An unmanned road roller and a control operation mode

Abstract

The application relates to the technical field of road rollers, and discloses an unmanned road roller and a control operation mode, which adopts two mutually cooperating steel wheels, and the rolling effect is better through the combined operation of the two steel wheels, and the road roller is more practical, and comprises two steel wheels and two split road rollers. The two split road rollers each comprise a road roller vehicle body, main mounting frames and auxiliary mounting frames are installed on the two road roller vehicle bodies, the two steel wheels are rotationally connected with the two main mounting frames respectively, the two steel wheels are rotationally connected with the two auxiliary mounting frames respectively, servo motors are installed on the two main mounting frames, 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 installed on one of the two road roller vehicle bodies, the two road roller vehicle 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 application relates to the technical field of road rollers, in particular to an unmanned road roller and a control operation mode. BACKGROUND

[0002] It is known that the unmanned road roller is an intelligent construction equipment that realizes unmanned operation through autonomous navigation, environment sensing and decision control technologies, which can automatically complete the rolling task and can real-time feedback the working state and data to improve the construction efficiency and quality.

[0003] According to the search, the patent with the patent number CN210288040U discloses an unmanned road roller, which generally comprises a steel wheel and a rubber wheel road roller, and is provided with a GPS+BDS+GNS satellite receiver, a microwave communication host and a radio signal receiving antenna on the top of the road roller, and a remote control system is formed by the GPS+BDS+GNS satellite receiver, the microwave communication host and the radio signal receiving antenna, an integrated control cabinet is arranged on the road roller, an industrial control computer is arranged in the integrated control cabinet, the GPS+BDS+GNS satellite receiver, the microwave communication host and the radio signal receiving antenna are connected with the industrial control computer in the integrated control cabinet of the road roller through various special lines, and the industrial control computer is provided with a hard disk, a processor, a PCB, a switch, a GPS+BDS+GNSS satellite chip and a system control software, wherein, when in use, an automatic control device is installed on the driving / reversing system, an oil circuit automatic control device is arranged on the oil circuit system, and a steering control motor is arranged on the steering system, and then the processor, the program software and the switch arranged in the industrial control computer are used to realize the full-intelligent unmanned driving of the road roller.

[0004] The above-mentioned prior art scheme can be applied to the road rolling operation, but the operation part for forming the road rolling is a single steel wheel, and the road rolling effect of the rubber wheel is limited, so the single steel wheel needs to repeatedly roll the operation area in the road rolling process, and the practicability needs to be further improved, and the operation efficiency needs to be further improved. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides an unmanned road roller and a control operation mode, which adopts two mutually cooperating steel wheels, and the rolling effect is further improved through the combined operation of the two steel wheels, and the practicability is further improved.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an unmanned road roller, comprising two steel wheels and two split-type road rollers, each of the two split-type road rollers comprising a road roller body, each of the two road roller bodies being equipped with a main mounting frame and an auxiliary mounting frame, the two steel wheels being rotatably connected to the two main mounting frames respectively, and the two steel wheels being rotatably connected to the two auxiliary mounting frames respectively, each of the two main mounting frames being equipped with a servo motor, the two servo motors being used to drive the rotation of the two steel wheels respectively, one of the two road roller bodies being equipped with a control terminal communication light, a central controller, a wireless access module and a radar device, the two road roller bodies being connected by a connecting component, the servo motor, the control terminal communication light, the wireless access module and the radar device being electrically connected to the central controller, the wireless access module being equipped with a wireless control handheld device, the wireless control handheld device interacting with the wireless access module to realize the display of the road roller body's operating status on the wireless control handheld device and the transmission of control information to the road roller body.

[0007] Preferably, the connecting assembly includes a mounting sleeve and a mounting plate, which are respectively fixedly connected to the two adjacent ends of the road roller bodies. A rotating column is rotatably connected inside the mounting sleeve, and an electric telescopic rod is mounted on the mounting sleeve. The electric telescopic rod is used to adjust 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, and both the upper and lower connecting frames are rotatably connected to the mounting plate. An electric adjusting component is installed between the mounting plate and the rotating column, and an electric adjusting rod is hinged to the rotating column. The telescopic rod of the electric adjusting rod is connected between the upper and lower connecting frames. Both the electric telescopic rod and the electric adjusting rod are electrically connected to the central controller.

