A method and system for rectifying a straight driving deviation of a road roller

Abstract

The application discloses a road roller straight driving deviation correction control method and system, which is characterized in that angle sensors are arranged on two rotation centers of the road roller, the state of the vehicle body is detected and displayed in real time based on the detected two angles, and the straight driving deviation correction control is simultaneously performed, so that the driving time of the steering change straight line process is shortened, and the straight driving stability is maintained. When the steering or crabbing oil cylinder exceeds the stroke deviation and affects the front and rear roller overlapping rolling, one-key dislocation correction can be realized, the relative position of the front and rear vehicle bodies is corrected, the vehicle control accuracy is improved, and the compaction quality and compaction efficiency are improved.

Description

Technical Field

[0001] This invention relates to road rollers, and more specifically to a method and system for straight-line travel correction control of road rollers. Background Technology

[0002] Double-drum rollers are mainly used for asphalt pavement compaction on high-grade highways, airports, parking lots, and other similar projects. They are classified into articulated and pivot types based on their structure. Articulated rollers achieve steering or crabbing via an articulated frame, while pivot rollers achieve steering or crabbing by swinging the front and rear wheels. Both types are controlled by hydraulic cylinders. In actual construction, especially in large asphalt pavement projects, rollers are mostly used in reciprocating straight-line compaction. To ensure uniformity and continuity of compaction, the roller must travel in a straight line, ensuring overlap between the front and rear drums, while also requiring a certain amount of overlap between different passes. This places higher demands on the driver's skills.

[0003] The front and rear rollers of a road roller are rigid structures, resulting in poor road feel feedback for the operator. Furthermore, the operator cannot directly observe the steering status of the rollers or the vehicle body, making it difficult to correct and control the vehicle's movement in a timely manner. In addition, changes in the hydraulic cylinders, such as oil leakage, can cause deviations in driving skills that cannot be corrected, affecting the construction rhythm and compaction quality. Currently, high-end double-drum rollers on the market are equipped with a crab-like function, which uses dual-wheel steering or the extension and retraction of the crab-like hydraulic cylinders to achieve lateral misalignment of the front and rear rollers, facilitating compaction along edges or curves. Based on feedback from actual construction applications, the following pain points exist: 1) During the dynamic process of the vehicle returning from steering to straight driving, the driver cannot quickly judge whether the front and rear frames are parallel and have reached a straight state, resulting in unstable compaction in the initial stage; 2) The steady state of maintaining straight driving during driving is uncertain. Usually, markers are added to the vehicle body for reference, and the steering wheel is constantly corrected by the markers to maintain straight driving. The driver needs to use both eyes and hands, which requires high driving skills and increases driver fatigue; 3) For articulated models, the pressure loss of the crab-type hydraulic cylinder causes misalignment between the front and rear frames, affecting the overlap of the front and rear pressure rollers; 4) For pivot-type models, the different strokes of the front and rear steering cylinders affect the overlap of the front and rear pressure rollers.

[0004] CN103194953A provides a detailed calculation method for controlling the crab-like deviation of articulated rollers. The calculation assumes a default state where the front and rear wheels are parallel; however, this parallel state is precisely the one that drivers find difficult to quickly and accurately assess. It does not address the judgment of straight-line driving status or correction control. CN201006974Y provides methods for steering and crab-like return of pivot rollers, but it does not address the judgment of vehicle status or correction control during normal and crab-like straight-line driving dynamics. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to provide a method and system for straight-line travel correction control of a road roller, so as to improve the straight-line travel capability of the road roller during construction, correct the travel deviation caused by changes in state, reduce the driver's operating skills requirements, and improve the compaction uniformity and compaction efficiency.

[0006] Technical Solution: The present invention provides a method for straight-line driving correction control of a road roller, wherein the road roller is an articulated road roller; the method includes: obtaining the angle between the front frame and the articulated frame about the steering rotation center. And the angle between the rear frame and the articulated frame around the crab-like rotation center. ;

[0007] If the crab movement function is not enabled, Then when Adjustment Make , The allowable steering angle error value for straight-line driving; if Then when Adjustment Make , The allowable crab-movement angle error value for straight-line travel;

[0008] When the crab walking function is enabled, Adjustment Make , This represents the allowable straight-line travel error value under crab-like conditions.

