Road roller task planning method, system and equipment and storage medium

Abstract

The invention discloses a road roller task planning method, system and device and a storage medium. The method comprises the steps that working state parameters of a road roller, environment parameters of a working area and construction requirement parameters are collected in real time; dynamically generating an operation task scheme based on the working state parameters, the environment parameters and the construction requirement parameters; a PID control algorithm is adopted, the operation speed of the road roller is adjusted in real time according to the operation error, and the operation error is the difference value between the actual operation distance and the ideal operation distance; switching the operation state of the road roller according to the operation progress and the external triggering condition; and when a plurality of road rollers cooperatively work, uniformly scheduling the working area, working time and working speed of each road roller based on the multi-machine cooperation rule. According to the invention, real-time task planning, accurate speed control, multi-state intelligent management and multi-machine coordination operation can be realized.

Description

Technical Field

[0001] This invention relates to a method, system, equipment, and storage medium for planning tasks of a road roller, belonging to the field of intelligent control of construction machinery. Background Technology

[0002] With the development of intelligent technology in construction machinery, automatic control technology has been gradually promoted and applied in the field of road rollers, which has reduced the reliance on manual labor to a certain extent. However, the existing automatic control system of road rollers still cannot fully adapt to the actual needs of complex construction scenarios and has the following technical defects: 1. The task planning mechanism lacks dynamic adaptability. Most of the work plans are statically generated based on preset construction parameters, which cannot perceive changes in the construction environment in real time (such as fluctuations in the thickness of paving materials, the appearance of obstacles in the work area, and temporary adjustments to the construction route). This leads to a disconnect between task planning and actual working conditions, affecting construction quality and efficiency.

[0003] 2. The speed control algorithm is simple in design, and mostly adopts open-loop control with fixed parameters or basic closed-loop control. It cannot achieve high-precision speed adjustment (such as uniform speed travel during compaction and speed change to adapt to different compaction stages), nor can it support the speed coordination of multiple road rollers, resulting in poor compaction uniformity.

[0004] 3. The status management system is incomplete, and can only realize simple status switching of start, work and stop. It has not designed a refined status management mechanism for the multi-stage characteristics of road roller operation (such as waiting for paving material supply, switching of work areas, handling of emergency faults, etc.), and cannot cope with the status transition needs in complex construction process, which is prone to operation interruption or process disorder.

[0005] 4. The multi-machine collaboration lacks intelligent planning capabilities and has not established a unified equipment status perception and task allocation mechanism. It only achieves multi-machine operation through simple partitioning or time polling, which makes it difficult to dynamically balance the workload of each machine. This can easily lead to work conflicts, repeated compaction, or blind spots, resulting in waste of equipment resources and delays in construction progress.

[0006] The existence of the aforementioned technical problems limits the improvement of the intelligence level of road rollers and cannot meet the requirements of modern road construction for high precision, high efficiency, and high collaboration. Therefore, it is urgent to develop an intelligent task planning system and method with real-time task planning, precise speed control, multi-state intelligent management, and multi-machine collaboration capabilities. Summary of the Invention

[0007] To address the problems existing in the prior art, the present invention provides a road roller task planning method, system, equipment, and storage medium, which can realize real-time task planning, precise speed control, multi-state intelligent management, and multi-machine coordinated operation.

[0008] To achieve the above objectives, the present invention employs a road roller task planning method, comprising the following steps: S1. Real-time acquisition of the working status parameters of the road roller and the environmental parameters of the working area, and receipt of preset construction requirement parameters; S2. Based on the working status parameters, environmental parameters and construction requirement parameters, dynamically generate a work task plan, which includes work path planning, task time allocation and multi-machine collaboration rules. S3. A PID control algorithm is adopted to adjust the working speed of the road roller in real time according to the working error, wherein the working error is the difference between the actual working distance and the ideal working distance; S4. According to the work progress and external triggering conditions, switch the working state of the road roller. The working state includes waiting to start, working, waiting to pave materials, exit, and completed. S5. When multiple road rollers are working together, based on the multi-machine collaboration rules, the working area, working time and working speed of each road roller are uniformly scheduled.

[0009] As an improvement, in step S1, the working status parameters include the real-time location, travel speed, work progress, and operating status of the road roller; The environmental parameters include the thickness of the paving material, the distribution of obstacles in the work area, and the smoothness of the road surface. The construction requirements parameters include the number of compaction passes, the compaction strength threshold, and the work cut-off time.