[0008] Furthermore, the electric adjustment component includes a telescopic sleeve and a telescopic column, which are rotatably connected to the rotating column and the mounting plate, respectively. The telescopic sleeve and the telescopic column are slidably connected to each other. An electric control rod is installed on the telescopic sleeve, and 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 adjusting rod, the hinge member is hinged to the connecting shaft, a hinge seat is fixedly connected to the rotating column, and the electric adjusting rod is rotatably connected within the hinge seat.

[0010] Furthermore, 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 provided on the rotating column, an eccentric shaft is fixedly connected in the eccentric groove, and the telescopic rod of the electric telescopic rod is hinged to the eccentric shaft.

[0011] Preferably, the rotating column and the mounting plate are fixedly connected with a double shaft support and a connecting seat, two upper connecting shafts and two lower connecting shafts are fixedly connected to the double shaft support, the upper connecting shafts are rotatably connected to the upper connecting frame, the lower connecting shafts are rotatably connected to the lower connecting frame, and the telescopic column and the telescopic sleeve are hingedly connected to the connecting seat.

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

[0013] Preferably, a plurality of illuminating lamps are installed on the ends of the two road roller bodies away from each other, and the illuminating lamps are electrically connected to the central controller.

[0014] Further, cleaning scrapers are installed on the ends of the two road roller bodies away from each other, and the cleaning scrapers are used for cleaning the surfaces of the two steel wheels.

[0015] A control operation mode of an unmanned road roller, comprising the following steps:

[0016] S1, first, determine that the unmanned road roller is in good condition, check the external radar device, and check whether the battery in the road roller body has sufficient power, then open the switch beside the emergency stop switch on the wireless control handheld, prepare to stop at any time, adjust the manual-automatic switch on the wireless control handheld, set the control mode of the wireless control handheld to manual state, power on the central controller, connect the wireless control handheld to the network of the wireless access module, when the control end communication light starts to flash, it means that the wireless access module and the wireless control handheld complete communication link, and complete the preparation work before the unmanned road roller runs;

[0017] S2, then collect the navigation points of the rolling area, collect along the boundary of the rolling area, collect the coordinates by using the GPS module in the wireless control handheld, save the collected coordinates as TXT text, and finally upload to the computer of the central controller, select the vehicle number of the unmanned road roller which is the same as the vehicle number displayed by the wireless control handheld, click real-time information, select navigation data coordinate file path, open the coordinate file, set the rolling parameters, and start the unmanned construction;

[0018] S3, before starting, ensure that the unmanned road roller is in automatic state, two millimeter wave radars are installed on the front and rear of the unmanned road roller, when an obstacle is detected, the unmanned road roller will automatically stop, the switch beside the emergency stop switch on the wireless control handheld should still be opened in the automatic state, in case of pressing in emergency, an external emergency stop button is installed on the side of the road roller body, and the unmanned road roller will immediately enter the parking state after pressing the button;

[0019] S4, the unmanned road roller adjusts the relative positions of the two steel wheels by applying corresponding commands to the connecting assembly during the rolling process, and adjusts the two steel wheels through the adjustment of the connecting assembly, when the two steel wheels are in a parallel state, the whole unmanned road roller is in a straight line running state, and by controlling the rotating direction of the servo motor, the forward and backward movement of the whole unmanned road roller can be realized, when the two steel wheels are in a parallel state and form a staggered arrangement, the rolling surface of single running of the two steel wheels can be effectively increased, and when a certain angle is formed between the two steel wheels, the steering operation between the two steel wheels can be realized.

[0020] Compared with the prior art, the present application provides an unmanned road roller and a control operation mode, which has the following beneficial effects:

[0021] (1) In the present application, the design of the split road roller facilitates the installation of the two steel wheels, and forms the necessary carrier of the unmanned function components to form the function components of the unmanned road roller, and the rolling effect is further improved through the combined operation of the two steel wheels.

