1. An obstacle avoidance control method for an unmanned road roller is characterized by comprising the following steps:

dividing the operation area into a plurality of rolling roads, and controlling the road roller to run between the starting end and the ending end of any one rolling road;

judging whether an obstacle exists in the driving direction of the road roller;

if a barrier exists in the driving direction of the road roller to the terminating end, and the distance between the road roller and the barrier is a first preset distance, controlling the road roller to reversely drive;

and after the road roller reversely runs to the starting end, controlling the road roller to change the road to other rolling roads or to continue running on the current rolling road after the running direction is switched.

2. The obstacle avoidance control method for the unmanned road roller according to claim 1, further comprising:

and if the road roller has an obstacle in the driving direction towards the starting end and the distance between the road roller and the obstacle is the first preset distance, controlling the road roller to change the road to other rolling roads or to continue driving on the current rolling road after the driving direction is switched.

3. The obstacle avoidance control method for the unmanned road roller according to claim 1, wherein a plurality of rolling courses are arranged in parallel, the road roller is controlled to sequentially and circularly roll among the plurality of rolling courses, and after the road roller reversely runs to a starting end, the road roller is controlled to change the course to another to-be-rolled course or continue running on a current rolling course, specifically comprising:

obtaining the finished rolling times of the next rolling channel;

and if the number of finished rolling passes of the next rolling pass is less than that of the current rolling pass, controlling the road roller to change the road to the next rolling pass for running, otherwise, continuing running on the current rolling pass.

4. The obstacle avoidance control method for an unmanned road roller as claimed in claim 1, wherein if there is an obstacle in the direction of travel of the road roller,

and when the distance between the road roller and the obstacle is a second preset distance, controlling the road roller to run at a reduced speed, wherein the second preset distance is greater than the first preset distance.

5. The obstacle avoidance control method for the unmanned road roller according to claim 1, wherein if an obstacle exists in the driving direction of the road roller and the distance between the road roller and the obstacle is a first preset distance, the road roller is controlled to wait for a preset time period in situ;

when the road roller runs towards the direction of the terminating end, if the obstacle is judged to still exist after the preset time period, the road roller is controlled to run reversely,

when the road roller runs towards the direction of the starting end, if the obstacle is judged to still exist after the preset time period, the road roller is controlled to change the road to other rolling roads or continue to run on the current rolling road after the running direction is switched.

6. The obstacle avoidance control method for the unmanned road roller according to claim 1, wherein if an obstacle exists in a driving direction of the road roller towards the termination end, and a distance between the road roller and the obstacle is a first preset distance, the method further comprises the following steps:

marking the coordinate position of the obstacle and recording the marking times of the coordinate position;

and when the road roller drives to the coordinate position again, if the obstacle of the coordinate position is judged to be absent, acquiring the marking times of the coordinate position, and controlling the continuous driving direction of the road roller according to the marking times.

7. The obstacle avoidance control method for the unmanned road roller according to claim 6, wherein the step of controlling the direction of the road roller to continue to run according to the number of the marks specifically comprises the steps of:

if the marking times are less than the preset times, controlling the road roller to continuously run along the current running direction;

and if the marking times are not less than the preset times, controlling the road roller to reversely run when the distance between the road roller and the obstacle is a first preset distance.

8. The obstacle avoidance control method for the unmanned road roller according to claim 7, wherein if the number of times of marking is less than a preset number of times, the road roller is controlled to continue to run along the current running direction, specifically comprising:

and after controlling the road roller to roll the non-rolled area behind the coordinate position once, performing supplementary rolling on the non-rolled area according to the marking times.

9. An unmanned road roller obstacle avoidance control system for performing the unmanned road roller obstacle avoidance control method of any one of claims 1 to 8, comprising an unmanned road roller, an obstacle detection module and a control center;

the obstacle detection module is arranged on the unmanned road roller and used for detecting whether an obstacle exists in the direction from the unmanned road roller to the end of the rolling road; the unmanned road roller and the obstacle detection module are respectively in communication connection with the control center.