[0010] As an improvement, in step S2, the dynamic job task generation scheme includes: Based on the geometric dimensions of the work area, the number of compaction passes, and the working width of the road roller, plan a work path that is non-overlapping and non-overlapping; Based on the length of the work path and the preset speed range, calculate the work time for each segment of the path and allocate it to form a task timeline; Based on the location distribution and equipment performance parameters of multiple road rollers, multi-machine coordination rules are established, including work area division rules, speed coordination rules, and conflict avoidance rules.

[0011] As an improvement, in step S3, the specific implementation process of the PID control algorithm is as follows: Calculate the operation error e = actual operation distance - ideal operation distance; The control output u is calculated based on the PID formula: u = Kp×e + Ki×∫edt + Kd×(de / dt); where Kp is the proportional coefficient, Ki is the integral coefficient, and Kd is the derivative coefficient. By limiting the control output u within a preset speed range, the target travel speed of the road roller is obtained as v = max (v_min, min (v_max, u)), where v_min is the minimum permissible speed and v_max is the maximum permissible speed.

[0012] As an improvement, in step S4, the specific conditions for switching the operating state of the road roller include: Switching from waiting to start state to work execution state: receiving the start command and the work area is free of obstacles and the paving material meets the work requirements; Switching from work execution status to waiting for paving material status: The work progress has reached the preset node and the paving material thickness is below the threshold; Switching from waiting for paving materials to working status: Paving material supply completed and thickness meets operational requirements; Switching from work execution status to exit status: Work progress 100% or a stop command received; Switching from exit state to completion state: The road roller has traveled to the preset safe area and the equipment has stopped.

[0013] A second aspect of the present invention also provides a road roller task planning system, comprising: The status acquisition module is used to collect the working status parameters of the road roller and the environmental parameters of the working area in real time, and to receive preset construction requirement parameters. The task planning module is used to dynamically generate work task plans based on the work status parameters, environmental parameters, and construction requirement parameters. The work task plans include work path planning, task time allocation, and multi-machine collaboration rules. The speed control module is used to adjust the operating speed of the road roller in real time according to the operating error, which is the difference between the actual operating distance and the ideal operating distance, using a PID control algorithm. The multi-state management module is used to switch the operating state of the road roller according to the work progress and external triggering conditions. The operating states include waiting to start, work execution, waiting for paving materials, exit, and completion. The multi-machine coordination module is used to uniformly schedule the working area, working time and working speed of each road roller based on the multi-machine coordination rules when multiple road rollers are working together.

[0014] As an improvement, the task planning module includes: The path planning unit is used to plan a non-overlapping and non-omission work path based on the geometry of the work area, the number of compaction passes, and the working width of the roller; The time allocation unit is used to calculate the operation time of each segment of the path based on the length of the operation path and the preset speed range, and allocate the time to form a task time axis. The collaborative rule generation unit is used to establish multi-machine collaborative rules based on the location distribution and equipment performance parameters of multiple road rollers, including work area division rules, speed collaboration rules, and conflict avoidance rules.

[0015] As an improvement, the path planning unit adopts an equal-division coverage model based on overlap rate constraints, and the specific implementation process is as follows: Candidate lane schemes are generated based on the total width of the work area (areaWidth), the roller wheel width (rollerWidth), and the preset overlap ratio range [minOverlap, maxOverlap]. For the number of candidate lanes num, calculate the center offset distance between adjacent lanes laneGap = (areaWidth - rollerWidth) / (num-1); Calculate the actual overlap rate: overlap = (rollerWidth - laneGap) / rollerWidth; Select lane number schemes that satisfy the constraints minOverlap ≤ overlap ≤ maxOverlap, and allocate lanes to each road roller according to the cooperative strategy.

[0016] As an improvement, the time allocation unit establishes a time axis synchronization model, and the specific implementation process is as follows: Iterate through all the road rollers participating in the collaborative operation and obtain the theoretical forward task time t_forward and the theoretical backward task time t_backward for each road roller; The maximum value of the total task time (t_forward + t_backward) of each road roller is selected as the system baseline task time1; Calculate the task switching time threshold divTime1 for each road roller according to the formula divTime1 = time1 × t_forward / (t_forward + t_backward); The reversing points of each roller are dynamically aligned according to divTime1 to ensure phase consistency during multi-machine collaborative operation.

[0017] As an improvement, the collaborative rule generation unit generates corresponding collaborative constraints based on the job strategy, specifically including: When using a trapezoidal strategy, the number of sub-lanes allocated to each roller is laneDiff = total number of lanes num / number of rollers N; When using a queuing strategy, the number of compaction passes is set to twice the number of rollers, and the sub-lane distribution is calculated based on the preset safety distance. The coordination rules also include a start-up alignment rule: the roller convoy is triggered to start only when all pavers have completed the preset starting distance.

