CN101818474A - Paving machine, traveling control system and method thereof - Google Patents
Paving machine, traveling control system and method thereof Download PDFInfo
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- CN101818474A CN101818474A CN 201010159404 CN201010159404A CN101818474A CN 101818474 A CN101818474 A CN 101818474A CN 201010159404 CN201010159404 CN 201010159404 CN 201010159404 A CN201010159404 A CN 201010159404A CN 101818474 A CN101818474 A CN 101818474A
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Abstract
The invention discloses a traveling track control system for a paving machine, comprising a running mode detector for the paving machine (11), a magneto-resistance sensor (13) and a controller (14), wherein, the running mode detector for the paving machine (11) is used for detecting whether the paving machine is in an auto running status to obtain an running mode signal; the magneto-resistance sensor (13) is used for detecting the geomagnetic field strength of the running direction of the paving machine to obtain a magnetic field strength signal; the controller (14) is used for receiving the running mode signal and the magnetic field strength signal and judging whether the paving machine is in the auto running status; if yes, the controller (14) judges whether the magnetic field strength signal is consistent with a predetermined magnetic field reference strength signal; if so, the controller (14) controls the paving machine to travel in a predetermined direction; and if not, the controller (14) adjusts the running direction of the paving machine. The traveling control system provided in the invention can ensure the paving machine to travel in a straight line in an established direction on the basis of ensuring relative low cost. The invention further discloses the paving machine and a traveling track control method thereof.
Description
Technical field
The present invention relates to engineering machinery field, particularly relate to a kind of traveling control system that is used for paver.The invention still further relates to a kind of paver and a kind of ambulation control method that is used for paver that comprises above-mentioned traveling control system.
Background technology
Paver is one of important engineering machinery in the road construction process, and along with Highway Construction Project Based is on the increase, the demand of paver is increasing.
Paver is in the walking process that paves normally, can be because the influence of departure or other factors, slowly depart from the original direction that paves, and increase along with the distance that paves, bias also can constantly add up, so that constantly the people returns to the original direction that paves for turning to adjusting, making.
For addressing the above problem, available technology adopting the direction of travel of several different methods control paver:
In first method, anterior position is provided with ultrasonic sensor in the bottom of paver, and ultrasonic sensor is connected with the traveling controller of paver by fieldbus.In the course of work of paver, ultrasonic sensor constantly detects the distance between the curb target (curb, benchmark rope) and the ultrasonic sensor surface of emission, and testing result transferred to traveling controller through fieldbus, traveling controller is followed the tracks of according to the constant speed walking of predetermined policy control paver and curb and is walked.
In the second approach, the traveling control system of paver comprises controller, PID adjuster, speed difference PID adjuster, displacement difference PID adjuster, turn to potentiometer, the given potentiometer of the speed of travel and be installed on left motor tachogenerator and right motor tachogenerator on the left and right motor respectively, turn to the given potentiometer of the potentiometer and the speed of travel to link to each other with the input of controller respectively, in order to input redirect signal and given speed value; In the course of work, left and right motor tachogenerator detects the speed of left motor and right motor respectively, controller compares the speed of the left motor given speed value as value of feedback and left motor, simultaneously the speed of the right motor given speed value as value of feedback and right motor is compared, and control PID adjuster is regulated the rotating speed of left and right motor, formation core ring; On the other hand, controller also with the speed difference of left and right motor as feedback quantity, be target to follow the trail of 0, by the controlled quentity controlled variable that speed difference PID adjuster forms the speed of one of them motor is made adjustment, constitute the speed difference and follow the tracks of the correction ring; Simultaneously, controller also with the accumulated value (being left and right displacement difference) of left and right motor speed difference as feedback quantity, to follow the trail of 0 is target, does further to regulate by the motor that the controlled quentity controlled variable of displacement difference PID adjuster output is followed the tracks of the correction ring to the speed difference, forms displacement difference and follows the tracks of the correction ring.