10. The obstacle avoidance control system for the unmanned road roller as claimed in claim 9, further comprising an alarm module, wherein the alarm module is in communication connection with the control center and is configured to send an alarm signal when the distance between the road roller and the obstacle is a first preset distance.

Background

The existing unmanned road roller can realize automatic rolling operation in a specific area, particularly can realize cooperative operation of a plurality of unmanned road roller groups in a large construction site, and realizes intelligent and efficient construction.

The unmanned road roller in the prior art adopts an operation mode that firstly, a barrier-free rolling operation area is defined through manual dotting collection, and a rolling path in the operation area is planned in advance, so that the unmanned road roller performs rolling operation according to a preset rolling path in the planned operation area.

However, in the actual construction process, if temporary obstacles such as construction parking vehicles, construction materials stacking and the like appear in the planned area to be operated, the road roller can be actively stopped for waiting until manual intervention is performed, and operation can be continued after the obstacles are removed according to the obstacle avoidance principle of the existing road roller. If the barrier does not move for a long time, normal construction is affected, and further construction efficiency is affected.

Disclosure of Invention

The invention provides an obstacle avoidance control method and an obstacle avoidance control system for an unmanned road roller, which are used for solving or improving the problem of low construction efficiency caused by the fact that the unmanned road roller cannot flexibly avoid obstacles in the prior art.

The invention provides an obstacle avoidance control method for an unmanned road roller, which comprises the following steps:

dividing the operation area into a plurality of rolling roads, and controlling the road roller to run between the starting end and the ending end of any one rolling road;

judging whether an obstacle exists in the driving direction of the road roller;

if a barrier exists in the driving direction of the road roller to the terminating end, and the distance between the road roller and the barrier is a first preset distance, controlling the road roller to reversely drive;

and after the road roller reversely runs to the starting end, controlling the road roller to change the road to other rolling roads or to continue running on the current rolling road after the running direction is switched.

The obstacle avoidance control method for the unmanned road roller further comprises the following steps: and if the road roller has an obstacle in the driving direction towards the starting end and the distance between the road roller and the obstacle is the first preset distance, controlling the road roller to change the road to other rolling roads or to continue driving on the current rolling road after the driving direction is switched.

According to the obstacle avoidance control method for the unmanned road roller, provided by the invention, a plurality of rolling roads are arranged in parallel, the road roller is controlled to sequentially and circularly roll among the plurality of rolling roads, and after the road roller reversely runs to the starting end, the road roller is controlled to change the road to other roads to be rolled or continue running on the current rolling road, and the obstacle avoidance control method specifically comprises the following steps:

obtaining the finished rolling times of the next rolling channel;

and if the number of finished rolling passes of the next rolling pass is less than that of the current rolling pass, controlling the road roller to change the road to the next rolling pass for running, otherwise, continuing running on the current rolling pass.

According to the obstacle avoidance control method of the unmanned road roller provided by the invention, if an obstacle exists in the driving direction of the road roller,

and when the distance between the road roller and the obstacle is a second preset distance, controlling the road roller to run at a reduced speed, wherein the second preset distance is greater than the first preset distance.

According to the obstacle avoidance control method for the unmanned road roller, provided by the invention, if an obstacle exists in the driving direction of the road roller and the distance between the road roller and the obstacle is a first preset distance, the obstacle avoidance control method is implemented

Controlling the road roller to wait for a preset time period in situ;

when the road roller runs towards the direction of the terminating end, if the obstacle is judged to still exist after the preset time period, the road roller is controlled to run reversely,

when the road roller runs towards the direction of the starting end, if the obstacle is judged to still exist after the preset time period, the road roller is controlled to change the road to other rolling roads or continue to run on the current rolling road after the running direction is switched.

According to the obstacle avoidance control method for the unmanned road roller, provided by the invention, if an obstacle exists in the driving direction of the road roller towards the end, and the distance between the road roller and the obstacle is a first preset distance, the method further comprises the following steps:

marking the coordinate position of the obstacle and recording the marking times of the coordinate position;

and when the road roller drives to the coordinate position again, if the obstacle of the coordinate position is judged to be absent, acquiring the marking times of the coordinate position, and controlling the continuous driving direction of the road roller according to the marking times.