[0009] This invention provides a straight-line travel correction control system for a road roller, used to implement the aforementioned straight-line travel correction control method for a road roller. The straight-line travel correction control system includes a steering sensor, a crabling sensor, a controller, and a solenoid valve. The steering sensor is used to detect in real time the angle between the front frame and the articulated frame about the steering rotation center. And the feedback is sent to the controller; the crab-like sensor is used to detect in real time the angle between the rear frame and the articulated frame around the crab-like rotation center. And feedback is sent to the controller;

[0010] The controller executes the following control strategy:

[0011] When the crab-walking function is not activated, the crab-walking hydraulic cylinder is locked. ,when At this time, the controller sends a steering cylinder correction command to the solenoid valve, and the steering cylinder adjusts. Make , The allowable steering angle error value for straight-line driving; prolonged locking of the crab-walking hydraulic cylinder leads to leakage pressure loss. ,when At this time, the controller sends a correction command to the solenoid valve for the crab-moving hydraulic cylinder, and the crab-moving hydraulic cylinder adjusts. Make , The allowable crab-movement angle error value for straight-line travel;

[0012] With the crab-walking function activated, the crab-walking hydraulic cylinder is in operation. At this time, the controller sends a steering cylinder correction command to the solenoid valve, and the steering cylinder adjusts. Make , This represents the allowable straight-line travel error value under crab-like conditions.

[0013] Furthermore, the steering sensor is installed at the steering rotation center of the articulated roller.

[0014] Furthermore, the crab-movement sensor is installed at the crab-movement rotation center of the articulated roller.

[0015] Furthermore, the road roller straight-line driving correction control system also includes a display screen for real-time display of driving status. When the vehicle is in a straight-line driving state, the display screen will indicate to the driver that the vehicle is in a straight-line state through color or numerical display, without the need for human-machine intervention. At the same time, a one-key correction function is set on the display screen. After pressing the button, the system will perform a self-check of the vehicle status and perform an action to restore the vehicle to a straight-line state, which is suitable for the calibration of the initial state of the vehicle.

[0016] This invention discloses a method for straight-line travel correction control of a road roller, wherein the road roller is a pivot-type road roller; the method includes: obtaining the angle between the front roller and the frame about the steering center of the front roller. and the angle between the rear wheel and the frame around the rear wheel steering center. ;

[0017] Only front-wheel steering and when Adjustment Make Only rear-wheel steering is used and when Adjustment Make ; The steering angle error value that allows for straight-line travel when only the front or rear wheels are turned;

[0018] Adopting dual-wheel opposite-direction steering and Adjustment and Make ; This refers to the permissible angle error value for turning in a reverse turning state;

[0019] Adopting dual-wheel steering in the same direction and Adjustment and Make ; This represents the permissible angular error value for straight-line driving under the same-direction steering condition.

[0020] This invention provides a straight-line travel correction control system for a road roller, used to implement the aforementioned straight-line travel correction control method for a road roller. The straight-line travel correction control system includes a front angle sensor, a rear angle sensor, a controller, and a solenoid valve. The front angle sensor is used to detect in real time the angle between the front roller and the frame around the steering center of the front wheel. And the feedback is sent to the controller; the rear angle sensor is used to detect in real time the angle between the rear pressure wheel and the frame around the rear wheel steering center. And feedback is sent to the controller;

[0021] The controller executes the following control strategy:

[0022] Only front-wheel steering and when At this time, the controller sends a correction command to the solenoid valve for the front steering cylinder, and the front steering cylinder adjusts. Make Only rear-wheel steering is used and when At this time, the controller sends a correction command to the solenoid valve for the rear steering cylinder, and the rear steering cylinder adjusts. Make ; The steering angle error value that allows for straight-line travel when only the front or rear wheels are turned;