[0022] (2) In the present application, the design of the connecting assembly forms the relative connection and installation structure between the two split road rollers, which facilitates the adjustment of the positions of the two steel wheels while meeting the relative installation of the two split road rollers, so as to facilitate the adjustment of the relative steering and staggered working state of the two steel wheels, and the practicability is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present application;

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the connecting assembly of the present application;

[0025] Figure 3 It is a schematic diagram of the exploded three-dimensional structure of the cooperation of the mounting sleeve, the mounting plate and the rotating column of the present application;

[0026] Figure 4 It is a schematic diagram of the three-dimensional structure of the present application from another angle;

[0027] Figure 5 It is a schematic diagram of the three-dimensional structure of the connecting assembly of the present application from another angle;

[0028] Figure 6 It is a schematic diagram of the exploded three-dimensional structure of the cooperation of the mounting sleeve, the mounting plate and the rotating column of the present application from another angle;

[0029] Figure 7The schematic diagram of the perspective structure of the bottom view of the whole application;

[0030] Figure 8 The schematic diagram of the perspective structure of the partial section view of the corresponding installation of the central controller in the road roller vehicle body in the application;

[0031] Figure 9 The schematic diagram of the perspective structure of one state of the relative steering of the two steel wheels in the application;

[0032] Figure 10 The schematic diagram of the perspective structure of another state of the relative steering of the two steel wheels in the application;

[0033] Figure 11 The schematic diagram of the perspective structure of the relative misalignment work of the two steel wheels in the application;

[0034] Figure 12 The schematic diagram of the calibration of the P1 point and the P2 point in the rolling area in the application;

[0035] Figure 13 The data text format after the point setting in the application;

[0036] Figure 14 The schematic diagram of the roller forming state of the relative adjustment of the two steel wheels to the ridge-shaped place with the middle high and the two ends low in the application;

[0037] Figure 15 The control interface diagram of the selection and communication display of the same vehicle number (selection of No. 1) and the clicking of real-time information on the wireless control handheld in the application;

[0038] Figure 16 The control interface diagram of the selection of navigation data coordinate file path and the opening of coordinate file on the wireless control handheld in the application;

[0039] Figure 17 The control interface diagram of the selection of JN-YLJ.txt and the clicking of determination on the wireless control handheld in the application;

[0040] Figure 18 The control interface diagram of the setting of rolling parameters on the wireless control handheld in the application;

[0041] Figure 19 The control interface diagram of the starting of unmanned construction on the wireless control handheld in the application.

[0042] In the figure: 1, steel wheel; 2, road roller body; 3, main mounting frame; 4, auxiliary mounting frame; 5, servo motor; 6, control end communication lamp; 7, central controller; 8, wireless access module; 9, wireless control handheld; 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 adjusting rod; 18, telescopic sleeve; 19, telescopic column; 20, electric control rod; 21, connecting shaft; 22, hinged piece; 23, hinged seat; 24, rotating seat; 25, eccentric groove; 26, eccentric shaft; 27, double shaft frame; 28, connecting seat; 29, upper connecting shaft; 30, lower connecting shaft; 31, external emergency stop button; 32, illuminating lamp; 33, cleaning scraper. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0044] EMBODIMENT