[0018] As an improvement, the multi-state management module includes: The status judgment unit is used to determine whether the status switching conditions are met based on the work progress, collected data and external instructions. The state transition unit is used to smoothly switch the operating state of the road roller when the state switching conditions are met, and synchronously update the corresponding control parameters. The status holding unit is used to maintain the corresponding equipment operating parameters and operating modes in each operating state to avoid operation interruption.

[0019] A third aspect of the present invention also provides a road roller task planning device, comprising: The sensor array is used to collect the operating status parameters of the road roller and the environmental parameters of the working area; processor; Memory is used to store data during computer programs and operations. A communication interface is used to enable data interaction between the processor and external devices; When the processor executes the computer program stored in the memory, it implements the road roller task planning method.

[0020] As an improvement, the sensor group includes a GPS positioning sensor, a speed sensor, a distance sensor, a paving material thickness sensor, an obstacle detection sensor, and a road surface smoothness sensor. The sensor group is also used to collect operating parameters of the roller's power system and braking system.

[0021] In a fourth aspect, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the roller task planning method described above.

[0022] Compared with the prior art, the beneficial effects of the present invention are: 1. Enhance the dynamic adaptability and accuracy of task planning. This invention collects three types of parameters in real time: the working status of the road roller, the working environment, and the construction requirements. Based on these parameters, it dynamically generates task plans that include path planning, time allocation, and multi-machine collaboration rules. This breaks through the limitations of traditional static task planning and can be adjusted in real time according to environmental changes and equipment status fluctuations during construction. It ensures that the work path is non-overlapping and non-omissioned, and that the task time allocation fits the actual working conditions. This solves the problem of traditional planning schemes being out of touch with the actual working conditions and significantly improves the accuracy and feasibility of task planning.

[0023] 2. Achieving high-precision closed-loop control of operating speed. This invention introduces a PID control algorithm, using the difference between actual and ideal operating parameters as the error basis to adjust the roller's operating speed in real time and limit the speed output within a reasonable range. Compared to the traditional simple open-loop speed control method, this closed-loop control mode can quickly correct speed deviations during operation, ensuring uniform and stable roller operation, thereby improving the uniformity of pavement compaction and construction quality.

[0024] 3. Ensuring the continuity and stability of complex work processes. Based on work progress and external triggering conditions, this invention designs a switching mechanism for five work states: waiting to start, work execution, waiting to pave materials, exit, and completion, and clearly defines the switching conditions for each state. This refined state management model can adapt to complex scenarios that may occur during road roller operations, such as material resupply waiting and work stage switching, achieving smooth transitions between states, avoiding work interruptions due to improper state switching, and ensuring the continuity and stability of the construction process.

[0025] 4. Improve the efficiency and safety of multi-machine collaborative operations. For scenarios involving multiple road rollers working collaboratively, this invention uses pre-set multi-machine collaboration rules to uniformly schedule the operating area, operating time, and operating speed of each machine. This effectively avoids problems such as overlapping areas and path conflicts that occur during multi-machine operations, reducing equipment idleness and resource waste. Simultaneously, the collaborative scheduling mechanism ensures that the operating rhythm of multiple road rollers is consistent, improving overall construction efficiency and reducing the management difficulty and safety risks of multi-machine collaborative operations.

[0026] 5. Reduce reliance on manual labor and promote the intelligent upgrading of road roller operations. This invention achieves fully automated control of the entire process from task planning, speed control, status management to multi-machine collaboration. It eliminates the need for real-time manual intervention in key aspects such as path planning, speed adjustment, and multi-machine coordination, significantly reducing the labor intensity and subjective errors of manual operation. This promotes the transformation of road roller operations from traditional manual operation to intelligent and automated operation, aligning with the development trend of modern construction machinery. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the principle structure of the present invention; Figure 2 This is a schematic diagram of the process of the present invention; Figure 3 This is a flowchart of the multi-state management process of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this application will be described in detail below through specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other. Example