In the third method, the speed of service of paver revolver and right wheel is set, after the input of revolver setting value and the stack in parallel of the output signal of revolver PID controller, control the work of revolver travel driving system; The signal of the speed of service of revolver and right wheel, compares with revolver and right speed of service actual set value of taking turns to the PID controller input of left human relations with right wheel by sensor feedback, constitutes closed-loop control; Simultaneously, the signal subtraction of revolver sensor and right wheel sensor, obtain left and right speed difference of taking turns, behind integration, obtain range difference, and speed difference and range difference be delivered to fuzzy algorithmic approach as two input variables, after the fuzzy controller computing, determine the output of right wheel setting value correction, will be through the right side wheel setting value correction of fuzzy algorithmic approach and the setting value stack of right wheel setting value input, and should the stack amount superpose once more with right wheel PID controller output valve as the setting value of right side wheel closed-loop control, control pump, the motor operations of right wheel hydraulic system; The duty of control paver.
As can be seen, above first method is by detecting the distance between the curb target (curb, benchmark rope) and the ultrasonic sensor surface of emission, and then the walking of control paver, therefore, when carrying out the paving of road surface, the curb target need at first be set, cause the increase of workload, the prolongation of construction period and the increase of construction cost.
Above second method and the third method all are to detect left and right speed of taking turns by tachogenerator, and with given velocity amplitude relatively, according to velocity deviation, utilize conventional PID or Fuzzy Adaptive PID scheduling algorithm to handle, control the motion of left and right wheel-drive motor according to result.
Yet, because the weight of paver complete machine is very big, and in control procedure, relate to hydraulic pressure, electric and frame for movement, that the operand system has is non-linear, time becomes and characteristics such as hysteresis, so in the process of control, produce error unavoidably, accumulation along with error, operating range is far away slightly, will depart from its original orientation, and might exceed the permissible value of construction; Simultaneously, because when Uneven road and paver center of gravity are back partially, can cause the left and right situation difference that lands of taking turns crawler belt, crawler belt slight slip phenomenon appears, at this moment, even the rotating speed unanimity of left and right motor, the operating range on the relative ground of crawler belt, the left and right sides also can be inconsistent, thereby cause deflection, and above system can't detect the side-play amount that causes for above-mentioned reasons.
Therefore, how to guarantee on the lower-cost basis that guarantee paver by set direction straight line moving, making paver accurately carry out paving of road according to direction initialization just becomes the present technical issues that need to address of those skilled in the art.
Summary of the invention
The purpose of this invention is to provide a kind of run trace control system that is used for paver, this system can guarantee on the lower-cost basis, guarantee that paver by set direction straight line moving, makes paver accurately carry out paving of road according to direction initialization.Another object of the present invention provides a kind of paver and a kind of run trace control method that is used for paver that comprises above-mentioned walking tracking control system.
For solving the problems of the technologies described above, the invention provides a kind of run trace control system that is used for paver, comprise paver method of operation checkout gear, magnetoresistive transducer and controller,
Described paver method of operation checkout gear detects described paver and whether is in automatic running status, obtains method of operation signal;
Described magnetoresistive transducer detects the earth magnetism magnetic field intensity of the traffic direction of described paver, obtains magnetic field intensity signal;
Described controller receives described method of operation signal and described magnetic field intensity signal, and judges whether described paver is in automatic running status; If, described controller judges whether described magnetic field intensity signal is consistent with predetermined magnetic field benchmark strength signal, if it is consistent, then controlling described paver travels according to predetermined direction, if it is inconsistent, then adjust the traffic direction of described paver, consistent until described magnetic field intensity signal with predetermined magnetic field benchmark strength signal.
Preferably, described controller is adjusted the traffic direction of described paver by the left motor of the described paver of adjustment and the rotating speed of right motor; When described magnetic field intensity signal is consistent with predetermined magnetic field benchmark strength signal, the rotating speed that described controller is controlled described left motor is identical with the rotating speed of described right motor, otherwise described controller is controlled described left motor and described right motor at least one the rotating speed in the two and changed, and is consistent with predetermined magnetic field benchmark strength signal until described magnetic field intensity signal.
Preferably, described predetermined magnetic field benchmark strength signal is: when described paver enters automatic running status, and the magnetic field intensity signal of the traffic direction of the described paver that described magnetoresistive transducer detects.
Preferably, described controller comprises the magnetic field intensity processing unit, and described magnetic field intensity processing unit is handled described magnetic field intensity signal and described predetermined magnetic field benchmark strength signal, obtains the current driving angle and the predetermined angle of travelling of described paver.
Preferably, described magnetoresistive transducer is fixed on the described paver, and parallel with paving concrete pavement.
For solving the problems of the technologies described above, the present invention also provides a kind of paver, comprises as above-mentioned each described run trace control system.