[0023] Adopting dual-wheel opposite-direction steering and At this time, the controller sends correction commands to the solenoid valve for the front steering cylinder and the rear steering cylinder, and the front steering cylinder adjusts... Rear steering cylinder adjustment , making ; This refers to the permissible angle error value for turning in a reverse turning state;

[0024] Adopting dual-wheel steering in the same direction and At this time, the controller sends correction commands to the solenoid valve for the front steering cylinder and the rear steering cylinder, and the front steering cylinder adjusts... Rear steering cylinder adjustment , making ; This represents the permissible angular error value for straight-line driving under the same-direction steering condition.

[0025] Furthermore, the front angle sensor is mounted at the steering center of the front wheel of the pivot roller.

[0026] Furthermore, the rear angle sensor is installed at the steering center of the rear wheel of the pivot roller.

[0027] Furthermore, the road roller straight-line driving correction control system also includes a display screen for real-time display of driving status. When the vehicle is in a straight-line driving state, the display screen will indicate to the driver that the vehicle is in a straight-line state through color or numerical display, without the need for human-machine intervention. At the same time, a one-key correction function is set on the display screen. After pressing the button, the system will perform a self-check of the vehicle status and perform an action to restore the vehicle to a straight-line state, which is suitable for the calibration of the initial state of the vehicle.

[0028] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0029] (1) During the dynamic process of the road roller from turning to straight driving, the sensor monitors the vehicle status in real time and informs the driver through the display screen, so that the driver can quickly judge the vehicle status and make adjustments, thereby improving the uniformity of compaction and construction efficiency in the initial stage.

[0030] (2) During the steady-state stage of straight driving, the closed-loop control system composed of sensors, controllers, solenoid valves, cylinders and other components automatically corrects and adjusts the state of the roller body in real time, eliminating the need for frequent manual adjustments, thus improving driving comfort and reducing driving fatigue.

[0031] (3) When the vehicle is restarted after parking, the vehicle status can be checked by the one-key correction function on the display screen and the action can be performed to restore the vehicle to a straight state. This is used to calibrate the initial state of the vehicle, correct the misalignment of the front and rear frames caused by the pressure loss of the crab cylinder, and ensure that the vehicle is put into operation in the best initial state.

[0032] (4) The front and rear wheels of the pivot roller can be independently steered. The closed-loop control system solves the problem of insufficient overlap of the front and rear rollers caused by the difference in the stroke of the front and rear steering cylinders, improves the control accuracy of the compaction wheel track, and thus improves the compaction quality. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the articulated roller straight-line travel correction control system in an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the non-crab-moving state of the articulated roller in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the crab-moving state of the articulated road roller in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the straight-line travel correction control system for a pivot roller in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the steering state of the front wheel of the pivot roller in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the rear wheel steering state of a pivot roller in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the two-wheeled, opposite-direction steering state of a pivot roller in an embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the pivot roller in the same direction of rotation of both wheels in an embodiment of the present invention. Detailed Implementation

[0041] The invention will now be further described with reference to the accompanying drawings.

[0042] Appendix Figures 1 to 8 The accompanying figure labels are as follows:

[0043] 1. Front frame; 2. Articulated frame; 3. Steering sensor; 4. Crawl sensor; 5. Rear frame; 6. Steering cylinder; 7. Crawl cylinder; 8. Controller; 9. Solenoid valve; 10. Display screen; 11. Front steering cylinder; 12. Front angle sensor; 13. Rear steering cylinder; 14. Rear angle sensor; 15. Frame; 16. Front pressure roller; 17. Rear pressure roller.

[0044] Example 1: Example 1 provides a method for straight-line travel correction control of a road roller, wherein the road roller is an articulated road roller; the method for straight-line travel correction control of the road roller includes:

[0045] Obtain the angle between the front frame 1 and the articulated frame 2 about the steering rotation center. And the angle between the rear frame 5 and the articulated frame 2 around the crab-like rotation center. ;

[0046] If the crab movement function is not enabled, Then when Adjustment Make , The allowable steering angle error value for straight-line driving; if Then when Adjustment Make , The allowable crab-movement angle error value for straight-line travel;

[0047] When the crab walking function is enabled, Adjustment Make , This represents the allowable straight-line travel error value under crab-like conditions.

