Brake control system of intelligent rolling operation vehicle for water conservancy dam

Abstract

The invention discloses a water conservancy dam intelligent rolling operation vehicle brake control system which comprises a rolling operation vehicle, a rolling wheel and a control system, an image acquisition mechanism comprises a protective shell and a wide-angle camera, a rotating sleeve is rotationally connected to the interior of the protective shell, and the wide-angle camera is sleeved with the rotating sleeve; the wide-angle camera is in sliding connection with the rotating sleeve, and a blocking mechanism is arranged between the rotating sleeve and the protective shell. Belongs to the technical field of vehicle control. According to the brake control system of the intelligent rolling operation vehicle for the water conservancy dam, the rolling quality is improved by means of unmanned rolling, compared with a traditional manual rolling mode, the same workload can be completed in a shorter time through unmanned rolling, the construction progress is improved, and the waiting time and coordination cost in construction are reduced; and the movable radiating fins are directly exposed in the external environment after extending out, so that the radiating area is greatly increased, and heat can be more efficiently transferred to the air through heat conduction and convection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, more particularly to a brake control system of an intelligent rolling operation vehicle for water conservancy dam. BACKGROUND

[0002] In the process of earth-rock dam filling construction, the rolling quality directly affects the compactness, stability and the ability to prevent seepage damage of the dam body, and thus directly affects the engineering quality. In the actual construction process, the roller driver can only control the rolling number, rolling track, lap width and other control elements through his own judgment. However, the operation technology of the driver alone often leads to over-rolling, missed rolling, insufficient lap width, and deviation of the rolling track. At the same time, the management personnel and the standing personnel cannot guarantee real-time supervision of the above control elements in the actual production process, and the construction operation quality is largely subject to the subjective will of the relevant personnel.

[0003] At present, the intelligent rolling system developed for rolling operation at home and abroad still has certain limitations. The system can only collect rolling position, speed, number, excitation force and other data in real time through the sensor equipment installed on the roller, and transmit them to the system terminal and platform through wired and wireless transmission technology. The platform presents the data visually to the management personnel to assist the management personnel in control. However, this kind of intelligent rolling system is not helpful for assisting the driver in operation, and over-rolling, missed rolling, insufficient lap width, and deviation of the rolling track still occur. When the above situations occur, rework will greatly increase the cost of manpower, material resources and management. Therefore, it can be seen that the current intelligent rolling system has not been able to avoid operation problems from the source, and cannot effectively guarantee the construction quality. In addition, the wide-angle camera used to collect image information is wrapped too tightly by the protective shell installed outside, which causes poor heat dissipation, and thus affects its working performance and stability. Therefore, we propose a brake control system of an intelligent rolling operation vehicle for water conservancy dam, which can effectively solve the above construction pain points. SUMMARY

[0004] The present application relates to the technical field of vehicle control, more particularly to a brake control system of an intelligent rolling operation vehicle for water conservancy dam.

[0005] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme: The application discloses a kind of water conservancy dam intelligent roller operation vehicle brake control system, including roller operation vehicle, the roller wheel in the front side of roller operation vehicle and control system in the rear side of roller operation vehicle, the roller wheel left side, right side, front side and roller operation vehicle tail position are all installed with image acquisition mechanism, the image acquisition mechanism includes protective shell and wide-angle camera, wide-angle camera can collect the real-time image around vehicle body, the inside rotation of protective shell is connected with rotating sleeve, the rotating sleeve is sleeved on the outside of wide-angle camera, the wide-angle camera is slidably connected with rotating sleeve, the rotating sleeve and protective shell are provided with blocking mechanism, the blocking mechanism can be used to block protective shell, so as to comprehensively protect wide-angle camera, the outside of rotating sleeve is sleeved with fixed sleeve, the fixed sleeve and protective shell are fixedly connected with fixed fin, the inside of fixed fin is away from the side of fixed sleeve and is provided with receiving groove, the inside of protective shell is close to the side of receiving groove and is provided with through groove, the through groove is communicated with receiving groove, the inside of receiving groove is slidably connected with movable fin, the movable fin passes through through groove and extends to the inside of through groove, the movable fin is slidably connected with protective shell, corresponding two sides of fixed fin are provided with transmission mechanism, and the transmission mechanism can drive movable fin to automatically move, so that movable fin is stretched out from receiving groove or is collected in receiving groove. The control system comprises a Beidou integrated terminal tablet, a positioning and orientation antenna, a front anti-collision radar, a rear anti-collision radar, an electric proportional converter, a steering encoder, an electronic injection engine and a CAN bus electric control system.