[0045] Please refer to Figure 1 -APPENDIX Figure 19The utility model provides an unmanned road roller, including two steel wheels 1, still include two split road rollers, two split road rollers all include road roller vehicle body 2, two road roller vehicle bodies 2 all are installed with main mounting frame 3 and auxiliary mounting frame 4, two steel wheels 1 are connected with two main mounting frames 3 rotation respectively, two steel wheels 1 are connected with two auxiliary mounting frames 4 rotation respectively, two main mounting frames 3 all are installed with servo motor 5, two servo motors 5 are used for the rotation drive of two steel wheels 1 respectively, one road roller vehicle body 2 in two road roller vehicle bodies 2 is installed with control end communication lamp 6, central controller 7, wireless access module 8 and radar device 10, through the design of split road roller, the installation structure of two steel wheels 1 is formed conveniently, and the carrier of necessary unmanned function part is formed simultaneously to form the functional component of unmanned road roller, through the complex operation of two steel wheels 1, the further improvement of the rolling effect is obtained, two road roller vehicle bodies 2 are connected through connecting assembly, servo motor 5, control end communication lamp 6, wireless access module 8 and radar device 10 all are electrically connected with central controller 7, and wireless access module 8 is matched with wireless control handheld 9, and wireless control handheld 9 forms information interaction with wireless access module 8 to realize the display of road roller vehicle body 2 operating state on wireless control handheld 9 and the transmission of control information to road roller vehicle body 2, two road roller vehicle bodies 2 all are installed with external emergency stop button 31 on the side, two external emergency stop buttons 31 all are electrically connected with central controller 7, and the opposite end of two road roller vehicle bodies 2 is installed with a plurality of illuminating lamps 32 respectively, a plurality of illuminating lamps 32 all are electrically connected with central controller 7, and the opposite end of two road roller vehicle bodies 2 is installed with cleaning scraper 33 respectively, and two cleaning scrapers 33 are used for the surface cleaning of two steel wheels 1 respectively.

[0046] It needs to be further explained that the connecting assembly comprises a mounting sleeve 11 and a mounting plate 12, the mounting sleeve 11 and the mounting plate 12 are fixedly connected with the two ends of the two road roller bodies 2 close to each other, a rotating column 13 is rotatably connected in the mounting sleeve 11, and a motorized telescopic rod 14 is installed on the mounting sleeve 11, the motorized 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 on the rotating column 13, the upper connecting frame 15 and the lower connecting frame 16 are rotatably connected with the mounting plate 12, a motorized adjusting part is installed between the mounting plate 12 and the rotating column 13, a motorized adjusting rod 17 is hinged on the rotating column 13, the telescopic rod of the motorized adjusting rod 17 is connected between the upper connecting frame 15 and the lower connecting frame 16, the motorized telescopic rod 14 and the motorized adjusting rod 17 are electrically connected with the central controller 7, the motorized adjusting part comprises a telescopic sleeve 18 and a telescopic column 19, the telescopic sleeve 18 and the telescopic column 19 are rotatably connected with the rotating column 13 and the mounting plate 12 respectively, the telescopic sleeve 18 and the telescopic column 19 are slidably connected with each other, a motorized control rod 20 is installed on the telescopic sleeve 18, the telescopic rod of the motorized control rod 20 is fixedly connected with 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 part 22 is hinged on the telescopic rod of the motorized adjusting rod 17, the hinge part 22 is hinged with the connecting shaft 21, a hinge seat 23 is fixedly connected on the rotating column 13, the motorized adjusting rod 17 is rotatably connected in the hinge seat 23, a rotating seat 24 is rotatably connected on the mounting sleeve 11, the motorized telescopic rod 14 is fixedly connected with the rotating seat 24, an eccentric groove 25 is formed on the rotating column 13, an eccentric shaft 26 is fixedly connected in the eccentric groove 25, the telescopic rod of the motorized telescopic rod 14 is hinged with the eccentric shaft 26, a double shaft frame 27 and a connecting seat 28 are fixedly connected on the rotating column 13 and the mounting plate 12, an upper connecting shaft 29 and a lower connecting shaft 30 are fixedly connected on the two double shaft frames 27, the two upper connecting shafts 29 are rotatably connected with the upper connecting frame 15, the two lower connecting shafts 30 are rotatably connected with the lower connecting frame 16, the telescopic column 19 and the telescopic sleeve 18 are hinged with the two connecting seats 28, through the design of the connecting assembly, the relative connecting and mounting structure between the two split road rollers is formed, while meeting the relative mounting of the two split road rollers, the adjustment of the positions of the two steel wheels 1 is facilitated, the relative steering and misalignment working states of the two steel wheels 1 are facilitated to adjust, and the practicability is further strengthened.