For solving the problems of the technologies described above, the present invention also provides a kind of run trace control method that is used for paver, may further comprise the steps:
1) the earth magnetism magnetic field intensity of the traffic direction of the running status of the described paver of detection and described paver;
2) judge that whether described paver is in automatic running status, when described paver is in automatic running status, turns to step 3);
3) judge whether described earth magnetism magnetic field intensity is consistent with described predetermined magnetic field benchmark intensity; If consistent, turn to step 4), otherwise, turn to step 5);
4) the described paver of control travels according to predetermined direction;
5) traffic direction of the described paver of adjustment is consistent with predetermined magnetic field benchmark intensity until described magnetic field intensity.
Preferably, in step 4), the rotating speed of the left motor by controlling described paver is identical with the rotating speed of the right motor of described paver, controls described paver and travels according to predetermined direction.
Preferably, in step 5), the left motor by adjusting described paver and the right motor of described paver at least one the rotating speed in the two is adjusted the traffic direction of described paver.
Preferably, in step 3), described predetermined magnetic field benchmark intensity is: when described paver enters automatic running status, and the magnetic field intensity of the traffic direction of described paver.
The run trace control system that is used for paver provided by the present invention, comprise paver method of operation checkout gear, magnetoresistive transducer and controller, paver method of operation checkout gear detects paver and whether is in automatic running status, obtains method of operation signal; Magnetoresistive transducer detects the earth magnetism magnetic field intensity of the traffic direction of paver, obtains magnetic field intensity signal; Controller receives method of operation signal and magnetic field intensity signal, and judges whether paver is in automatic running status; If controller judges whether magnetic field intensity signal is consistent with predetermined magnetic field benchmark strength signal, if consistent, then controlling paver travels according to predetermined direction, as if inconsistent, then adjust the traffic direction of paver, consistent until magnetic field intensity signal with predetermined magnetic field benchmark strength signal.In control procedure, controller needs not only to judge whether paver is in automatic running status, need also to judge whether the be in operation earth magnetism magnetic field intensity of traffic direction of paver matches with predetermined magnetic field benchmark intensity, after the analysis-by-synthesis, again the travel direction of paver is controlled, to guarantee the running precision of paver.Like this, when controller is controlled the direction of advance of paver, although because the weight of paver complete machine is big, and in control procedure, relate to hydraulic pressure, electric and frame for movement, the operand system has non-linear, in time, become and characteristics such as hysteresis, the error of bringing still exists, simultaneously because Uneven road and paver center of gravity cause a left side after partially, the situation difference that lands of right wheel crawler belt, crawler belt slight slip phenomenon also still exists, but, owing to the earth magnetism magnetic field intensity that magnetoresistive transducer detected is not theed least concerned with above-mentioned reason, therefore, can ignore the accurate traffic direction that above-mentioned factor detects current paver fully, guarantee that paver moves according to predetermined direction all the time; On the other hand, magnetoresistive transducer is to be foundation with earth magnetism magnetic north direction, need not to set up in addition reference substance, thereby provide cost savings greatly and the engineering time, not only guarantee low cost, and guaranteed the accuracy in the paver walking process, improved the spreading quality of paver.
In a kind of preferred implementation, the run trace control system that is used for paver provided by the present invention, controller is adjusted the traffic direction of paver by the left motor of adjustment paver and the rotating speed of right motor; When magnetic field intensity signal is consistent with predetermined magnetic field benchmark strength signal, the rotating speed that controller is controlled left motor is identical with the rotating speed of right motor, otherwise controller is controlled left motor and right motor at least one the rotating speed in the two and changed, and is consistent with predetermined magnetic field benchmark strength signal until magnetic field intensity signal.Like this, can directly use control system of the prior art, and mutually combine with magnetoresistive transducer and to realize control to the travel direction of paver, control procedure is very simple.
The beneficial effect of paver provided by the present invention and run trace control method is all similar with the beneficial effect of stabilitrak, does not repeat them here.
Description of drawings
The structural representation of the run trace control system that is used for paver that Fig. 1 is provided for a kind of specific embodiment of the present invention;
The schematic flow sheet of the run trace control method that is used for paver that Fig. 2 is provided for a kind of specific embodiment of the present invention.