[0006] Preferably, the Beidou integrated terminal panel is installed inside the cab of the roller operation vehicle, the positioning and directional antenna is installed at the two ends of the front bumper of the roller and on the roof of the vehicle, the front anti-collision radar is installed on the top of the roller, the rear anti-collision radar is installed at the tail of the roller operation vehicle, the electric proportional converter, the steering encoder, the electronic injection engine and the CAN bus electric control system are all arranged inside the roller operation vehicle, the width of the roller, i.e. the width of the rolling track, can be determined by the positioning and directional antenna, the positioning and directional antenna is installed at the two ends of the front bumper of the roller (the distance is consistent with the width of the roller) and on the roof of the vehicle, the width of the roller, i.e. the width of the rolling track, can be determined by the two positioning and directional antennas at the front end, and the direction of the vehicle head, i.e. the rolling driving direction, can be determined by the spatial relative position of the positioning and directional antenna on the roof and the two positioning and directional antennas at the front end, the Beidou integrated terminal panel can upload the centimeter-level GNSS position information to the system platform, and has the function of a panel computer, displays the rolling machine perimeter image and rolling auxiliary information, and is used to guide the driver to perform the rolling operation, wherein the Beidou integrated terminal panel, the positioning and directional antenna and the wide-angle camera constitute an intelligent rolling machine auxiliary driving system, when in use, firstly, four wide-angle cameras covering all the field of view around the vehicle are installed around the rolling machine, one of the four wide-angle cameras is arranged in front of the roller, the other two are arranged on the two sides of the roller, and the last one is arranged at the rear of the rolling vehicle, the multi-channel video images collected at the same time are processed into a vehicle body overhead view of 360 degrees around the vehicle, and the view is displayed as a bottom view on the Beidou integrated terminal panel in the cab. At the same time, a rolling auxiliary line with the same width as the roller is set on the screen, the overlap width is inputted automatically, and the overlap control line is generated. Secondly, the vehicle position, the rolling track and the rolling number of times of information can be transmitted to the system background in real time by using the positioning and directional antenna and the Beidou integrated terminal panel installed on the rolling machine, and the rolling information is analyzed and counted by the background and is presented on the Beidou integrated terminal panel in a visual form. Finally, during the rolling operation, the vehicle body overhead image within a certain distance range is displayed on the Beidou integrated terminal panel in real time, and the rolling auxiliary line and the self-defined overlap control line can be seen on the image. At the same time, the path rolled over is superimposed on the real-time image in different colors corresponding to different rolling numbers of times.

[0007] When the rolling machine driver starts the rolling machine, the Beidou integrated terminal panel in the cab is automatically powered on, uploads the position coordinates (NMEA standard GGA data, longitude, latitude and elevation) to the system, and converts the original position coordinates into plane coordinates (X, Y and Z) through the set coordinate conversion parameters.

[0008] Meanwhile, the cab panel displays the video pictures collected by the four wide-angle cameras around the vehicle body, and generates a top view picture of the surroundings of the vehicle body according to the visual distance, the installation position of the wide-angle cameras and the position information of the roller compactor. The picture and the coordinate information are updated synchronously with the change of the plane coordinates (X, Y, Z) of the roller compactor. The coordinates of the four corners of the picture are as follows: left front corner point (X-3, Y+5, Z), right front corner point (X+3, Y+5, Z), left rear corner point (X-3, Y-5, Z) and right rear corner point (X+3, Y-5, Z).

[0009] Firstly, the driver creates a roller compaction task name according to the work arrangement, such as 20231130 main heap area tenth layer. Before closing the task, the recorded roller compaction information will be kept in the task. Secondly, the driver inputs the lap width of 20 cm according to the specification requirements. The roller compaction auxiliary line and the lap control line will be generated on the top view picture of the surroundings of the vehicle body.

[0010] When the driver starts to operate the roller compactor to perform the roller compaction operation, the initial coordinates are (0, 0, 100), and the roller compactor has been rolled forward for 10 meters. The position information of the actual rolling track of the roller wheel can be calculated according to the relative position between the roller wheel and the cab panel, i.e. the contact point between the left side of the roller wheel and the ground (X-1.5, Y+2, Z) and the contact point between the right side of the roller wheel and the ground (X+1.5, Y+2, Z). The actual driving track of the left side of the roller wheel is from (-1.5, 2, 100) to (-1.5, 12, 100) along the Y axis, and the actual driving track of the right side of the roller wheel is from (1.5, 2, 100) to (1.5, 12, 100) along the Y axis.

[0011] After obtaining the position information of the roller compaction track of the roller compactor, the number of times of roller compaction at the same coordinate position is defined as the roller compaction pass number, which is superimposed on the top view picture of the surroundings of the vehicle body and finally presented to the driver, so that the driver can intuitively see the roller compaction track.

[0012] When the driver performs the roller compaction operation according to the roller compaction auxiliary line and the lap control line displayed on the panel, the driver can intuitively see the roller compaction pass number and the roller compaction lap at each position.