[0048] Example 2: Figure 1 As shown, Embodiment 2 provides a straight-line driving correction control system for a road roller, used to implement the straight-line driving correction control method for a road roller described in Embodiment 1, including a steering sensor 3, a crab-like sensor 4, a controller 8, a solenoid valve 9, and a display screen 10.

[0049] Steering sensor 3 is installed at the steering rotation center of the articulated roller to detect in real time the angle between the front frame 1 and the articulated frame 2 about the steering rotation center. And feedback is sent to controller 8.

[0050] Crab-movement sensor 4 is installed at the crab-movement rotation center of the articulated roller to detect in real time the angle between the rear frame 5 and the articulated frame 2 around the crab-movement rotation center. And feedback is sent to controller 8.

[0051] Controller 8 executes the following control strategy:

[0052] 1) such as Figure 2 As shown, when the crab-walking function is not activated, the crab-walking cylinder 7 is in a locked state. Theoretically, the center lines of the rear frame 5 and the articulated frame 2 are collinear, that is, the angle between the center lines of the rear frame 5 and the articulated frame 2 is... (Ideal value); at this point, only the steering angle needs to be determined. State, when When the error exceeds the acceptable range, affecting the vehicle's straight-line driving, the controller 8 sends a steering cylinder correction command to the solenoid valve 9, and the steering cylinder 6 adjusts... Make It falls within the allowable deviation range for straight-line driving; The allowable steering angle error value for straight-line driving;

[0053] 2) When the crab-walking function is not activated, the crab-walking cylinder 7 is in a locked state. Theoretically, the center lines of the rear frame 5 and the articulated frame 2 are collinear, that is, the angle between the center lines of the rear frame 5 and the articulated frame 2 is... (Ideal value) Due to the prolonged locking of the crab-moving hydraulic cylinder 7 and the variable stress environment, there is pressure loss, resulting in an angle between the rear frame 5 and the articulated frame 2. A deviation occurs, that is This results in a slight crab-like effect on the overlap between the front and rear pressure rollers. At that time, controller 8 sends a crab-moving cylinder correction command to solenoid valve 9, and crab-moving cylinder 7 adjusts... Make It falls within the allowable deviation range for straight-line driving; The allowable crab-movement angle error value for straight-line travel;

[0054] 3) such as Figure 3 As shown, when the crab-walking function is activated, the crab-walking cylinder 7 is in operation, meaning there is a certain angle between the rear frame 5 and the articulated frame 2. Maintaining straight-line driving at this time requires simultaneously judging the angle between the front frame 1 and the articulated frame 2. The angle between the rear frame 5 and the articulated frame 2 ,when At this time, controller 8 sends a steering cylinder correction command to solenoid valve 9, and steering cylinder 6 adjusts... Make The deviation is within the allowable range for straight-line driving; This represents the allowable straight-line travel error value under crab-like conditions.

[0055] Controller 8 corrects the vehicle's status in real time according to the above control strategy, forming a closed-loop control to keep the road roller in a good straight-line driving state. Solenoid valve 9 adjusts the hydraulic system flow and changes the stroke of the cylinder according to the control commands issued by controller 8.

[0056] The display screen 10 is installed in a position visible to the driver and has two functions:

[0057] (1) Display prompt function: Real-time display of driving status. When the vehicle is in a straight driving state and the error is not exceeded, the driver is prompted that the vehicle is in a straight state through visual display such as color (green) or value (0), so that the driver can grasp the vehicle status.

[0058] (2) Set a one-key correction function on the display screen 10. When the vehicle is restarted after parking or after being parked for a long time, the front and rear of the equipment may be in a non-straight state. Press the one-key correction function to perform a self-check of the vehicle status through the closed-loop system and perform a restoration action. This is used to calibrate the initial state of the vehicle, so that the vehicle can be straightened or the misalignment of the front and rear frames caused by the pressure loss of the crab cylinder can be corrected, ensuring that the vehicle is put into operation in the best initial state.