According to the obstacle avoidance control method for the unmanned road roller, provided by the invention, the direction of the road roller for continuously running is controlled according to the marking times, and the method specifically comprises the following steps:

if the marking times are less than the preset times, controlling the road roller to continuously run along the current running direction;

and if the marking times are not less than the preset times, controlling the road roller to reversely run when the distance between the road roller and the obstacle is a first preset distance.

According to the obstacle avoidance control method for the unmanned road roller, provided by the invention, if the marking times are less than the preset times, the road roller is controlled to continue to run along the current running direction, and the method specifically comprises the following steps:

and after controlling the road roller to roll the non-rolled area behind the coordinate position once, performing supplementary rolling on the non-rolled area according to the marking times.

The invention also provides an unmanned road roller obstacle avoidance control system for executing any one of the unmanned road roller obstacle avoidance control methods, which comprises an unmanned road roller, an obstacle detection module and a control center, wherein the unmanned road roller is connected with the control center through the obstacle detection module;

the obstacle detection module is arranged on the unmanned road roller and used for detecting whether an obstacle exists in the direction from the unmanned road roller to the end of the rolling road; the unmanned road roller and the obstacle detection module are respectively in communication connection with the control center.

The obstacle avoidance control system of the unmanned road roller further comprises an alarm module, wherein the alarm module is in communication connection with the control center and is used for sending an alarm signal when the distance between the road roller and an obstacle is a first preset distance.

According to the obstacle avoidance control method and the obstacle avoidance control system for the unmanned road roller, provided by the invention, when the road roller runs between the starting end and the terminating end of the rolling road, the obstacle detection module is used for detecting the obstacle in the direction of the terminating end, the running direction of the road roller is controlled according to the detection result, and when the distance between the road roller and the obstacle is a certain preset distance, the road roller is controlled to run reversely and continue to roll other rolling areas, so that the project stagnation caused by halt waiting is avoided, and the construction efficiency of the rolling operation is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of an obstacle avoidance control method for an unmanned road roller, provided by the invention;

FIG. 2 is a schematic view of a road compactor's travel path in a work area including a plurality of parallel rolling passes;

fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides an obstacle avoidance control method for an unmanned road roller, and as shown in fig. 1, the invention is a flow diagram of the obstacle avoidance control method for the unmanned road roller in the embodiment of the invention. The obstacle avoidance control method of the unmanned road roller comprises the following steps:

and S100, dividing the operation area into a plurality of rolling roads, and controlling the road roller to run between the starting end and the ending end of any one rolling road.

Before the construction of the road roller, boundary points of a to-be-constructed area can be selected through a GPS, a Beidou dotter or the road roller, the area formed by the selected boundary points is used as the to-be-constructed area, and one or more operation areas are determined according to the shape and the size of the to-be-constructed area. And then dividing each operation area into a plurality of rolling tracks according to the rolling track width of the road roller. In the embodiment of the invention, a plurality of road rollers can be controlled to respectively run in a plurality of different working areas at the same time.

The road roller rolls the road in the driving process. In the embodiment of the invention, the road roller is controlled to run along a preset rolling path, namely, the road roller runs from the starting end to the ending end of the rolling road, the running direction is switched after the road roller reaches the ending end, the road roller runs reversely from the ending end to the starting end, and the road roller is controlled to change the road roller to run to other rolling roads after the road roller runs reversely to the starting end; or switching the running direction to continue running on the current rolling road, and switching to other rolling roads to run after finishing the multi-pass rolling of the current rolling road. Wherein, rolling from the starting end to the terminating end once, and rolling from the terminating end to the starting end once, and then finishing the rolling once.

And S200, judging whether an obstacle exists in the driving direction of the road roller. Specifically, obstacle detection modules can be installed at the front part and the rear part of the vehicle body of the road roller, and whether obstacles, such as pedestrians, materials or vehicles, exist in the driving direction of the road roller or not can be detected in real time through the obstacle detection modules. The obstacle detection module can be a laser radar, a millimeter wave radar, a vision sensor and the like.