[0013] Preferably, the outer wall of the wide-angle camera is attached to the inner wall of the rotating sleeve, the wide-angle camera is attached to the rotating sleeve, and the rotating sleeve is made of the same material as the fixed heat sink, so that the heat generated by the wide-angle camera during operation can be transmitted to the fixed heat sink through the rotating sleeve.

[0014] Preferably, the blocking mechanism comprises a first rotating plate fixedly connected with the rotating sleeve, a first sliding groove is formed in the interior of the first rotating plate, the first sliding groove has six in total, the six first sliding grooves are symmetrically distributed, a first sliding rod is slidably connected in the interior of the first sliding groove, a protective plate is fixedly connected to the end of the first sliding rod close to the protective shell, a groove is formed in the side of the protective shell close to the protective plate, a sliding block is slidably connected in the interior of the groove, the sliding block is fixedly connected with the protective plate, when the rotating sleeve rotates, the first rotating plate also rotates, so that the first rotating plate extrudes the first sliding rod through the first sliding groove, and the first sliding rod drives the protective plate to move.

[0015] Preferably, the transmission mechanism comprises a second rotating plate, the second rotating plate is sleeved on the exterior of the rotating sleeve, the second rotating plate is fixedly connected with the rotating sleeve, a second sliding groove is formed in the interior of the second rotating plate and on the side of the movable heat sink, a second sliding rod is slidably connected in the interior of the second sliding groove, the second sliding rod is fixedly connected with the movable heat sink, when the rotating sleeve rotates, the second rotating plate also rotates, so that the second rotating plate extrudes the second sliding rod through the second sliding groove, and the second sliding rod drives the movable heat sink to move.

[0016] Preferably, the first rotating plate and the second rotating plate are both annular structures, the annular structure makes the first rotating plate and the second rotating plate not block the wide-angle camera in the interior of the rotating sleeve.

[0017] Preferably, a third sliding groove is formed in the interior of the rotating sleeve, the third sliding groove has four in total, the four third sliding grooves are symmetrically distributed, a third sliding rod is slidably connected in the interior of the third sliding groove, the third sliding rod is fixedly connected with the wide-angle camera, a limiting groove is formed in the interior of the fixed sleeve, the third sliding rod passes through the limiting groove and extends into the interior of the limiting groove, the third sliding rod is slidably connected with the fixed sleeve, when the rotating sleeve rotates, the rotating sleeve can extrude the third sliding rod through the third sliding groove, so as to drive the wide-angle camera to automatically extend out of the protective shell or retract into the protective shell through the third sliding rod.

[0018] Preferably, the third sliding groove is a spiral structure, the spiral third sliding groove makes the wide-angle camera move when the rotating sleeve rotates by extruding the third sliding rod through the third sliding groove.

[0019] Preferably, the outer part of the protective shell is fixedly connected with a servo motor, the output shaft of the servo motor penetrates the protective shell vertically and extends to the inside of the protective shell, the output shaft of the servo motor is in rotating connection with the protective shell, the output end of the servo motor is fixedly connected with a driving gear, the outer part of the rotating sleeve is sleeved with a driven gear ring, the driven gear ring is fixedly connected with the rotating sleeve, and the driving gear is in meshing connection with the driven gear ring, so that the servo motor can drive the rotating sleeve to rotate under the action of the driving gear and the driven gear ring.

[0020] Compared with the prior art, the beneficial effects of the present application are: 1) When the dam intelligent rolling operation vehicle brake control system is in use, the servo motor can control the opening and closing of the protective plate, and the automatic extension and retraction of the wide-angle camera and the movable heat sink, so that the protective shell cooperates with the protective plate to protect the wide-angle camera in all directions, realizes the all-around wrapping of the wide-angle camera, so that the wide-angle camera will not be exposed, the movable heat sink is retracted to the inside of the protective shell, the multiple protection value can be realized, the traditional fixed heat dissipation fin is avoided to be deformed due to protruding from the shell, the service life of the fin is prolonged, and when the wide-angle camera works, the movable heat sink is directly exposed to the external environment after being extended, the heat dissipation area is greatly increased, and heat can be more efficiently transferred to the air through heat conduction and convection.

[0021] 2) When the dam intelligent rolling operation vehicle brake control system is in use, the problem that the driver is difficult to keep the lane, control the lap width and determine the rolling number during rolling operation is solved. Compared with the conventional intelligent rolling system, one of the four wide-angle cameras is arranged in front of the rolling wheel, the other two are arranged on the two sides of the rolling wheel, and the last one is arranged at the rear of the rolling vehicle. The three hundred and sixty degree panoramic perimeter image technology is innovatively adopted, the panoramic image information within a certain range of the rolling machine is displayed in the cab in real time, visual calculation technology is used to add rolling auxiliary lines, lap control lines, rolling number color presentation and other visual information on the real-time image, the rolling operation difficulty is effectively reduced, the driver is helped to operate according to the specification requirements, and real-time rolling data can be provided, and the rolling situation can be viewed at a glance.

