame 16 relative to the rotating column 13 fixed, and the electric control rod 20 works to control the length formed by the telescopic sleeve 18 and the telescopic column 19 to change, the two steel wheels 1 can be controlled to form a certain angle, as shown in the attached Figure 9 figure, which shows the relative angle state of the two steel wheels 1 in the state where the overall length formed by the electric control rod 20 controlling the telescopic sleeve 18 and the telescopic column 19 increases. As shown in the attached Figure 10 figure, which shows the relative angle state of the two steel wheels 1 in the state where the overall length formed by the electric control rod 20 controlling the telescopic sleeve 18 and the telescopic column 19 decreases. The two states shown in the attached Figure 9 figure and the attached Figure 10 figure are used to realize the steering adjustment of the driverless roller. By the work of the electric telescopic rod 14 to control the rotational adjustment of the rotating column 13 relative to the mounting sleeve 11, the adjustment of the postures of the two steel wheels 1 can be realized, which is suitable for roll forming at ridge-shaped places with a middle-high and two-end-low shape in the middle position of a road, and this state is as shown in the attached Figure 14 figure.

[0050] Specific operation implementation example of collecting navigation points in the rolling area

[0051] 1. Introduction to the principle of point selection

[0052] As shown in the attachment Figure 12 Collect along the boundary of the rolling area as shown. P1 is the first point and P2 is the second point.

[0053] (1) Set the rolling width to twice the actual rolling width;

[0054] (2) Set the rolling area to 2;

[0055] (3) Facing the direction from P1 to P2, if the collected P1 and P2 are on the left boundary of the rolling area, then it should be set to the right area during rolling;

[0056] (4) The rolling direction is from left to right or from right to left.

[0057] 2. Point selection method

[0058] Use the wireless access module 8 to achieve GPS collection, save the coordinates to a TXT text, and finally upload them to the computer of the central controller 7. The data text format is as shown in the attachment Figure 13 as shown;

[0059] The data format must be set strictly according to the format shown in the figure, otherwise it will cause navigation data errors and the unmanned driving cannot be started.

[0060] 3. Control terminal operation steps

[0061] (1) Select the vehicle number that is the same as the communication display vehicle number (select No. 1), click on real-time information, as shown in the attachment Figure 15 as shown;

[0062] (2) Select the navigation data coordinate file path, open the coordinate file, select JN - YLJ.txt, and click OK, as shown in the attachment Figure 16 and the attachment Figure 17 as shown.

[0063] 4. Set rolling parameters

[0064] As shown in the attachment Figure 18 The meaning of the rolling parameter settings is as follows: the stagger distance is the vehicle width * 0.5; the rolling width is 10 / 2 = 5 meters; it is divided into two areas; for the left rolling area, roll from right to left;

[0065] Track stagger distance: Set the percentage of the overlap width of the two tracks of the steel wheel 1 in the width of the steel wheel 1. 80% represents an overlap of 20% (100% - 80%);

[0066] Paving width: Set the width that needs to be rolled. If it is divided into two areas, the width of each area is half of the total width of this area;

[0067] Control position: Set the rolling direction, that is, start from the left side or the right side of the rolling area;

[0068] Number of areas: The current area is divided into several areas for rolling, usually set to 2;

[0069] Sequence: Set to roll the left area or the right area (1 for the left area);

[0070] 5. Start unmanned construction (make sure the roller is in the automatic state before starting)

[0071] Click to load coordinates → Coordinates are sent → Throttle 1500 → Vehicle speed: 0.5 (m / s) → Unmanned → The walking control is set up. Specifically, as shown in the appendix Figure 19 as shown.

[0072] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned roller, comprising two steel wheels (1), characterized in that, It also includes two split rollers. Both of the two split rollers include a roller body (2). A main mounting frame (3) and an auxiliary mounting frame (4) are installed on both of the two roller bodies (2). The two steel wheels (1) are respectively rotatably connected to the two main mounting frames (3), and the two steel wheels (1) are respectively rotatably connected to the two auxiliary mounting frames (4). Servo motors (5) are installed on both of the two main mounting frames (3). The two servo motors (5) are respectively used for driving the rotation of the two steel wheels (1). A control terminal communication lamp (6), a central controller (7), a wireless access module (8) and a radar device (10) are installed on one of the two roller bodies (2). The two roller bodies (2) are connected by a connecting component. The servo motor (5), the control terminal communication lamp (6), the wireless access module (8) and the radar device (10) are all electrically connected to the central controller (7). The wireless access module (8) is equipped with a wireless control handle (9). The wireless control handle (9) forms information interaction with the wireless access module (8) to realize the display of the operating state of the roller body (2) on the wireless control handle (9) and the transmission of control information to the roller body (2).

2. The driverless roller according to claim 1, wherein, The connecting component includes a mounting sleeve (11) and a mounting plate (12). The mounting sleeve (11) and the mounting plate (12) are respectively fixedly connected to one end of the two roller bodies (2) close to each other. A rotating column (13) is rotatably connected in the mounting sleeve (11), and an electric telescopic rod (14) is installed on the mounting sleeve (11). The electric telescopic rod (14) is used for adjusting the rotation angle of the rotating column (13) relative to the mounting sleeve (11). An upper connecting frame (15) and a lower connecting frame (16) are rotatably connected to the rotating column (13). Both the upper connecting frame (15) and the lower connecting frame (16) are rotatably connected to the mounting plate (12). An electric adjusting member is installed between the mounting plate (12) and the rotating column (13). An electric adjusting rod (17) is hinged to the rotating column (13). The telescopic rod of the electric adjusting rod (17) is connected between the upper connecting frame (15) and the lower connecting frame (16). The electric telescopic rod (14) and the electric adjusting rod (17) are both electrically connected to the central controller (7).