Of course, the obstacle detection module can be installed at the peripheral position of the vehicle body of the road roller so as to detect the obstacle condition around the road roller more comprehensively. And judging the situation of the obstacles around the road roller according to the detection result of the obstacle detection module, and controlling the road roller to perform corresponding action. For example, when an obstacle approaching the road roller gradually approaches the road roller is detected, the road roller is controlled to run at a reduced speed, and in case of emergency, the road roller is controlled to stop.

S300, if an obstacle exists in the driving direction of the road roller to the terminating end, and the distance between the road roller and the obstacle is a first preset distance, controlling the road roller to reversely drive.

S400, after the road roller reversely runs to the starting end, controlling the road roller to change the road to other roads to be rolled or to continue running on the current road to be rolled after the running direction is switched.

Specifically, in the running process of the road roller, the detection result of the obstacle detection module is collected in real time, and the latest collected result covers the last collected result. When the road roller is controlled to run towards the direction of the end on a certain rolling road according to a preset rolling path, if the obstacle in front is judged to exist according to the detection result of the obstacle detection module at the front part of the vehicle body and the distance between the road roller and the obstacle reaches a first preset distance of 3m, the road roller is controlled to run reversely in advance to avoid the obstacle and the rolled area is rolled for the second time. If no obstacle is detected in the reverse driving process, finishing one-time rolling of a rolling area of the current rolling road when the road roller reaches the starting end, driving according to a preset rolling path, and controlling the road roller to change the road to other rolling roads to drive; or after the driving direction is switched, the vehicle continues to drive on the current rolling road, and after the rolling of the rolling areas between the starting end of the current rolling road and the obstacle is completed for multiple times, the vehicle changes the road to other rolling roads to drive until the rolling of the rolling areas of all the rolling roads is completed.

According to the obstacle avoidance control method for the unmanned road roller, provided by the embodiment of the invention, when the road roller runs between the starting end and the terminating end of the rolling road, the obstacle detection module is used for detecting the obstacle in the direction towards the terminating end, the running direction of the road roller is controlled according to the detection result, and when the distance between the road roller and the obstacle is a certain preset distance, the road roller is controlled to run reversely and continue to roll other rolling areas, so that the project stagnation caused by halt waiting is avoided, and the construction efficiency of the rolling operation is improved.

Further, in actual conditions, moving obstacles, such as pedestrians, may also exist in the crushed area near the starting end. In contrast, the method for controlling obstacle avoidance of the unmanned road roller according to the embodiment of the present invention further includes:

and if the road roller has an obstacle in the driving direction towards the starting end and the distance between the road roller and the obstacle is the first preset distance, controlling the road roller to change the road to other rolling roads or to continue driving on the current rolling road after the driving direction is switched.

Specifically, an obstacle detection module can be installed at the rear part of the vehicle body of the road roller, so that whether an obstacle exists in the reverse driving direction can be detected in real time in the operation process, and the road roller is controlled to perform corresponding actions.

In an embodiment of the present invention, a plurality of rolling tracks are arranged in parallel, and the road roller is controlled to sequentially and cyclically perform rolling operations among the plurality of rolling tracks, and in step S400, after the road roller reversely runs to the starting end, the road roller is controlled to change tracks to other to-be-rolled tracks or continue running on the current rolling track, which specifically includes:

s410, obtaining the number of finished rolling passes of the next rolling pass;

and S420, if the number of times of rolling finished in the next rolling road is less than that of the current rolling road, controlling the road roller to change the road to the next rolling road for running, otherwise, continuing running on the current rolling road.

Usually, a roller is used to roll in the same working area. For example, fig. 2 shows a schematic view of the travel path of a road roller in a working area comprising a plurality of parallel rolling courses. In the embodiment of the invention, the working area is divided into seven parallel rolling tracks from a first rolling track at the outermost side to a seventh rolling track at the other outermost side.