[0022] 3) The dam intelligent roller operation vehicle brake control system can improve the roller compaction quality by means of unmanned roller compaction, and compared with the traditional manual roller compaction method, the unmanned roller compaction can complete the same work in a shorter time, improve the construction progress, optimize the construction process and resource allocation, reduce the waiting time and coordination cost in construction, further speed up the construction progress, and greatly reduce the dependence on manual operation and reduce the labor cost. At the same time, the rework and material waste caused by manual operation error are avoided, the construction cost is reduced, the equipment utilization rate is improved, and the maintenance cost is reduced. First, through the research and application of unmanned roller compaction, the average one-time roller compaction standard rate and the average roller compaction speed and other indicators are improved; second, the parts maintenance and replacement of unmanned roller compaction are more convenient and fast, and when a fault occurs, the construction efficiency can be improved by quickly repairing and recovering. At the same time, the advanced intelligent diagnosis system can predict equipment failure in advance and maintain the equipment, reduce the equipment maintenance cost, reduce the occupational hazards of roller compaction construction personnel, and avoid potential dangers caused by improper operation of other related operation personnel. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the whole of the application; Figure 2 It is a structural schematic diagram of the positioning directional antenna of the application; Figure 3 It is a structural schematic diagram of the movable heat sink before extension; Figure 4 It is a structural schematic diagram of the movable heat sink after extension; Figure 5 It is a cross-sectional schematic diagram of the protective shell of the application; Figure 6 It is a structural schematic diagram of the first rotating plate of the application; Figure 7 It is a structural schematic diagram of the groove of the application; Figure 8 It is a structural schematic diagram of the protective plate of the application; Figure 9 It is a structural schematic diagram of the first sliding groove of the application; Figure 10 It is a structural schematic diagram of the second rotating plate of the application; Figure 11 It is a structural schematic diagram of the fixed heat sink of the application; Figure 12 It is a structural schematic diagram of the rotating sleeve of the application; Figure 13 It is a structural schematic diagram of the fixed sleeve of the application; Figure 14 It is a structural schematic diagram of the third sliding groove of the application; Figure 15 A vehicle speed control flowchart of the present application; Figure 16 A compaction degree control flowchart of the present application; Figure 17 An automatic operation flowchart of the present application.

[0024] Label explanation in the figure: 1, Beidou integrated terminal panel; 2, positioning and orientation antenna; 3, image acquisition mechanism; 4, protective shell; 5, wide-angle camera; 6, rotating sleeve; 7, fixed sleeve; 8, fixed fin; 9, storage groove; 10, through slot; 11, movable fin; 12, blocking mechanism; 13, transmission mechanism; 14, first rotating plate; 15, first sliding groove; 16, first sliding rod; 17, protective plate; 18, groove; 19, sliding block; 20, second rotating plate; 21, second sliding groove; 22, second sliding rod; 23, third sliding groove; 24, third sliding rod; 25, limiting groove; 26, servo motor; 27, driving gear; 28, driven gear ring; 29, front collision avoidance radar; 30, rear collision avoidance radar; 31, electric proportional transducer; 32, steering encoder; 33, electronic injection engine; 34, CAN bus electronic control system; 35, control system. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described 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 of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0026] Please refer to Figures 1 to 17The application discloses a kind of water conservancy dam intelligent roller compaction vehicle brake control systems, including roller compaction vehicle, the roller compaction wheel of roller compaction vehicle front side and the control system 35 of roller compaction vehicle rear side, roller compaction wheel left side, right side, front side and the position of roller compaction vehicle tail are equipped with image acquisition mechanism 3, constitute multi-directional image acquisition effect, image acquisition mechanism 3 includes protective shell 4 and wide-angle camera 5, wide-angle camera 5 can collect the real-time image around vehicle body, the inside rotationally connected of protective shell 4 has rotating sleeve 6, rotating sleeve 6 is set to the outside of wide-angle camera 5, wide-angle camera 5 and rotating sleeve 6 slidingly connect, rotating sleeve 6 and protective shell 4 between being provided with blocking mechanism 12, wide-angle camera 5 can automatically extend protective shell 4, when wide-angle camera 5 is retracted to the inside of protective shell 4, blocking mechanism 12 can be used to block protective shell 4, so as to carry out comprehensive protection to wide-angle camera 5, rotating sleeve 6 is equipped with fixed sleeve 7 outside, fixed sleeve 7 and protective shell 4 between fixedly connected with fixed fin 8, the inside of fixed fin 8 away from the side of fixed sleeve 7 is equipped with storage groove 9, the inside of protective shell 4 close to the side of storage groove 9 is equipped with through slot 10, through slot 10 and storage groove 9 are communicated, the inside slidingly connected of storage groove 9 has movable fin 11, movable fin 11 passes through through slot 10 and extends to the inside of through slot 10, movable fin 11 and protective shell 4 slidingly connect, corresponding two sides of fixed fin 8 are provided with transmission mechanism 13, movable fin 11 can be automatically moved by transmission mechanism 13, so that movable fin 11 is stretched from storage groove 9, or retracted to the inside of storage groove 9; The control system 35 includes a Beidou integrated terminal tablet 1, a positioning and orientation antenna 2, a front anti-collision radar 29, a rear anti-collision radar 30, an electric proportional converter 31, a steering encoder 32, an electronic injection engine 33 and a CAN bus electric control system 34.