[0030] like Figure 1 , Figure 2 and Figure 3 As shown, a road roller task planning method includes the following steps: S1. Real-time acquisition of the working status parameters of the road roller and the environmental parameters of the working area through multiple integrated sensors, and receiving preset construction requirement parameters; The working status parameters include the real-time location, speed, attitude, work progress and equipment operating status of the road roller. The validity of the data is monitored synchronously during the collection process. If a sensor failure is detected, the system will automatically switch to a safe mode. S2. Based on the aforementioned working status parameters, environmental parameters, and construction requirement parameters, a work task plan is dynamically generated. The work task plan includes: Based on the geometric dimensions of the work area, the number of compaction passes, and the working width of the road roller, plan a work path that is non-overlapping and non-overlapping; Based on the length of the work path and the preset speed range, combined with the reversal pause compensation time T_buffer, the forward task time and the backward task time are calculated and allocated to form a task time axis. Based on the location distribution and equipment performance parameters of multiple road rollers, establish multi-machine coordination rules that include work area division rules, speed coordination rules, conflict avoidance rules, and safety distance rules; Among them, the planning of the operation path adopts the equal-division coverage model based on the overlap rate constraint. The specific implementation process is as follows: candidate lane schemes are generated based on the total width of the operation area areaWidth, the roller wheel width rollerWidth and the preset overlap rate range [minOverlap, maxOverlap]. For the number of candidate lanes num, calculate the center offset distance between adjacent lanes laneGap = (areaWidth - rollerWidth) / (num-1); Calculate the actual overlap rate: overlap = (rollerWidth - laneGap) / rollerWidth; Select lane number schemes that satisfy the constraint minOverlap ≤ overlap ≤ maxOverlap, and allocate lanes to each road roller according to the cooperative strategy; In addition, the specific implementation process for forming the task timeline is as follows: Iterate through all the road rollers participating in the collaborative operation and obtain the theoretical forward task time t_forward and the theoretical backward task time t_backward for each road roller; The maximum value of the total task time (t_forward + t_backward) of each road roller is selected as the system baseline task time1; Calculate the task switching time threshold divTime1 for each road roller according to the formula divTime1 = time1 × t_forward / (t_forward + t_backward); The reversing points of each roller are dynamically aligned according to divTime1 to ensure phase consistency in multi-machine collaborative operation; In addition, the multi-machine collaboration rules specifically include: When using a trapezoidal strategy, the number of sub-lanes allocated to each roller is laneDiff = total number of lanes num / number of rollers N; When using a queuing strategy, the number of compaction passes is set to twice the number of rollers, and the sub-lane distribution is calculated based on the preset safety distance. The coordination rules also include a start-up alignment rule: the roller convoy is triggered to start only when all pavers have completed the preset starting distance; S3. The operating speed of the road roller is adjusted in real time using a PID control algorithm. The operating error is the difference between the actual operating distance and the ideal operating distance. Specifically, this is achieved as follows: Calculate the operation error e = actual operation distance d_actual - ideal operation distance d_ideal; The control output u is calculated based on the PID formula: u = Kp×e + Ki×∫e dt + Kd×(de / dt), where Kp is the proportional coefficient, Ki is the integral coefficient, and Kd is the derivative coefficient. Limit the control output u within the preset speed range to obtain the target driving speed v = max (v_min, min(v_max, u)), where v_min is the minimum allowable speed and v_max is the maximum allowable speed; S4. Based on the work progress and external triggering conditions, smoothly switch between five work states, including waiting to start state, work execution state, waiting to spread materials state, exit stage state and completion state. When switching states, update control parameters synchronously to maintain work continuity. S5. When multiple road rollers are working together, based on the multi-machine collaboration rules, the working area, working time and working speed of each road roller are uniformly scheduled through safety distance detection, status synchronization and batch command issuance to avoid work conflicts. S6. Monitor abnormal states in real time during operation. If an emergency occurs, such as task timeout, abnormal speed, failure to switch states, or failure of all sensor data, automatically perform abnormal handling, including replanning the task, emergency braking, or restoring to a safe state.

[0031] In some embodiments, in step S1, the working status parameters specifically include the real-time GPS location of the road roller, travel speed, working posture, number of compaction passes completed, and operating status of the equipment power system; The environmental parameters specifically include the thickness of the paving material, the distribution and size of obstacles in the work area, the smoothness of the road surface, and the geometric boundaries of the work area. The specific construction requirements parameters include the preset number of compaction passes, compaction strength threshold, work deadline, working distance d_work, forward speed v_set_forward, and backward speed v_set_backward.

[0032] In some embodiments, step S2, the specific process of dynamically generating the job task scheme includes: Path planning: Based on the geometric dimensions of the work area, such as length and width, combined with the preset number of compaction passes and the working width of the road roller, a reciprocating path planning logic is adopted to ensure that the work area has no overlap and no omissions; Time allocation: The forward task time t_forward is equal to the working distance d_work divided by the forward set speed v_set_forward, that is, t_forward = d_work / v_set_forward; The backtracking time t_backward is equal to the working distance d_work divided by the backtracking set speed v_set_backward, that is, t_backward = d_work / v_set_backward; The maximum value of the total task time (t_forward + t_backward) of each work unit is selected as the baseline task time time1 of the system; The task time allocation ratio is calculated based on the priority of each task: divTime1 = time1 × t_forward / (t_forward + t_backward), forming a time axis for multi-task collaboration. Collaborative rule establishment: Based on the real-time location distribution, working width and maximum travel speed of multiple road rollers, non-overlapping working sub-areas are divided, safe distance thresholds for adjacent road rollers are set, and speed synchronization strategies and conflict avoidance response mechanisms are formulated.