When rolling operation is carried out, firstly, the road roller is controlled to run and roll from the starting end of the first rolling road to the ending end of the first rolling road, and if no obstacle is detected all the time in the process, the road roller is controlled to run reversely when reaching the ending end of the first rolling road; if the obstacle is detected in the process, when the road roller is away from the obstacle by a first preset distance, the road roller is controlled to reversely run, and then the road roller is controlled to reversely run to the initial end of the first rolling road, so that one-time rolling of the rolling area of the first rolling road is completed. The road roller is controlled to change the road roller to the adjacent second rolling road after reversely driving to the starting end of the first rolling road and finishing the preset rolling times of the first rolling road, and the operation process is repeated in the third rolling road to the seventh rolling road in sequence, so that the rolling of the preset rolling times of the rolling areas of all the rolling roads is finished. And after finishing the rolling of the preset number of passes of the seventh rolling road, continuously finishing the rolling of the second preset number of passes in the seventh rolling road, controlling the road roller to change the road to the adjacent sixth rolling road, and repeating the operation process from the fifth rolling road to the first rolling road in sequence, thereby finishing the rolling of the two preset numbers of passes of all the rolling roads. And repeating the steps until each rolling pass is finished, wherein the rolling passes are carried out for eight times (for example). Wherein, the preset rolling times can be one time or multiple times. It should be noted that, after the rolling of the preset number of passes of the seventh rolling pass is completed, the road roller may also be controlled to return to the first rolling pass to start rolling of the second preset number of passes.

If the road roller detects an obstacle when the road roller reversely runs on any one rolling road, the road roller is controlled to change the road to the next rolling road for running after the road roller reversely runs to the position which is a first preset distance away from the obstacle and the rolling passes of the rolling road are finished.

In the embodiment of the invention, if an obstacle exists in the driving direction of the road roller, the road roller is controlled to decelerate when the distance between the road roller and the obstacle is a second preset distance, and the second preset distance is greater than the first preset distance.

When the obstacle is a moving obstacle such as a pedestrian or a sprinkler or an obstacle which can be cleared manually in a short time period, and when the road roller is at a second preset distance from the obstacle, the road roller is controlled to run at a reduced speed. And when the distance between the obstacle and the road roller is larger than a second preset distance or the obstacle is not detected, controlling the road roller to continuously run along the current running direction. Therefore, the time from the running of the road roller to the first preset distance from the obstacle is prolonged, and the situation that the road roller is controlled to run reversely due to the obstacle is reduced. The embodiment improves the working area of one-time rolling, thereby further improving the efficiency of the rolling operation.

In the embodiment of the invention, if an obstacle exists in the driving direction of the road roller and the distance between the road roller and the obstacle is a first preset distance, the road roller is controlled to wait for a preset time period in situ;

when the road roller runs towards the direction of the termination end, if the obstacle is judged to still exist after the preset time period, controlling the road roller to run reversely;

when the road roller runs towards the direction of the starting end, if the obstacle is judged to still exist after the preset time period, the road roller is controlled to change the road to other rolling roads or continue to run on the current rolling road after the running direction is switched.

When the obstacle is a moving obstacle such as a pedestrian or a sprinkler or an obstacle which can be cleared artificially in a short time period, when the road roller is at a first preset distance from the obstacle, the road roller is controlled to wait for a preset time period, for example, 30s, in situ, so as to provide time for leaving or clearing the moving obstacle. And when the obstacle disappears within the preset waiting time, controlling the road roller to continue to run along the current running direction. The situation that the road roller is controlled to run reversely due to the obstacles is reduced, the working area of one-time rolling is increased, and the efficiency of the rolling operation is further increased. And if the obstacle still exists after the preset waiting time, controlling the road roller to perform corresponding action according to the current running direction of the road roller.

Further, the preset time period includes a first preset time period and a second preset time period, and the first preset time period is greater than the second preset time period. If the distance between the road roller and the obstacle changes, the obstacle can be considered as a moving obstacle such as a pedestrian or a watering cart, and the road roller is controlled to wait for a first preset time period in situ. And if the distance between the road roller and the obstacle is not changed, the obstacle can be considered as a fixed obstacle, and the road roller is controlled to wait for a second preset time period in situ.