[0059] Example 3: Example 3 provides a straight-line driving correction control method for a road roller, wherein the road roller is a pivot-type road roller; the straight-line driving correction control method includes: obtaining the angle between the front roller 16 and the frame 15 around the front wheel steering center. and the angle between the rear pressure wheel 17 and the frame 15 around the rear wheel steering center. ;

[0060] Only front-wheel steering and when Adjustment Make Only rear-wheel steering is used and when Adjustment Make ; The steering angle error value that allows for straight-line travel when only the front or rear wheels are turned;

[0061] Adopting dual-wheel opposite-direction steering and Adjustment and Make ; This refers to the permissible angle error value for turning in a reverse turning state;

[0062] Adopting dual-wheel steering in the same direction and Adjustment and Make ; This represents the permissible angular error value for straight-line driving under the same-direction steering condition.

[0063] Example 4: Figure 4 As shown, Embodiment 4 provides a straight-line driving correction control system for a road roller, which is used to implement the straight-line driving correction control method for a road roller described in Embodiment 3. The straight-line driving correction control system for a road roller includes a front angle sensor 12, a rear angle sensor 14, a controller 8, a solenoid valve 9, and a display screen 10.

[0064] The front angle sensor 12 is installed at the steering center of the front wheel of the pivot roller to detect in real time the angle between the front roller 16 and the frame 15 around the steering center of the front wheel. And feedback is sent to controller 8.

[0065] The rear angle sensor 14 is installed at the rear wheel steering center of the pivot roller to detect in real time the angle between the rear roller 17 and the frame 15 around the rear wheel steering center. And feedback is sent to controller 8.

[0066] Controller 8 executes the following control strategy:

[0067] 1) When only front-wheel steering or rear-wheel steering is used, the sway angle can be used to determine the straight-line driving status. For example... Figure 5 As shown, only front-wheel steering is used, that is, the front steering cylinder 11 pushes the front pressure roller 16 to rotate around the front wheel steering center, the rear steering cylinder 13 is in a locked state, and the rear pressure roller 17 ideally does not deflect. At this time, controller 8 sends a correction command to solenoid valve 9 for the front steering cylinder, and the front steering cylinder 11 adjusts. Make This is within the allowable deviation range for straight-line driving; similarly, as... Figure 6 As shown, only rear-wheel steering is used, that is, the rear steering cylinder 13 pushes the rear pressure roller 17 to rotate around the rear wheel steering center, the front steering cylinder 11 is in a locked state, and the front pressure roller 16 ideally does not deflect. At that time, controller 8 sends a correction command to solenoid valve 9 for the rear steering cylinder, and the rear steering cylinder 13 adjusts. Make It falls within the allowable deviation range for straight-line driving; The steering angle error value that allows for straight-line travel when only the front or rear wheels are turned;

[0068] 2) such as Figure 7 As shown, the dual-wheel counter-steering design achieves the smallest turning radius at the same steering angle, improving maneuverability. Due to its completely symmetrical design, theoretically, the trajectories of the front pressure roller 16 and the rear pressure roller 17 completely overlap, enhancing compaction uniformity. When At that time, controller 8 sends front steering cylinder correction commands and rear steering cylinder correction commands to solenoid valve 9, and front steering cylinder 11 adjusts. Adjustment of rear steering cylinder 13 , making It falls within the allowable deviation range for straight-line driving; This refers to the permissible angle error value for turning in a reverse turning state;

[0069] 3) such as Figure 8 As shown, a dual-wheel steering system is adopted, which enables a crab-like movement function with the front and rear pressure wheels laterally misaligned. At that time, controller 8 sends front steering cylinder correction commands and rear steering cylinder correction commands to solenoid valve 9, and front steering cylinder 11 adjusts. Adjustment of rear steering cylinder 13 , making It falls within the allowable deviation range for straight-line driving; This represents the permissible angular error value for straight-line driving under the same-direction steering condition.