[0033] In some embodiments, in step S3, the application scenarios of the PID control algorithm include different operation stages such as the forward compaction and backward adjustment of the road roller, to ensure the stability and coordination of the operation speed.

[0034] In some embodiments, the specific conditions for switching the operating status of the road roller in step S4 include: Waiting to start status → Working status: The start command has been received, and GPS positioning confirms that there are no obstacles in the work area and the thickness of the paving material has reached the required threshold for the operation. Work execution status → Waiting for paving material status: The work progress has reached the preset node (such as completing 30% of the compaction passes in the current area), and the paving material thickness sensor detection value is lower than the work requirement threshold; Waiting for paving material status → Work execution status: Paving material supply is completed, and the thickness sensor detection value has recovered to above the required threshold for operation, with no new obstacles in the work area; Work execution status → Exit stage status: The work progress has reached 100% (the preset number of compaction passes has been completed) or a stop instruction has been received, and there are no subsequent work tasks; Exit Phase Status → Completion Status: The road roller travels to the preset safe area via GPS positioning, the equipment power system stops, and the status parameters are recorded and archived. Example

[0035] like Figure 1 As shown, a road roller task planning system includes: Status acquisition module: integrates GPS positioning sensor, speed sensor, distance sensor, attitude sensor, paving material thickness sensor, obstacle detection sensor and road surface smoothness sensor, used to collect the working status parameters of the road roller and the environmental parameters of the working area in real time, and receive preset construction requirement parameters, while monitoring the validity of sensor data; Task planning module: includes path planning unit, time allocation unit and collaborative rule generation unit, used to dynamically generate job task schemes based on the parameters of the status acquisition module. The job task scheme includes non-overlapping path planning, task time axis with forward / backward time calculation and multi-machine collaborative rules. Speed ​​control module: Used to calculate the working error based on the difference between the actual working distance and the ideal working distance using a PID control algorithm, adjust the working speed of the road roller in real time, and limit the speed output within a preset range; Multi-state management module: includes state judgment unit, state transition unit and state holding unit, used to smoothly switch between five states: waiting to start, work execution, waiting to spread materials, exit stage and completion, according to the work progress, collected data and external instructions, to maintain the equipment operating parameters and work mode in each state and avoid work interruption; Multi-machine collaboration module: Used to uniformly manage the working area and status information of multiple road rollers. Through safe distance detection, status synchronization and batch command issuance, it realizes unified scheduling of the working area, time and speed of each road roller, avoiding operation conflicts; Anomaly handling module: Used to monitor abnormal situations such as sensor failure, task timeout, speed abnormality and state switching failure in real time, and trigger corresponding safety handling mechanisms, including switching safety mode, replanning tasks, emergency braking or restoring safety state.

[0036] In some embodiments, the path planning unit adopts an equal-division coverage model based on overlap rate constraints, and the specific implementation process is as follows: Candidate lane schemes are generated based on the total width of the work area (areaWidth), the roller wheel width (rollerWidth), and the preset overlap ratio range [minOverlap, maxOverlap]. For the number of candidate lanes num, calculate the center offset distance between adjacent lanes laneGap = (areaWidth - rollerWidth) / (num-1); Calculate the actual overlap rate: overlap = (rollerWidth - laneGap) / rollerWidth; Select lane number schemes that satisfy the constraints minOverlap ≤ overlap ≤ maxOverlap, and allocate lanes to each road roller according to the cooperative strategy.

[0037] In some embodiments, the time allocation unit establishes a time axis synchronization model, the specific implementation process of which is as follows: Iterate through all the road rollers participating in the collaborative operation and obtain the theoretical forward task time t_forward and the theoretical backward task time t_backward for each road roller; The maximum value of the total task time (t_forward + t_backward) of each road roller is selected as the system baseline task time1; Calculate the task switching time threshold divTime1 for each road roller according to the formula divTime1 = time1 × t_forward / (t_forward + t_backward); The reversing points of each roller are dynamically aligned according to divTime1 to ensure phase consistency during multi-machine collaborative operation.