[0047] The servo motor 5, the control end communication lamp 6, the central controller 7, the wireless access module 8, the wireless control handheld 9, the radar device 10, the electric telescopic rod 14, the electric adjusting rod 17, the external emergency stop button 31 and the lighting lamp 32 in the embodiment are all conventional devices known to those skilled in the art in the market, and we only use them in the application, and do not improve their structure and function, and the setting mode, the installation mode and the electrical connection mode can be debugged according to the requirements of the instruction manual for those skilled in the art, and details are not repeated here.

[0048] In summary, the control process of the unmanned road roller is that first, it is determined that the unmanned road roller is in good condition, the radar device 10 is checked, and it is checked whether the battery in the road roller vehicle body 2 has enough power, when the battery power is low, the battery should be charged first, then the switch on the side of the emergency stop switch on the wireless control handheld 9 is opened, ready to stop at any time, the manual-automatic switch on the wireless control handheld 9 is adjusted, the control mode of the wireless control handheld 9 is set to manual state, the central controller 7 is powered on, the wireless control handheld 9 is connected to the network of the wireless access module 8, when the control end communication lamp 6 starts to flash, it means that the wireless access module 8 and the wireless control handheld 9 complete communication link, the preparation work before the unmanned road roller runs is completed, then the navigation points of the rolling area are collected, the boundary of the rolling area is collected, the coordinates are collected by the GPS module in the wireless control handheld 9, and the collected coordinates are saved as TXT text, finally uploaded to the computer of the central controller 7, select the vehicle number of the unmanned road roller with the same vehicle number as the wireless control handheld 9, click real-time information, select navigation data coordinate file path, click coordinate file, set rolling parameters, start unmanned construction, ensure that the unmanned road roller is in automatic state before starting, the unmanned road roller is provided with two millimeter wave radars in front and behind, when an obstacle is detected, the unmanned road roller will automatically stop, the emergency stop switch on the side of the wireless control handheld 9 should still be opened in the automatic state of unmanned driving, in order to be pressed in emergency, the external emergency stop button 31 is installed on the side of the road roller vehicle body 2, and the unmanned road roller will immediately enter the parking state after being pressed.

[0049] Further, the unmanned road roller can realize the relative position adjustment of the two steel wheels 1 by adjusting the connecting assembly through applying corresponding commands to the connecting assembly during the rolling process, and when the two steel wheels 1 are in the parallel state, the unmanned road roller is in the straight line advancing state, and the advancing and retreating of the unmanned road roller can be realized by controlling the rotating direction of the servo motor 5, and when the two steel wheels 1 are in the parallel state and are arranged in the staggered state, the rolling surface of the single advancing rolling formed by the two steel wheels 1 can be effectively increased, and when a certain angle is formed between the two steel wheels 1, the steering operation between the two steel wheels 1 can be realized, and the adjustment of the connecting assembly is mainly realized by the cooperative work of the electric adjusting rod 17 and the electric control rod 20, the electric adjusting rod 17 realizes the rotating adjustment of the upper connecting frame 15 and the lower connecting frame 16 relative to the rotating column 13, and the electric control rod 20 realizes the adjustment of the overall length of the combination of the telescopic sleeve 18 and the telescopic column 19, the length of the upper connecting frame 15 and the length of the lower connecting frame 16 are the same, when the two steel wheels 1 are driven by the servo motor 5 to form the advancing process, when the overall length of the telescopic sleeve 18 and the telescopic column 19 controlled by the electric control rod 20 is consistent with the length of the upper connecting frame 15, when the electric adjusting rod 17 controls the lower connecting frame 16 and the lower connecting frame 16 to form the rotating adjustment relative to the rotating column 13, the two steel wheels 1 can be controlled to enter the relative staggered state while keeping the relative parallel state, at this time, as shown in Figure 11 , when the electric adjusting rod 17 keeps the relative angle 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 controls the length of the combination of the telescopic sleeve 18 and the telescopic column 19 to change, the relative angle of the two steel wheels 1 can be controlled to form a certain angle, as shown in Figure 9 , the relative angle state of the two steel wheels 1 in the state that the overall length of the combination of the telescopic sleeve 18 and the telescopic column 19 controlled by the electric control rod 20 is increased, as shown in Figure 10 , the relative angle state of the two steel wheels 1 in the state that the overall length of the combination of the telescopic sleeve 18 and the telescopic column 19 controlled by the electric control rod 20 is decreased, the two states of the two steel wheels 1 in the states shown in Figure 9 and Figure 10 realize the steering adjustment of the unmanned road roller, the rotating column 13 relative to the mounting sleeve 11 is controlled to form the rotating adjustment by the electric telescopic rod 14, so as to realize the adjustment of the posture of the two steel wheels 1, which is suitable for the rolling forming of the ridge-shaped position such as the middle high and two end low position in the middle of the road, and this state is shown in Figure 14 .