[0070] Controller 8 corrects the vehicle's status in real time according to the above control strategy, forming a closed-loop control to keep the road roller in a good straight-line driving state. Solenoid valve 9 adjusts the hydraulic system flow and changes the stroke of the cylinder according to the control commands issued by controller 8.

[0071] The display screen 10 is installed in a position visible to the driver and has two functions:

[0072] (1) Display prompt function: Real-time display of driving status. When the vehicle is in a straight driving state and the error is not exceeded, the driver is prompted that the vehicle is in a straight state through visual display such as color (green) or value (0), so that the driver can grasp the vehicle status.

[0073] (2) Set a one-key correction function on the display screen 10. When the vehicle is restarted after parking or after being parked for a long time, the front and rear of the equipment may be in a non-straight state. Press the one-key correction function to perform a self-check of the vehicle status through the closed-loop system and perform a restoration action. This is used to calibrate the initial state of the vehicle, so that the vehicle can be straightened or the misalignment of the front and rear frames caused by the pressure loss of the crab cylinder can be corrected, ensuring that the vehicle is put into operation in the best initial state.

[0074] In summary, this invention installs angle sensors at the two rotation centers of the road roller to measure and display the parallelism of the front and rear bodies. These sensors also participate in straight-line driving correction control, shortening the driving time during the steering to straight-line transition and maintaining straight-line driving stability. The angle sensors transmit angle signals to the controller in real time. The controller processes the signals and issues control commands. When the steering or crab-walking cylinders exceed their stroke deviation, affecting the overlapping compaction of the front and rear rollers, real-time misalignment correction can be achieved, correcting the relative position of the front and rear bodies, improving vehicle control accuracy, and enhancing compaction quality and efficiency.

Claims

1. A method for correcting deviation during straight-line travel of a road roller, characterized in that, The road roller is an articulated road roller; the straight-line driving correction control method of the road roller includes: obtaining the angle between the front frame (1) and the articulated frame (2) about the steering rotation center. and the angle between the rear frame (5) and the articulated frame (2) around the crab-like rotation center. ; If the crab movement function is not enabled, Then when Adjustment Make , The allowable steering angle error value for straight-line driving; if Then when Adjustment Make , The allowable crab-movement angle error value for straight-line travel; When the crab walking function is enabled, Adjustment Make , This represents the allowable straight-line travel error value under crab-like conditions.

2. A straight-line travel correction control system for a road roller, used to implement the straight-line travel correction control method for a road roller as described in claim 1, characterized in that, The straight-line driving correction control system of the road roller includes a steering sensor (3), a crab-like sensor (4), a controller (8), and a solenoid valve (9); the steering sensor (3) is used to detect in real time the angle between the front frame (1) and the articulated frame (2) around the steering rotation center. And feedback is sent to the controller (8); the crab-like sensor (4) is used to detect in real time the angle between the rear frame (5) and the articulated frame (2) around the crab-like rotation center. And feedback is sent to the controller (8); The controller (8) executes the following control strategy: When the crab-walking function is not activated, the crab-walking cylinder (7) is in a locked state. ,when At that time, the controller (8) sends a steering cylinder correction command to the solenoid valve (9), and the steering cylinder (6) adjusts. Make , To allow for steering angle error values ​​for straight-line driving; prolonged locking of the crab-walking cylinder (7) results in leakage pressure loss. ,when At that time, the controller (8) sends a correction command for the crab-moving cylinder to the solenoid valve (9), and the crab-moving cylinder (7) adjusts. Make , The allowable crab-movement angle error value for straight-line travel; When the crab-walking function is activated, the crab-walking cylinder (7) is in working condition. At that time, the controller (8) sends a steering cylinder correction command to the solenoid valve (9), and the steering cylinder (6) adjusts. Make , This represents the allowable straight-line travel error value under crab-like conditions.

3. The roller straight-line travel correction control system according to claim 2, characterized in that, The steering sensor (3) is installed at the steering rotation center of the articulated roller.