[0038] In some embodiments, the collaborative rule generation unit generates corresponding collaborative constraints based on the job strategy, specifically including: When using a trapezoidal strategy, the number of sub-lanes allocated to each roller is laneDiff = total number of lanes num / number of rollers N; When using a queuing strategy, the number of compaction passes is set to twice the number of rollers, and the sub-lane distribution is calculated based on the preset safety distance. The coordination rules also include a start-up alignment rule: the roller convoy is triggered to start only when all pavers have completed the preset starting distance.

[0039] In some embodiments, the status judgment unit determines whether the status switching conditions are met based on the work progress data, environmental parameters collected by the sensors, and external start / stop commands. When the switching conditions are met, the state transition unit smoothly updates the control parameters to achieve seamless transition between the five working states and avoid work interruption. The status maintenance unit maintains the corresponding speed setpoint, compaction mode and other equipment operating parameters in each working state to ensure operational stability. Example

[0040] A road roller task planning device, comprising: The sensor array, including GPS positioning sensors, speed sensors, distance sensors, attitude sensors, paving material thickness sensors, obstacle detection sensors, and road surface evenness sensors, is used to collect the working status parameters of the road roller and the environmental parameters of the working area. processor; Memory is used to store state parameters and task plan data during computer programs and operations. The communication interface is used to enable data interaction between the processor and external devices, including receiving construction requirement parameters, issuing multi-machine collaborative control commands, and providing feedback on operation status information. When the processor executes the computer program stored in the memory, it implements the road roller task planning method.

[0041] In some embodiments, the sensor group further includes equipment operation status sensors for collecting operating parameters of the roller's power system and braking system; the communication interface supports synchronous data transmission of status between multiple devices to meet the real-time communication requirements of multi-machine collaborative operation.

[0042] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the road roller task planning method described in any of the above claims, including the full-process logic of real-time data acquisition, dynamic task planning, PID precise speed regulation, multi-state switching, multi-machine collaborative scheduling, and anomaly handling. Example

[0043] This case study uses a highway pavement compaction operation as a practical application scenario. Based on the roller task planning method described in this invention, it realizes path planning, time axis alignment, and dynamic error correction for the collaborative operation of two rollers, and fully presents the implementation process of the method.

[0044] The specific implementation steps include: S1, Initial Operating Condition Settings Total width of the work area: 10.5 meters; Roller fleet configuration: 2 identical double-drum rollers (numbered A and B), number of vehicles N=2; Roller equipment parameters: Effective width of steel drum (rollerWidth) is 2.13 meters; Process requirements: Compaction overlap rate range [15%, 25%], standard operating speed is 4.0 km / h (approximately 1.11 m / s).

[0045] S2. Path planning based on vehicle multiple constraints 1. The system combines initial parameters with enumeration verification and manual confirmation to determine the optimal lane scheme and complete the multi-machine task allocation: Constraint definition: Constraint 1: The number of lanes, num, must be an integer multiple of the number of vehicles, N (i.e., num = 2, 4, 6, 8...). Constraint 2: The overlap rate is within the range of [15%, 25%].

[0046] Candidate lane number enumeration verification: Verification num=4: center spacing laneGap=(10.5-2.13) / (4-1)=2.79 meters, overlap rate overlap=(2.13-2.79) / 2.13≈-31.0% (negative overlap, discarded); Verification num=6: center spacing laneGap=(10.5-2.13) / (6-1)=1.674 meters, overlap=(2.13-1.674) / 2.13≈21.4% (meets the requirements and is included in the candidate list); Verification num=8: center spacing laneGap=(10.5-2.13) / (8-1)≈1.196 meters, overlap=(2.13-1.196) / 2.13≈43.8% (exceeds the upper limit, discard).

[0047] Manual selection: The system interface drop-down menu only displays the "6 lanes - overlap rate 21.4%" scheme that meets the conditions. The construction personnel select num=6 as the number of planned lanes.

[0048] Task allocation: Each roller is assigned 3 sub-lanes, laneDiff = 6 / 2 = 3. Roller A is responsible for lanes 1-3, and roller B is responsible for lanes 4-6.