[0050] Specific operation examples of the rolling area navigation point collection

[0051] 1. Introduction of the point collection principle

[0052] As shown in the attached Figure 12 , P1 is the first point, and P2 is the second point.

[0053] (1) Set the rolling width to be 2 times the actual rolling width;

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

[0055] (3) Face P1 and point to the direction of P2. If the collected P1 and P2 are on the left boundary of the rolling area, then the rolling should be set to the right area;

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

[0057] 2. Pointing method

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

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

[0060] 3. Control end operation steps

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

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

[0063] 4. Set the rolling parameters

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

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

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

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

[0068] Region number: the current region is divided into several regions for rolling, generally set to 2;

[0069] Order: set whether to roll the left region or the right region (1 for the left region).

[0070] 5. Start unmanned construction (ensure that the road roller is in an automatic state before starting)

[0071] Click to load coordinates → coordinate issuing → throttle 1500 → vehicle speed: zero point five (m / s) → unmanned → walking control setting is completed, as shown in the attached Figure 19

[0072] Although embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.​

Claims

1. A self-propelled road roller comprising two steel wheels (1), characterized in that, Also include two split road rollers, two said split road rollers all include road roller car body (2), two said road roller car body (2) all are installed with main mounting bracket (3) and auxiliary mounting bracket (4), two said steel wheels (1) are respectively connected with two said main mounting bracket (3), two steel wheels (1) are respectively connected with two said auxiliary mounting bracket (4), two main mounting brackets (3) all are installed with servo motor (5), two said servo motor (5) are respectively used for the rotation drive of two steel wheels (1), one road roller car body (2) in two said road roller car body (2) is installed with control end communication lamp (6), central controller (7), wireless access module (8) and radar device (10), two road roller car body (2) are connected through connecting assembly, servo motor (5), control end communication lamp (6), wireless access module (8) and radar device (10) all are electrically connected with said central controller (7), said wireless access module (8) is matched with wireless control handheld (9), said wireless control handheld (9) is through with wireless access module (8) information interaction is formed, to realize the display of road roller car body (2) operating state in wireless control handheld (9) and the transmission of control information to road roller car body (2). The connecting assembly comprises a mounting sleeve (11) and a mounting plate (12), the mounting sleeve (11) and the mounting plate (12) are fixedly connected with two road roller bodies (2) respectively at one end close to each other, a rotating column (13) is rotatably connected in the mounting sleeve (11), and an electric telescopic rod (14) is mounted on the mounting sleeve (11), the electric telescopic rod (14) is used for adjusting the rotating 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 on the rotating column (13), the upper connecting frame (15) and the lower connecting frame (16) are rotatably connected with the mounting plate (12), an electric adjusting part is mounted between the mounting plate (12) and the rotating column (13), an electric adjusting rod (17) is hingedly connected on 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 electrically connected with the central controller (7), a rotating seat (24) is rotatably connected on the mounting sleeve (11), the electric telescopic rod (14) is fixedly connected with the rotating seat (24), an eccentric groove (25) is formed on 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 hingedly connected with the eccentric shaft (26), the electric adjusting part comprises a telescopic sleeve (18) and a telescopic column (19), the telescopic sleeve (18) and the telescopic column (19) are rotatably connected with the rotating column (13) and the mounting plate (12) respectively, the telescopic sleeve (18) and the telescopic column (19) are slidably connected with each other, an electric control rod (20) is mounted on the telescopic sleeve (18), the telescopic rod of the electric control rod (20) is fixedly connected with the telescopic column (19), double shaft frames (27) and connecting seats (28) are fixedly connected on the rotating column (13) and the mounting plate (12), upper connecting shafts (29) and lower connecting shafts (30) are fixedly connected on the two double shaft frames (27), the two upper connecting shafts (29) are rotatably connected with the upper connecting frame (15), and the two lower connecting shafts (30) are rotatably connected with the lower connecting frame (16), the telescopic column (19) and the telescopic sleeve (18) are hingedly connected with the two connecting seats (28).