[0027] Further, the Beidou integrated terminal panel 1 is installed inside the cab of the roller compactor, the positioning and directional antenna 2 is installed at both ends of the front bumper of the roller and on the roof, the front anti-collision radar 29 is installed on the top of the roller, the rear anti-collision radar 30 is installed at the tail of the roller compactor, the electric proportional converter 31, the steering encoder 32, the electronic injection engine 33 and the CAN bus electronic control system 34 are all arranged inside the roller compactor, the positioning and directional antenna 2 can determine the width of the roller, i.e. the width of the rolling track, the installation position of the positioning and directional antenna 2 is at both ends of the front bumper of the roller (the distance is consistent with the width of the roller) and on the roof, the width of the roller, i.e. the width of the rolling track, can be determined through the two positioning and directional antennas 2 at the front end, and the direction of the vehicle head, i.e. the rolling driving direction, can be determined through the spatial relative position of the positioning and directional antenna 2 on the roof and the two positioning and directional antennas 2 at the front end, the Beidou integrated terminal panel 1 can upload the centimeter-level GNSS position information to the system platform, and has the function of a tablet computer, displays the rolling machine perimeter image and rolling auxiliary information, and is used to guide the driver to perform the rolling operation, wherein the Beidou integrated terminal panel 1, the positioning and directional antenna 2 and the wide-angle camera 5 constitute an intelligent rolling machine auxiliary driving system, in use, first, four wide-angle cameras 5 capable of covering all the field of view around the vehicle are installed around the rolling machine, the multiple video images collected at the same time are processed into a vehicle body overhead view of 360 degrees around the vehicle, and the Beidou integrated terminal panel 1 in the cab displays the view as a base map. At the same time, a rolling auxiliary line with the same width as the rolling wheel is set on the screen, the overlap width is inputted automatically, and the overlap control line is generated. Secondly, the vehicle position, rolling track and rolling pass information can be transmitted to the system background in real time by using the positioning and directional antenna 2 and the Beidou integrated terminal panel 1 installed on the rolling machine, and the rolling information is analyzed and counted by the background and displayed on the Beidou integrated terminal panel 1 in a visual form. Finally, during the rolling operation, the vehicle body overhead image within a certain distance range is displayed on the Beidou integrated terminal panel 1 in real time, and the rolling auxiliary line and the self-defined overlap control line can be seen on the image. At the same time, the path rolled will be superimposed on the real-time image in different colors according to different rolling passes.

[0028] The use method of the system is as follows: 1. The driver starts the rolling machine, and the system is automatically opened; 2. The driver creates a rolling task name (such as 20231130 main heap area tenth layer); 3. The driver inputs the overlap width according to the specification requirements; 4. The terminal automatically displays the rolling auxiliary line and the overlap control line; 5. The driver uses the rolling auxiliary line and the overlap control line to assist the operation, and realizes the lane keeping and overlap width control; 6. During the compaction process, the compacted areas will be superimposed on the real-time image with different colors depending on the number of compaction passes, to assist the driver in controlling the number of compaction passes; 7. The display terminal will show information such as time, task name, and number of passes in real time; 8. When you finish the job, click "Task Complete" to turn off the roller. The relevant data will be saved to the system platform, and the rolling process will be complete. If the compaction task is not completed when the operator ends the operation, the operator can click "Save Task". The compaction information in this task will continue to be displayed the next time the compactor is started.

[0029] Furthermore, the outer wall of the wide-angle camera 5 is attached to the inner wall of the rotating sleeve 6, and the wide-angle camera 5 is attached to the rotating sleeve 6, so that the heat generated by the wide-angle camera 5 when it is working can be transferred to the fixed heat sink 8 through the rotating sleeve 6, and the fixed heat sink 8, together with the movable heat sink 11, dissipates heat.