[0049] S3. Calculation of task time and alignment of multi-machine time axis By using time calculations and dynamic alignment, we ensure that multiple road rollers operate in phase consistency: Calculation of time consumption for a single round trip: Roller A is responsible for a lane with an average path length L_path = 50m. The time calculation formula is as follows: t_forward=(L_path / V_set_forward)+T_buffer; t_backward=(L_path / V_set_backward)+ T_buffer; Where V_set_forward is the set speed of 1.11m / s, V_set_backward is the set speed of 1.24m / s, and T_buffer is the commutation pause compensation of 0.5s; Therefore, t_forward(A) = (50 / 1.11) + 0.5 = 45.5s, and the corresponding theoretical backward time t_backward(A) = (50 / 1.24) + 0.5 = 40.8s is calculated; the total theoretical time of roller A = 86.3s; If the lane path handled by roller B at this time includes minor curves, and its average length L_path = 55m, the calculated time for roller B is: t_forward(B) = (55 / 1.11) + 0.5 = 50.0s, t_backward(B) = (55 / 1.24) + 0.5 = 45.0s. The total theoretical time for roller B is 95.0s.

[0050] Selecting the baseline time: The maximum time consumed by the echelon is taken as the global baseline time time1=95s.

[0051] Calculate the phase alignment switching point: For the road roller, the system calculates the forward task switching time threshold after dynamic alignment: divTime1(A) = time1 * t_forward(A) / (t_forward(A) + t_backward(A)); divTime1(A) = 95.0 * 45.5 / (45.5 + 40.8) = 50.1s.

[0052] Result: Roller A will change direction at 50.1s. By extending its forward travel time, it ensures that it is in sync with vehicle B on the reversing line.

[0053] S4. Dynamic closed-loop adjustment and error correction Errors are detected in real time during operation and dynamically corrected using PID control. Error detection: Due to changes in ground resistance, the actual position of roller A lags behind the ideal position by 0.6 meters (e_distance=0.6m); PID control: If the error exceeds the 0.5-meter threshold, the PID module calculates the speed increment result = 0.12 km / h; Correction execution: The system increases the set speed of roller A from 4.0 km / h to 4.12 km / h until the error is eliminated.

[0054] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features found in other embodiments but not others, combinations of features from different embodiments are also within the scope of protection of this invention and form different embodiments. For example, in the embodiments described above, those skilled in the art can use them in combination based on known technical solutions and the technical problems to be solved by this application.

Claims

1. A method for planning the tasks of a road roller, characterized in that, Includes the following steps: S1. Real-time acquisition of the working status parameters of the road roller and the environmental parameters of the working area, and receipt of preset construction requirement parameters; S2. Based on the working status parameters, environmental parameters and construction requirement parameters, dynamically generate a work task plan, which includes work path planning, task time allocation and multi-machine collaboration rules. S3. A PID control algorithm is adopted to adjust the working speed of the road roller in real time according to the working error, wherein the working error is the difference between the actual working distance and the ideal working distance; S4. According to the work progress and external triggering conditions, switch the working state of the road roller. The working state includes waiting to start, working, waiting to pave materials, exit, and completed. S5. When multiple road rollers are working together, based on the multi-machine collaboration rules, the working area, working time and working speed of each road roller are uniformly scheduled.

2. The roller task planning method according to claim 1, characterized in that, In step S1, the working status parameters include the real-time location, travel speed, work progress, and operating status of the road roller; The environmental parameters include the thickness of the paving material, the distribution of obstacles in the work area, and the smoothness of the road surface. The construction requirements parameters include the number of compaction passes, the compaction strength threshold, and the work cut-off time.

3. The roller task planning method according to claim 1, characterized in that, In step S2, the dynamic task generation scheme includes: Based on the geometric dimensions of the work area, the number of compaction passes, and the working width of the road roller, plan a work path that is non-overlapping and non-overlapping; Based on the length of the work path and the preset speed range, calculate the work time for each segment of the path and allocate it to form a task timeline; Based on the location distribution and equipment performance parameters of multiple road rollers, multi-machine coordination rules are established, including work area division rules, speed coordination rules, and conflict avoidance rules.

4. The roller task planning method according to claim 1, characterized in that, In step S3, the specific implementation process of the PID control algorithm is as follows: Calculate the operation error e = actual operation distance - ideal operation distance; The control output u is calculated based on the PID formula: u = Kp×e + Ki×∫edt + Kd×(de / dt); where Kp is the proportional coefficient, Ki is the integral coefficient, and Kd is the derivative coefficient. By limiting the control output u within a preset speed range, the target travel speed of the road roller is obtained as v = max (v_min, min (v_max, u)), where v_min is the minimum permissible speed and v_max is the maximum permissible speed.

5. The roller task planning method according to claim 1, characterized in that, In step S4, the specific conditions for switching the operating status of the road roller include: Switching from waiting to start state to work execution state: receiving the start command and the work area is free of obstacles and the paving material meets the work requirements; Switching from work execution status to waiting for paving material status: The work progress has reached the preset node and the paving material thickness is below the threshold; Switching from waiting for paving materials to working status: Paving material supply completed and thickness meets operational requirements; Switching from work execution status to exit status: Work progress 100% or a stop command received; Switching from exit state to completion state: The road roller has traveled to the preset safe area and the equipment has stopped.