The specific embodiment
Core of the present invention provides a kind of run trace control system that is used for paver, and this system can guarantee on the lower-cost basis, guarantee that paver by set direction straight line moving, makes paver accurately carry out paving of road according to direction initialization.Another core of the present invention provides a kind of paver and a kind of run trace control method that is used for paver that comprises above-mentioned walking tracking control system.
In order to make those skilled in the art person understand the present invention program better, the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1, the structural representation of the run trace control system that is used for paver that Fig. 1 is provided for a kind of specific embodiment of the present invention.
As shown in Figure 1, the run trace control system that is used for paver provided by the present invention, comprise paver method of operation checkout gear 11, magnetoresistive transducer 13 and controller 14, paver method of operation checkout gear 11 detects paver and whether is in automatic running status, obtain method of operation signal, and method of operation signal is transferred to controller 14; Magnetoresistive transducer 13 detects the earth magnetism magnetic field intensity of the traffic direction of paver, obtains magnetic field intensity signal, and magnetic field intensity signal is transferred to controller 14; Controller 14 receives method of operation signal, magnetic field intensity signal, and judges whether paver is in automatic running status; If controller 14 judges whether magnetic field intensity signal is consistent with predetermined magnetic field benchmark strength signal, if consistent, then controlling paver travels according to predetermined direction, as if inconsistent, then adjust the traffic direction of paver, consistent until magnetic field intensity signal with predetermined magnetic field benchmark strength signal.
Particularly, the paver method of operation as herein described has two kinds: running status and artificially steering state automatically.
When paver is in the just artificial steering state of non-automatic running status, controller 14 control pavers are according to speed of setting and direction operation, but, at this moment, controller 14 is not handled the magnetic field intensity signal that magnetic field sensor 13 detects, and promptly the magnetic field intensity signal of current direction and the magnetic field benchmark strength signal of being scheduled to is not before compared yet.
Certainly, can directly use paver method of operation checkout gear 11 parts of paver run trace control system of the prior art, and by the operating part of controller 14 control.
As can be seen, run trace control system provided by the present invention, in control procedure, controller needs not only to judge whether paver is in automatic running status, need also to judge whether the be in operation earth magnetism magnetic field intensity of traffic direction of paver matches with predetermined value, after the analysis-by-synthesis, again the travel direction of paver is controlled, to guarantee the running precision of paver.Like this, when controller is controlled the traffic direction of paver, although because the weight of paver complete machine is big, and in control procedure, relate to hydraulic pressure, electric and frame for movement, the operand system has non-linear, in time, become and characteristics such as hysteresis, the error of bringing still exists, simultaneously because Uneven road and paver center of gravity cause a left side after partially, the situation difference that lands of right wheel crawler belt, crawler belt slight slip phenomenon also still exists, but, owing to the earth magnetism magnetic field intensity that magnetoresistive transducer detected is not theed least concerned with above-mentioned reason, therefore, can ignore the accurate traffic direction that above-mentioned factor detects current paver fully, and then guarantee that by the rotating speed of regulating left motor and right motor repeatedly paver moves according to predetermined direction all the time; On the other hand, magnetoresistive transducer is to be foundation with earth magnetism magnetic north direction, need not to set up in addition reference substance, thereby provide cost savings greatly and the engineering time, not only guarantee low cost, and guaranteed the accuracy in the paver walking process, improved the spreading quality of paver.
Particularly, the run trace control system that is used for paver provided by the present invention, controller 14 is adjusted the traffic direction of paver by the left motor 15 of adjustment paver and the rotating speed of right motor 16; When magnetic field intensity signal is consistent with predetermined magnetic field benchmark strength signal, the rotating speed of the left motor 15 of controller 14 controls is identical with the rotating speed of right motor 16, otherwise the controller 14 left motors 15 of control and right motor 16 at least one the rotating speed in the two changes, and is consistent with predetermined magnetic field benchmark strength signal until magnetic field intensity signal.
The controller 14 left motors 15 of control and right motor 16 at least one the rotating speed in the two changes and is meant that controller 14 can only change the rotating speed of left motor 15 or right motor 16, consistent to reach magnetic field intensity signal with predetermined magnetic field benchmark strength signal, also can change the rotating speed of left motor 15 and right motor 16 simultaneously, consistent to reach magnetic field intensity signal with predetermined magnetic field benchmark strength signal.