[0030] Furthermore, the sealing mechanism 12 includes a first rotating plate 14, which is fixedly connected to the rotating sleeve 6. The first rotating plate 14 has a first sliding groove 15 inside, and there are six first sliding grooves 15 in total. The six first sliding grooves 15 are symmetrically distributed. A first sliding rod 16 is slidably connected inside the first sliding groove 15. A protective plate 17 is fixedly connected to the outer end of the first sliding rod 16 near the protective shell 4. A groove 18 is opened inside the protective shell 4 near the protective plate 17. A slider 19 is slidably connected inside the groove 18. The slider 19 is fixedly connected to the protective plate 17. When the rotating sleeve 6 rotates, it will also rotate the first rotating plate 14, so that the first rotating plate 14 squeezes the first sliding rod 16 through the first sliding groove 15. The first sliding rod 16 then drives the protective plate 17 to move, controlling the opening and closing of the six protective plates 17.

[0031] Furthermore, the transmission mechanism 13 includes a second rotating plate 20, which is sleeved on the outside of the rotating sleeve 6 and fixedly connected to the rotating sleeve 6. A second sliding groove 21 is provided inside the second rotating plate 20 and on one side of the movable heat sink 11. A second sliding rod 22 is slidably connected inside the second sliding groove 21 and fixedly connected to the movable heat sink 11. When the rotating sleeve 6 rotates, it will drive the second rotating plate 20 to rotate, so that the second rotating plate 20 presses the second sliding rod 22 through the second sliding groove 21. The second sliding rod 22 then drives the movable heat sink 11 to move, so that the movable heat sink 11 extends out of the protective shell 4 or retracts into the protective shell 4.

[0032] Furthermore, both the first rotating plate 14 and the second rotating plate 20 are annular structures. Both the first rotating plate 14 and the second rotating plate 20 are fitted onto the outside of the rotating sleeve 6, and will not obstruct the wide-angle camera 5 inside the rotating sleeve 6.

[0033] Further, the interior of the rotating sleeve 6 is provided with third sliding grooves 23, and the four third sliding grooves 23 are symmetrically distributed, the interior of the third sliding grooves 23 is slidably connected with third sliding rods 24, the third sliding rods 24 are fixedly connected with the wide-angle camera 5, the interior of the fixed sleeve 7 is provided with a limiting groove 25, the third sliding rods 24 pass through the limiting groove 25 and extend to the interior of the limiting groove 25, the third sliding rods 24 are slidably connected with the fixed sleeve 7, when the rotating sleeve 6 rotates, the rotating sleeve 6 can extrude the third sliding rods 24 through the third sliding grooves 23, so that the wide-angle camera 5 is automatically extended out of the protective shell 4 or retracted into the protective shell 4 through the third sliding rods 24, the limiting groove 25 cooperates with the third sliding rods 24 to limit the wide-angle camera 5, so that the wide-angle camera 5 can only move linearly and cannot be twisted.

[0034] Further, the third sliding grooves 23 are spiral structures, and the spiral structure of the third sliding grooves 23 can drive the wide-angle camera 5 to move when the rotating sleeve 6 rotates.

[0035] Further, the exterior of the protective shell 4 is fixedly connected with a servo motor 26, the output shaft of the servo motor 26 vertically penetrates the protective shell 4 and extends to the interior of the protective shell 4, the output shaft of the servo motor 26 is rotatably connected with the protective shell 4, the output end of the servo motor 26 is fixedly connected with a driving gear 27, the exterior of the rotating sleeve 6 is sleeved with a driven gear ring 28, the driven gear ring 28 is fixedly connected with the rotating sleeve 6, the driving gear 27 is meshingly connected with the driven gear ring 28, the driving gear 27 is directly driven to rotate by the servo motor 26, and the rotating sleeve 6 is driven to rotate by the driven gear ring 28.

[0036] The application uses the following steps: when the dam intelligent roller operation vehicle brake control system is used, the servo motor 26 is controlled to rotate forward, the servo motor 26 drives the rotating sleeve 6 to rotate through the driving gear 27 and the driven gear ring 28, at this time: I. The rotating sleeve 6 drives the first rotating plate 14 to rotate, the first rotating plate 14 extrudes the first sliding rod 16 through the first sliding groove 15, so that the first sliding rod 16 drives the six protective plates 17 to move and open at the same time; II. The rotating sleeve 6 drives the second rotating plate 20 to rotate, the second rotating plate 20 extrudes the second sliding rod 22 through the second sliding groove 21, so that the second sliding rod 22 drives the movable cooling fins 11 in the receiving groove 9 to extend out of the protective shell 4 through the through groove 10; III. The rotating sleeve 6 extrudes the third sliding rod 24 through the third sliding groove 23 of the spiral structure, so that the third sliding rod 24 drives the wide-angle camera 5 to extend out of the interior of the protective shell 4.