4. The roller straight-line travel correction control system according to claim 2, characterized in that, The crab-movement sensor (4) is installed at the crab-movement rotation center of the articulated roller.

5. The roller straight-line travel correction control system according to claim 2, characterized in that, It also includes a display screen (10) for real-time display of driving status. When the vehicle is in a straight driving state, it displays the vehicle in a straight state by color or numerical value, prompting the driver that the vehicle is in a straight state without human-machine intervention. At the same time, a one-key correction function is set on the display screen (10). After pressing, the system performs a self-check of the vehicle status and performs an action to restore the vehicle to a straight state, which is suitable for the calibration of the initial state of the vehicle.

6. A method for correcting deviation during straight-line travel of a road roller, characterized in that, The road roller is a pivot-type road roller; the straight-line driving correction control method of the road roller includes: obtaining the angle between the front roller (16) and the frame (15) around the front wheel steering center. and the angle between the rear pressure wheel (17) and the frame (15) around the rear wheel steering center. ; Only front-wheel steering and when Adjustment Make Only rear-wheel steering is used and when Adjustment Make ; The steering angle error value that allows for straight-line travel when only the front or rear wheels are turned; Adopting dual-wheel opposite-direction steering and Adjustment and Make ; This refers to the permissible angle error value for turning in a reverse turning state; Adopting dual-wheel steering in the same direction and Adjustment and Make ; This represents the permissible angular error value for straight-line driving under the same-direction steering condition.

7. A straight-line travel correction control system for a road roller, used to implement the straight-line travel correction control method for a road roller as described in claim 6, characterized in that, The straight-line driving correction control system of the road roller includes a front angle sensor (12), a rear angle sensor (14), a controller (8), and a solenoid valve (9); the front angle sensor (12) is used to detect in real time the angle between the front roller (16) and the frame (15) around the front wheel steering center. And feedback is sent to the controller (8); the rear angle sensor (14) is used to detect in real time the angle between the rear pressure wheel (17) and the frame (15) around the rear wheel steering center. And feedback is sent to the controller (8); The controller (8) executes the following control strategy: Only front-wheel steering and when At that time, the controller (8) sends a correction command to the solenoid valve (9) for the front steering cylinder, and the front steering cylinder (11) adjusts. Make ; Only rear-wheel steering and when At that time, the controller (8) sends a correction command to the solenoid valve (9) for the rear steering cylinder, and the rear steering cylinder (13) adjusts. Make ; The steering angle error value that allows for straight-line travel when only the front or rear wheels are turned; Adopting dual-wheel opposite-direction steering and At that time, the controller (8) sends a front steering cylinder correction command and a rear steering cylinder correction command to the solenoid valve (9), and the front steering cylinder (11) adjusts. Adjustment of the rear steering cylinder (13) , making ; This refers to the permissible angle error value for turning in a reverse turning state; Adopting dual-wheel steering in the same direction and At that time, the controller (8) sends a front steering cylinder correction command and a rear steering cylinder correction command to the solenoid valve (9), and the front steering cylinder (11) adjusts. Adjustment of the rear steering cylinder (13) , making ; This represents the permissible angular error value for straight-line driving under the same-direction steering condition.

8. The roller straight-line travel correction control system according to claim 7, characterized in that, The front angle sensor (12) is installed at the steering center of the front wheel of the pivot roller.

9. The roller straight-line travel correction control system according to claim 7, characterized in that, The rear angle sensor (14) is installed at the steering center of the rear wheel of the pivot roller.

10. The roller straight-line travel correction control system according to claim 7, characterized in that, It also includes a display screen (10) for real-time display of driving status. When the vehicle is in a straight driving state, it displays the vehicle in a straight state by color or numerical value, prompting the driver that the vehicle is in a straight state without human-machine intervention. At the same time, a one-key correction function is set on the display screen (10). After pressing, the system performs a self-check of the vehicle status and performs an action to restore the vehicle to a straight state, which is suitable for the calibration of the initial state of the vehicle.

Images