In the control procedure, controller 14 can be controlled the aperture of corresponding solenoid valve, and then control drives the left variable pump and the right variable pump of left motor 15 and right motor 16, left side motor 15 and right motor 16 drive left and right crawler belt by corresponding reductor, the final control that realizes the traffic direction of paver.
Like this, when paver is in the autonomous operation state, can realize control easily, guarantee to exist under the situation of error, the accurate control of paver travel direction in control to the rotating speed of left motor 15 and right motor 16 to the paver travel direction.
Above-described predetermined magnetic field benchmark strength signal can be specially the magnetic field intensity signal that magnetoresistive transducer 13 detects the traffic direction of the paver when entering automatic running status.Thereby, realized the setting of predetermined magnetic field benchmark strength signal easily.
Paver enters automatic running status and is meant that paver is the state that turns to after the traffic direction of paver adjusted by the people, and magnetoresistive transducer 13 detects the magnetic field intensity signal of this moment as predetermined magnetic field benchmark strength signal.
Like this, paver will people next time be turn to before under the control of paver run trace control system provided by the present invention all the time according to the direction motion of reference signal.
In a kind of specific embodiment, the controller 14 that is used for the run trace control system of paver provided by the present invention can also comprise the magnetic field intensity processing unit, controller 14 comprises the magnetic field intensity processing unit, the magnetic field intensity processing unit is handled magnetic field intensity signal and predetermined magnetic field benchmark strength signal, obtains the current driving angle and the predetermined angle of travelling of paver.
Particularly, the angle of alteration of paver can be paver the current driving direction two dimension on (being x axle and y axle) direction with angle earth magnetism magnetic north direction, also can be its on three-dimensional (being x axle, y axle and z axle) direction and angle earth magnetism magnetic north direction; Angle computational process on the two-dimensional directional is fairly simple, reduced the requirement to controller, and the angle on the three-dimensional can further improve control accuracy and antijamming capability.
For the accuracy that guarantees to detect, magnetoresistive transducer 13 can be fixed on the paver, and parallel with paving concrete pavement.
In addition, for solving the problems of the technologies described above, the present invention also provides a kind of paver, comprises that as above-mentioned run trace control system, other structures of paver are same as the prior art, and this paper repeats no more.
Please refer to Fig. 2, the schematic flow sheet of the run trace control method that is used for paver that Fig. 2 is provided for a kind of specific embodiment of the present invention.
For solving the problems of the technologies described above, the present invention also provides a kind of run trace control method that is used for paver, may further comprise the steps:
Step S1: the earth magnetism magnetic field intensity that detects the traffic direction of the running status of described paver and described paver.
Can detect the running status of paver by paver method of operation checkout gear 11, and by the detection of magnetoresistive transducer 13 realizations to the earth magnetism magnetic field intensity of the traffic direction of paver.
Step S2: judge whether paver is in automatic running status, when paver is in automatic running status, turn to step S3.
Step S3: judge whether the earth magnetism magnetic field intensity is consistent with predetermined magnetic field benchmark intensity; If consistent, turn to step S4, otherwise, turn to step S5.
Step S4: control described paver and travel according to predetermined direction.
Step S5: adjust the traffic direction of described paver, consistent until described magnetic field intensity with predetermined magnetic field benchmark intensity.
The run trace control method that is used for paver provided by the present invention has increased the detection to the earth magnetism magnetic field intensity of paver on the basis of existing control method, although thereby because the weight of paver complete machine is big, and in control procedure, relate to hydraulic pressure, electric and frame for movement, the operand system has non-linear, in time, become and characteristics such as hysteresis, the error of bringing still exists, simultaneously because Uneven road and paver center of gravity cause a left side after partially, the situation difference that lands of right wheel crawler belt, crawler belt slight slip phenomenon also still exists, but, owing to earth magnetism magnetic field intensity and above-mentioned reason are not theed least concerned, therefore, can ignore the accurate traffic direction that above-mentioned factor detects current paver fully, and then guarantee that by the rotating speed of regulating left motor and right motor repeatedly paver moves according to predetermined direction all the time; On the other hand, the detection of earth magnetism magnetic field intensity is to be foundation with earth magnetism magnetic north direction, need not to set up in addition reference substance, thereby provide cost savings greatly and the engineering time, not only guarantee low cost, and guaranteed the accuracy in the paver walking process, improved the spreading quality of paver.