[0037] The heat generated by the wide-angle camera 5 during use is transmitted to the fixed heat sink 8 through the rotating sleeve 6, and the fixed heat sink 8 is matched with the movable heat sink 11 extending out of the protective shell 4 to dissipate heat and cool the wide-angle camera 5. When the use of the wide-angle camera 5 is finished, the control servo motor 26 is reversed to lower the wide-angle camera 5 into the protective shell 4, and at the same time, the six protective plates 17 are closed, so that the protective shell 4 can protect the wide-angle camera 5 in all directions, realize all-around wrapping of the wide-angle camera 5, so that the wide-angle camera 5 will not be exposed, and at the same time, the movable heat sink 11 can also be retracted into the protective shell 4, taking into account the practicability and environmental adaptability. When the wide-angle camera 5 is not working, the heat dissipation demand is very low, but there may be dust, water vapor, collision, scratching and other risks in the external environment. At this time, the movable heat sink 11 is retracted into the protective shell 4, which can realize multiple protection values, avoid the traditional fixed heat sink from being deformed due to protruding out of the shell, prolong the service life of the heat sink, and after the movable heat sink 11 is retracted, the protective shell 4 can form a complete closed structure to block dust, rain, insects and other things from entering the inside, which can avoid the influence of dust accumulation in the gap of the movable heat sink 11 on the subsequent heat dissipation efficiency, and at the same time, protect the core components of the wide-angle camera 5 from environmental erosion. When the wide-angle camera 5 is working, the movable heat sink 11 is directly exposed to the external environment after extending out, the heat dissipation area is greatly increased, and the heat can be more efficiently transmitted to the air through heat conduction and convection. Through the wide-angle camera 5, the multiple video images collected at the same time are processed into a 360-degree overhead view of the vehicle body, which is displayed as a base map on the Beidou integrated terminal tablet 1 in the cab. At the same time, an auxiliary rolling line with the same width as the rolling wheel is set on the screen, and the overlap width is input automatically to generate the overlap control line. By using the positioning and directional antenna 2 and the Beidou integrated terminal tablet 1 installed on the roller, the vehicle position, rolling track and rolling number of times can be transmitted to the system background in real time, and the background can analyze and count the above rolling information and present it in a visual form on the Beidou integrated terminal tablet 1. During the rolling operation, the overhead image of the vehicle body within a certain distance range is displayed on the Beidou integrated terminal tablet 1 in real time, and the rolling auxiliary line and the self-defined overlap control line can be seen on the image. At the same time, the rolled path is superimposed on the real-time image in different colors corresponding to different rolling times, which effectively reduces the difficulty of rolling operation, helps the driver to operate according to the specification requirements, and can provide real-time rolling data for the driver to check the rolling situation at a glance. Through the Beidou integrated terminal tablet 1, the positioning and directional antenna 2, the front and rear anti-collision radars 29 and 30, the electric proportional converter 31, the steering encoder 32, the electronic injection engine 33 and the CAN bus electronic control system 34, two positioning and directional antennas 2 are installed on the cab. By using the damping effect of the cab, the influence of vibration on the positioning of the antenna can be reduced.Two antennas are connected vertically to the vehicle, one for position positioning and the other for route positioning. On the basis of the original hydraulic control reversing of the roller, an electric proportional converter 31 is added to realize electric proportional control of steering through the controller bongosMC (as shown in the accompanying drawings). Figure 16 At the same time, a pull rope sensor is installed at the steering oil cylinder to measure the front wheel steering angle. Real-time front wheel deflection angle feedback is provided for automatic control of the route of the roller. According to the requirements of the construction process, the corresponding vehicle speed is automatically set, and the vehicle speed is adjusted using the PID algorithm. When vibration is needed, the highest vehicle speed of 2300 RPM is set; when no vibration is needed, the energy-saving mode is used to control the vehicle speed. According to the desired vehicle speed, four different gears and engine speeds are automatically selected, and the vehicle speed is adjusted by adjusting the displacement of the traveling pump to realize vehicle speed control. An internationally advanced compaction detection system is used to detect real-time compaction degree, vibration frequency and amplitude data. Then, the data in the system are transmitted to the bongosMC through the CAN bus connection, and the data are transmitted to the monitoring center in real time for recording. The upper computer plans a plurality of to-be-rolled line segments of corresponding vehicle width in the working area, and sets the static pressure passes, vibration mode and other working parameters of a single line segment. The roller uses pure tracking, PID and other algorithms to realize unmanned driving along the path planned by the upper computer.