6. A road roller task planning system, characterized in that, include: The status acquisition module is used to collect the working status parameters of the road roller and the environmental parameters of the working area in real time, and to receive preset construction requirement parameters. The task planning module is used to dynamically generate work task plans based on the work status parameters, environmental parameters, and construction requirement parameters. The work task plans include work path planning, task time allocation, and multi-machine collaboration rules. The speed control module is used to adjust the operating speed of the road roller in real time according to the operating error, which is the difference between the actual operating distance and the ideal operating distance, using a PID control algorithm. The multi-state management module is used to switch the operating state of the road roller according to the work progress and external triggering conditions. The operating states include waiting to start, work execution, waiting for paving materials, exit, and completion. The multi-machine coordination module is used to uniformly schedule the working area, working time and working speed of each road roller based on the multi-machine coordination rules when multiple road rollers are working together.

7. A road roller task planning system according to claim 6, characterized in that, The task planning module includes: The path planning unit is used to plan a non-overlapping and non-omission work path based on the geometry of the work area, the number of compaction passes, and the working width of the roller; The time allocation unit is used to calculate the operation time of each segment of the path based on the length of the operation path and the preset speed range, and allocate the time to form a task time axis. The collaborative rule generation unit is used to establish multi-machine collaborative rules based on the location distribution and equipment performance parameters of multiple road rollers, including work area division rules, speed collaboration rules, and conflict avoidance rules.

8. A road roller task planning system according to claim 7, characterized in that, The path planning unit adopts an equal-division coverage model based on overlap rate constraints, and the specific implementation process is as follows: Candidate lane schemes are generated based on the total width of the work area (areaWidth), the roller wheel width (rollerWidth), and the preset overlap ratio range [minOverlap, maxOverlap]. For the number of candidate lanes num, calculate the center offset distance between adjacent lanes laneGap = (areaWidth - rollerWidth) / (num-1); Calculate the actual overlap rate: overlap = (rollerWidth - laneGap) / rollerWidth; Select lane number schemes that satisfy the constraints minOverlap ≤ overlap ≤ maxOverlap, and allocate lanes to each road roller according to the cooperative strategy.

9. A road roller task planning system according to claim 7, characterized in that, The time allocation unit establishes a time axis synchronization model, and the specific implementation process is as follows: Iterate through all the road rollers participating in the collaborative operation and obtain the theoretical forward task time t_forward and the theoretical backward task time t_backward for each road roller; The maximum value of the total task time (t_forward + t_backward) of each road roller is selected as the system baseline task time1; Calculate the task switching time threshold divTime1 for each road roller according to the formula divTime1 = time1 × t_forward / (t_forward + t_backward); The reversing points of each roller are dynamically aligned according to divTime1 to ensure phase consistency during multi-machine collaborative operation.

10. A road roller task planning system according to claim 7, characterized in that, The collaborative rule generation unit generates corresponding collaborative constraints based on the job strategy, specifically including: When using a trapezoidal strategy, the number of sub-lanes allocated to each roller is laneDiff = total number of lanes num / number of rollers N; When using a queuing strategy, the number of compaction passes is set to twice the number of rollers, and the sub-lane distribution is calculated based on the preset safety distance. The coordination rules also include a start-up alignment rule: the roller convoy is triggered to start only when all pavers have completed the preset starting distance.

11. A road roller task planning system according to claim 6, characterized in that, The multi-state management module includes: The status judgment unit is used to determine whether the status switching conditions are met based on the work progress, collected data and external instructions. The state transition unit is used to smoothly switch the operating state of the road roller when the state switching conditions are met, and synchronously update the corresponding control parameters. The status holding unit is used to maintain the corresponding equipment operating parameters and operating modes in each operating state to avoid operation interruption.

12. A road roller task planning device, characterized in that, include: The sensor array is used to collect the operating status parameters of the road roller and the environmental parameters of the working area; processor; Memory is used to store data during computer programs and operations. A communication interface is used to enable data interaction between the processor and external devices; When the processor executes the computer program stored in the memory, it implements the road roller task planning method as described in any one of claims 1-5.

13. A road roller task planning device according to claim 12, characterized in that, The sensor group includes a GPS positioning sensor, a speed sensor, a distance sensor, a paving material thickness sensor, an obstacle detection sensor, and a road surface smoothness sensor. The sensor group is also used to collect operating parameters of the roller's power system and braking system.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the roller task planning method as described in any one of claims 1-5.

Images