In a kind of specific embodiment, identical by the rotating speed of left motor 15 of control paver in step S4 with the rotating speed of the right motor 16 of paver, control paver and travel according to predetermined direction.
In step S5, the left motor 15 by adjusting paver and the right motor of paver 16 at least one the rotating speed in the two is adjusted the traffic direction of paver.
Controlling left motor 15 and right motor 16 at least one the rotating speed in the two changes and is meant the rotating speed that can only change left motor 15 or right motor 16, consistent to reach magnetic field intensity signal with the reference signal that prestores, also can change the rotating speed of left motor 15 and right motor 16 simultaneously, consistent to reach magnetic field intensity signal with the reference signal that prestores.
Like this, when paver is in the autonomous operation state, can realize control easily, guarantee to exist under the situation of error, the accurate control of paver travel direction in control to the rotating speed of left motor 15 and right motor 16 to the paver travel direction.
Above-described predetermined magnetic field benchmark intensity can be specially the magnetic field intensity signal of the traffic direction of the paver when entering automatic running status.Thereby, realized the setting of predetermined magnetic field benchmark strength signal easily.
More than paver provided by the present invention and traveling control system thereof and method are described in detail.Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (10)
1. a run trace control system that is used for paver is characterized in that, comprises paver method of operation checkout gear (11), magnetoresistive transducer (13) and controller (14),
Described paver method of operation checkout gear (11) detects described paver and whether is in automatic running status, obtains method of operation signal;
Described magnetoresistive transducer (13) detects the earth magnetism magnetic field intensity of the traffic direction of described paver, obtains magnetic field intensity signal;
Described controller (14) receives described method of operation signal and described magnetic field intensity signal, and judges whether described paver is in automatic running status; If, described controller (14) judges whether described magnetic field intensity signal is consistent with predetermined magnetic field benchmark strength signal, if it is consistent, then controlling described paver travels according to predetermined direction, if it is inconsistent, then adjust the traffic direction of described paver, consistent until described magnetic field intensity signal with predetermined magnetic field benchmark strength signal.
2. the run trace control system that is used for paver according to claim 1 is characterized in that, described controller is adjusted the traffic direction of described paver by the left motor (15) of the described paver of adjustment and the rotating speed of right motor (16); When described magnetic field intensity signal is consistent with predetermined magnetic field benchmark strength signal, the rotating speed of described controller (14) the described left motor of control (15) is identical with the rotating speed of described right motor (16), otherwise at least one the rotating speed change in the two of described controller (14) control described left motor (15) and described right motor (16) is consistent with predetermined magnetic field benchmark strength signal until described magnetic field intensity signal.
3. the run trace control system that is used for paver according to claim 1 and 2, it is characterized in that, described predetermined magnetic field benchmark strength signal is: when described paver enters automatic running status, and the magnetic field intensity signal of the traffic direction of the described paver that described magnetoresistive transducer (13) detects.
4. the run trace control system that is used for paver according to claim 3, it is characterized in that, described controller (14) comprises the magnetic field intensity processing unit, described magnetic field intensity processing unit is handled described magnetic field intensity signal and described predetermined magnetic field benchmark strength signal, obtains the current driving angle and the predetermined angle of travelling of described paver.
5. the run trace control system that is used for paver according to claim 3 is characterized in that described magnetoresistive transducer (13) is fixed on the described paver, and parallel with paving concrete pavement.
6. a paver is characterized in that, comprises as each described run trace control system of claim 1 to 5.
7. run trace control method that is used for paver may further comprise the steps:
1) the earth magnetism magnetic field intensity of the traffic direction of the running status of the described paver of detection and described paver;
2) judge that whether described paver is in automatic running status, when described paver is in automatic running status, turns to step 3);
3) judge whether described earth magnetism magnetic field intensity is consistent with described predetermined magnetic field benchmark intensity; If consistent, turn to step 4), otherwise, turn to step 5);
4) the described paver of control travels according to predetermined direction;
5) traffic direction of the described paver of adjustment is consistent with predetermined magnetic field benchmark intensity until described magnetic field intensity.
8. run trace control method according to claim 7, it is characterized in that, in step 4), the rotating speed of the left motor (15) by controlling described paver is identical with the rotating speed of the right motor (16) of described paver, controls described paver and travels according to predetermined direction.