[0038] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A dam intelligent roller operation vehicle brake control system, comprising a roller operation vehicle, a roller wheel at the front side of the roller operation vehicle, and a control system (35) at the rear side of the roller operation vehicle, characterized in that: The image acquisition mechanism (3) is installed on the left side, the right side, the front side and the tail of the rolling operation vehicle. The image acquisition mechanism (3) comprises a protective shell (4) and a wide-angle camera (5), a rotating sleeve (6) is rotatably connected inside the protective shell (4), the rotating sleeve (6) is sleeved outside the wide-angle camera (5), the wide-angle camera (5) is slidably connected with the rotating sleeve (6), a blocking mechanism (12) is arranged between the rotating sleeve (6) and the protective shell (4), a fixed sleeve (7) is sleeved outside the rotating sleeve (6), a fixed fin (8) is fixedly connected between the fixed sleeve (7) and the protective shell (4), a receiving groove (9) is formed in the inside of the fixed fin (8) away from the fixed sleeve (7), a through groove (10) is formed in the inside of the protective shell (4) close to the receiving groove (9), the through groove (10) is communicated with the receiving groove (9), a movable fin (11) is slidably connected inside the receiving groove (9), the movable fin (11) passes through the through groove (10) and extends into the through groove (10), the movable fin (11) is slidably connected with the protective shell (4), and a transmission mechanism (13) is arranged on the corresponding two sides of the fixed fin (8). The control system (35) comprises a Beidou integrated terminal panel (1), a positioning and orientation antenna (2), a front anti-collision radar (29), a rear anti-collision radar (30), an electric proportional converter (31), a steering encoder (32), an electronic injection engine (33) and a CAN bus electronic control system (34).

2. The dam intelligent roller operation vehicle brake control system according to claim 1, characterized in that: The Beidou integrated terminal panel (1) is installed inside the cab of the rolling operation vehicle, the positioning and orientation antenna (2) is installed at both ends of the front bumper of the rolling wheel and on the roof, the front anti-collision radar (29) is installed on the top of the rolling wheel, the rear anti-collision radar (30) is installed at the tail of the rolling operation vehicle, and the electric proportional converter (31), the steering encoder (32), the electronic injection engine (33) and the CAN bus electronic control system (34) are all arranged inside the rolling operation vehicle.

3. The dam intelligent roller operation vehicle brake control system according to claim 1, characterized in that: The outer side wall of the wide-angle camera (5) is attached to the inner side wall of the rotating sleeve (6).

4. The dam intelligent roller operation vehicle brake control system according to claim 1, characterized in that: The blocking mechanism (12) comprises a first rotating plate (14), the first rotating plate (14) is fixedly connected with the rotating sleeve (6), a first sliding groove (15) is formed in the inside of the first rotating plate (14), there are six first sliding grooves (15), the six first sliding grooves (15) are symmetrically distributed, a first sliding rod (16) is slidably connected inside the first sliding groove (15), a protection plate (17) is fixedly connected to one end of the first sliding rod (16) away from the protective shell (4), a recess (18) is formed in the inside of the protective shell (4) close to the protection plate (17), a sliding block (19) is slidably connected inside the recess (18), and the sliding block (19) is fixedly connected with the protection plate (17).

5. The dam intelligent roller operation vehicle brake control system according to claim 4, characterized in that: The transmission mechanism (13) comprises a second rotating plate (20), the second rotating plate (20) is sleeved outside the rotating sleeve (6), the second rotating plate (20) is fixedly connected with the rotating sleeve (6), a second sliding groove (21) is formed in the inside of the second rotating plate (20) and on one side of the movable heat dissipation fin (11), a second sliding rod (22) is slidably connected in the second sliding groove (21), and the second sliding rod (22) is fixedly connected with the movable heat dissipation fin (11).

6. The dam intelligent roller operation vehicle brake control system according to claim 5, characterized in that: The first rotating plate (14) and the second rotating plate (20) are both annular structures.

7. The dam intelligent roller operation vehicle brake control system according to claim 1, characterized in that: The rotating sleeve (6) is internally provided with third sliding grooves (23), the third sliding grooves (23) are four in total and symmetrically distributed, third sliding rods (24) are slidably connected in the third sliding grooves (23), the third sliding rods (24) are fixedly connected with the wide-angle camera (5), the fixed sleeve (7) is internally provided with a limiting groove (25), the third sliding rods (24) pass through the limiting groove (25) and extend into the inside of the limiting groove (25), and the third sliding rods (24) are slidably connected with the fixed sleeve (7).

8. The dam intelligent roller operation vehicle brake control system according to claim 7, characterized in that: The third sliding grooves (23) are spiral structures.

9. The dam intelligent roller operation vehicle brake control system according to claim 1, characterized in that: The protective shell (4) is externally fixedly connected with a servo motor (26), an output shaft of the servo motor (26) penetrates through the protective shell (4) and extends into the inside of the protective shell (4) in a perpendicular mode, the output shaft of the servo motor (26) is rotatably connected with the protective shell (4), the output end of the servo motor (26) is fixedly connected with a driving gear (27), the rotating sleeve (6) is externally sleeved with a driven gear ring (28), the driven gear ring (28) is fixedly connected with the rotating sleeve (6), and the driving gear (27) is meshedly connected with the driven gear ring (28).

Images