2. The unmanned road roller according to claim 1, wherein The upper connecting frame (15) and the lower connecting frame (16) are fixedly connected with a connecting shaft (21), the telescopic rod of the electric adjusting rod (17) is hingedly connected with a hinging part (22), the hinging part (22) is hingedly connected with the connecting shaft (21), and the rotating column (13) is fixedly connected with a hinging seat (23), the electric adjusting rod (17) is rotatably connected in the hinging seat (23).

3. The unmanned road roller according to claim 2, wherein External emergency stop buttons (31) are mounted on the sides of the two road roller bodies (2), and the two external emergency stop buttons (31) are electrically connected with the central controller (7).

4. The unmanned road roller according to claim 3, wherein A plurality of illuminating lamps (32) are mounted on the mutually distal ends of the two road roller bodies (2), and the plurality of illuminating lamps (32) are electrically connected with the central controller (7).

5. The unmanned road roller according to claim 4, wherein A cleaning scraper (33) is mounted on the mutually distal end of each of the two road roller bodies (2), and the two cleaning scrapers (33) are respectively used for surface cleaning of the two steel wheels (1).

6. A control operation mode of an unmanned road roller, characterized by The unmanned road roller according to any one of claims 1-5 is used, and the following steps are included: S1, first, determine that the unmanned road roller is in good condition, check the external radar device (10), and check whether the battery in the road roller body (2) has sufficient power, then open the switch on the side of the emergency stop switch of the wireless control handheld (9), prepare to stop at any time, adjust the manual-automatic switch of the wireless control handheld (9), set the control mode of the wireless control handheld (9) to manual state, power on the central controller (7), connect the wireless control handheld (9) to the network of the wireless access module (8), when the control end communication lamp (6) starts to flash, it means that the wireless access module (8) and the wireless control handheld (9) have completed communication link, and the preparation work before the unmanned road roller runs is completed; S2, then collect the navigation points of the rolling area, collect along the boundary of the rolling area, collect the coordinates using the GPS module in the wireless control handheld (9), save the collected coordinates as TXT text, and finally upload to the computer of the central controller (7), select the vehicle number of the unmanned road roller which is the same as the vehicle number displayed in the wireless control handheld (9), click real-time information, select navigation data coordinate file path, click coordinate file, set rolling parameters, and start unmanned construction; S3, before starting, ensure that the unmanned road roller is in automatic state, the unmanned road roller is provided with two millimeter wave radars in front and behind, when an obstacle is detected, the unmanned road roller will automatically stop, the switch on the side of the emergency stop switch of the wireless control handheld (9) should still be opened in the automatic state, in case of pressing in emergency, an external emergency stop button (31) is installed on the side of the road roller body (2), and the unmanned road roller will immediately enter the parking state after pressing; S4, during the rolling process, the relative position adjustment of the two steel wheels (1) can be realized by applying corresponding commands to the connecting assembly and adjusting the connecting assembly, when the two steel wheels (1) are in parallel state, the unmanned road roller is in straight line running state, and by controlling the rotating direction of the servo motor (5), the forward and backward movement of the unmanned road roller can be realized, when the two steel wheels (1) are in parallel state and are arranged in staggered manner, the rolling surface of single running of the two steel wheels (1) can be effectively increased, and when a certain angle is formed between the two steel wheels (1), the steering operation of the unmanned road roller can be realized.

Images