9. run trace control method according to claim 7, it is characterized in that, in step 5), the left motor (15) by adjusting described paver and the right motor (16) of described paver at least one the rotating speed in the two is adjusted the traffic direction of described paver.
10. according to each described run trace control method of claim 7 to 9, it is characterized in that in step 3), described predetermined magnetic field benchmark intensity is: when described paver enters automatic running status, the magnetic field intensity of the traffic direction of described paver.
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| CN 201010159404 CN101818474A (en) | 2010-04-26 | 2010-04-26 | Paving machine, traveling control system and method thereof |
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| CN 201010159404 CN101818474A (en) | 2010-04-26 | 2010-04-26 | Paving machine, traveling control system and method thereof |
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| CN103303124A (en) * | 2013-06-24 | 2013-09-18 | 广东惠利普路桥信息工程有限公司 | Intelligent control system and control method for traveling of paver |
| CN104278614A (en) * | 2014-09-28 | 2015-01-14 | 广东惠利普路桥信息工程有限公司 | Pavement construction system capable of supporting high-precision GPS (global positioning system) and posture analysis |
| CN104407609A (en) * | 2014-12-30 | 2015-03-11 | 柳工无锡路面机械有限公司 | Four-closed-loop-mode traveling electronic control system and four-closed-loop-mode traveling electronic control method of paver |
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| CN111402572A (en) * | 2019-01-03 | 2020-07-10 | 卡特彼勒路面机械公司 | Paver haul truck grouping |
| CN113173071A (en) * | 2021-04-25 | 2021-07-27 | 中联重科股份有限公司 | Control method and device for crawler-type engineering equipment and crawler-type engineering equipment |
| CN113296551A (en) * | 2021-06-28 | 2021-08-24 | 徐工集团工程机械股份有限公司道路机械分公司 | Double-slope nonlinear control device and control method for material distribution of paver |
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| CN103303124A (en) * | 2013-06-24 | 2013-09-18 | 广东惠利普路桥信息工程有限公司 | Intelligent control system and control method for traveling of paver |
| CN103303124B (en) * | 2013-06-24 | 2015-06-17 | 广东惠利普路桥信息工程有限公司 | Intelligent walking control system of paver |
| CN104278614A (en) * | 2014-09-28 | 2015-01-14 | 广东惠利普路桥信息工程有限公司 | Pavement construction system capable of supporting high-precision GPS (global positioning system) and posture analysis |
| CN104407609A (en) * | 2014-12-30 | 2015-03-11 | 柳工无锡路面机械有限公司 | Four-closed-loop-mode traveling electronic control system and four-closed-loop-mode traveling electronic control method of paver |
| CN105302095A (en) * | 2015-10-20 | 2016-02-03 | 青岛农业大学 | Intelligent control operation method for multifunctional automatic conveying feeding vehicle |
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| CN108867271B (en) * | 2017-05-11 | 2021-06-15 | 约瑟夫福格勒公司 | Road paver and method for operating a road paver |
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| CN111402572A (en) * | 2019-01-03 | 2020-07-10 | 卡特彼勒路面机械公司 | Paver haul truck grouping |
| CN111402572B (en) * | 2019-01-03 | 2023-06-27 | 卡特彼勒路面机械公司 | Paver haul truck grouping |
| CN110541550A (en) * | 2019-08-26 | 2019-12-06 | 广东博智林机器人有限公司 | Floating robot |
| CN110593573A (en) * | 2019-08-26 | 2019-12-20 | 广东博智林机器人有限公司 | Correction device and correction method of floating robot and floating robot |
| CN110593573B (en) * | 2019-08-26 | 2021-09-07 | 广东博智林机器人有限公司 | Correction device and correction method of floating robot and floating robot |
| CN111114534A (en) * | 2019-12-27 | 2020-05-08 | 柳工常州机械有限公司 | Bulldozer and walking control method and device thereof |
| CN111114534B (en) * | 2019-12-27 | 2021-05-04 | 柳工常州机械有限公司 | Bulldozer and walking control method and device thereof |
| CN113173071A (en) * | 2021-04-25 | 2021-07-27 | 中联重科股份有限公司 | Control method and device for crawler-type engineering equipment and crawler-type engineering equipment |
| CN113296551A (en) * | 2021-06-28 | 2021-08-24 | 徐工集团工程机械股份有限公司道路机械分公司 | Double-slope nonlinear control device and control method for material distribution of paver |
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