3. The driverless roller according to claim 2, characterized in that, The electric adjusting member includes a telescopic sleeve (18) and a telescopic column (19). The telescopic sleeve (18) and the telescopic column (19) are respectively rotatably connected to the rotating column (13) and the mounting plate (12). The telescopic sleeve (18) and the telescopic column (19) are slidably connected to each other. An electric control rod (20) is installed on the telescopic sleeve (18). The telescopic rod of the electric control rod (20) is fixedly connected to the telescopic column (19).

4. The driverless roller according to claim 3, wherein A connecting shaft (21) is fixedly connected between the upper connecting frame (15) and the lower connecting frame (16). An articulated member (22) is articulated on the telescopic rod of the electric adjusting rod (17). The articulated member (22) is articulated with the connecting shaft (21). An articulated seat (23) is fixedly connected to the rotating column (13). The electric adjusting rod (17) is rotatably connected in the articulated seat (23).

5. The driverless roller according to claim 4, characterized in that, A rotating seat (24) is rotatably connected to the mounting sleeve (11). The electric telescopic rod (14) is fixedly connected to the rotating seat (24). An eccentric groove (25) is formed in the rotating column (13). An eccentric shaft (26) is fixedly connected in the eccentric groove (25). The telescopic rod of the electric telescopic rod (14) is articulated with the eccentric shaft (26).

6. The driverless roller according to claim 5, wherein, A double-axis frame (27) and a connecting seat (28) are fixedly connected to both the rotating column (13) and the mounting plate (12). An upper connecting shaft (29) and a lower connecting shaft (30) are fixedly connected to both of the double-axis frames (27). Both of the upper connecting shafts (29) are rotatably connected to the upper connecting frame (15). Both of the lower connecting shafts (30) are rotatably connected to the lower connecting frame (16). The telescopic column (19) and the telescopic sleeve (18) are respectively articulated with the two connecting seats (28).

7. The driverless roller according to claim 6, characterized in that External emergency stop buttons (31) are installed on the sides of both of the road roller bodies (2). Both of the external emergency stop buttons (31) are electrically connected to the central controller (7).

8. The driverless roller according to claim 7, wherein A plurality of lighting lamps (32) are installed at both ends of the road roller bodies (2) away from each other. The plurality of lighting lamps (32) are all electrically connected to the central controller (7).

9. The driverless roller according to claim 8, wherein Cleaning scrapers (33) are installed at both ends of the road roller bodies (2) away from each other. The two cleaning scrapers (33) are respectively used for cleaning the surfaces of the two steel wheels (1).

10. A control operation mode of an unmanned roller, characterized in that, Using an unmanned road roller according to any one of claims 1-9, comprising the following steps: S1. First, determine whether the unmanned road roller is complete, especially whether the peripheral radar device (10) is in good condition, and check whether the battery in the road roller body (2) has sufficient power. Then, turn on the switch on the side of the emergency stop switch on the wireless control handset (9) to be ready to stop emergently at any time. Adjust the manual / automatic changeover switch on the wireless control handset (9) to set the control mode of the wireless control handset (9) in the manual state. Power on the central controller (7). The wireless control handset (9) connects to the network of the wireless access module (8). When the control terminal communication light (6) starts to flash, it indicates that the wireless access module (8) and the wireless control handset (9) have completed the communication link, and the preparatory work before the operation of the unmanned road roller is completed; S2. Next, collect the navigation points in the rolling area. Collect along the boundary of the rolling area. During the collection process, use the GPS module in the wireless control handheld device (9) to collect coordinates, save the collected coordinates as a TXT text, and finally upload them to the computer of the central controller (7). Select the vehicle number of this driverless roller that is the same as the vehicle number displayed in communication with the wireless control handheld device (9). Click on the real-time information, select the navigation data coordinate file path, open the coordinate file, set the rolling parameters, and start the driverless construction; S3. Before starting, please ensure that this driverless roller is in the automatic state. There are two millimeter-wave radars installed at the front and rear of this driverless roller. When an obstacle is detected, this driverless roller will automatically stop. When driving without a driver in the automatic state, the switch on the side of the emergency stop switch on the wireless control handheld device (9) should still be turned on in case of an emergency. There is an external emergency stop button (31) installed on the side of the roller body (2). After pressing it, this driverless roller will immediately enter the parked state; S4. During the driving and rolling process of this driverless roller, by applying corresponding commands to the connection component, the relative position of the two steel wheels (1) can be adjusted through the adjustment of the connection component. When the two steel wheels (1) are parallel to each other, the whole driverless roller is in a straight-line driving state. And by controlling the rotation direction of the servo motor (5), the forward and backward movement of the whole driverless roller can be realized. When the two steel wheels (1) are parallel to each other and are arranged in a staggered manner, it can effectively increase the rolling surface of a single pass formed by the cooperation of the two steel wheels (1). When controlling a certain angle to be formed between the two steel wheels (1), the steering operation of this driverless roller can be realized.

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