In the embodiment of the present invention, if there is an obstacle in the driving direction of the road roller, and the distance between the road roller and the obstacle is a first preset distance, the method further includes the steps of:

and marking the coordinate position of the obstacle and recording the marking times of the coordinate position.

And when the road roller drives to the coordinate position again, if the obstacle of the coordinate position is judged to be absent, acquiring the marking times of the coordinate position, and controlling the continuous driving direction of the road roller according to the marking times.

Specifically, when the road roller travels to a first preset distance from the obstacle for the first time, the distance between the obstacle and the road roller is detected by a distance detection device mounted on the road roller, the coordinate position of the road roller is determined by a positioning module mounted on the road roller, such as a GPS module, and the coordinate position of the obstacle is determined and marked according to the distance between the two and the coordinate position of the road roller.

And when the road roller drives to the coordinate position again, judging whether the coordinate position has an obstacle or not. If the road roller exists and the road roller still exists when the road roller runs to the first preset distance away from the obstacle, the coordinate position is marked again, and the marking frequency is increased by one. Furthermore, the coordinate position of the obstacle can be marked when the obstacle is judged to still exist after the road roller is away from the obstacle by a first preset distance and waits for a preset time period.

And when the road roller drives to the coordinate position again, if the obstacle is judged to be absent, acquiring the marked times of the coordinate position. When the road roller runs towards the direction of the termination end, judging whether the running direction needs to be switched or not when the distance between the road roller and the coordinate position is a first preset distance according to the marking times; when the road roller runs towards the direction of the starting end, whether the running direction or the lane changing running needs to be switched or not is judged according to the marking times when the distance from the road roller to the coordinate position is a first preset distance.

Controlling the direction of the road roller to continue to run according to the marking times specifically comprises the following steps:

if the marking times are less than the preset times, controlling the road roller to continuously run along the current running direction;

when the road roller runs towards the direction of the terminating end, if the marking times are not less than the preset times, controlling the road roller to run reversely when the distance between the road roller and the obstacle is a first preset distance;

when the road roller runs towards the direction of the starting end, if the marking times are not less than the preset times, when the distance between the road roller and the barrier is a first preset distance, controlling the road roller to change the road to other rolling roads or continue running on the current rolling road after the running direction is switched.

For example, eight passes are required for each pass, and the preset number of passes is set to 3. When the road roller drives to the marked coordinate position again, the obstacle in the coordinate position is not detected, and the coordinate position is marked for 2 times, the road roller is controlled to continue to drive along the current driving direction; if the obstacle at the coordinate position does not exist and the coordinate position is marked for 3 times, the obstacle at the coordinate position is regarded as the obstacle which cannot be moved away in a short time, even if the obstacle at the mark position is not detected, the road roller is controlled to run reversely until the obstacle at the coordinate position is artificially cleared, the marking times of the coordinate position are reset to zero, and the times of the supplementary rolling of the area behind the coordinate position are calculated. Therefore, when the road roller drives to the rolling road again, the road roller can acquire that no barrier exists in the coordinate position, so that the road roller is controlled to normally drive through the coordinate position, and the area behind the coordinate position is subjected to supplementary rolling according to the set supplementary rolling times, so that the rolling times of the rolled area on the rolling road are consistent.

Further, if the marking times are less than the preset times, controlling the road roller to continue running along the current running direction, specifically comprising:

and after controlling the road roller to roll the non-rolled area behind the coordinate position once, performing supplementary rolling on the non-rolled area according to the marking times. Specifically, when the road roller runs towards the terminating end, the supplementary rolling times are twice of the marking times; when the road roller runs towards the direction of the starting end, the supplementary rolling times are equal to the marking times. The rear of the coordinate position refers to the side of the coordinate position which is far away from the road roller in the driving direction of the road roller.

For example, in the above embodiment, when the road roller travels to the rolling road where the marked coordinate position is located again, it is not detected that there is an obstacle in the coordinate position, and it is obtained that the coordinate position is marked 2 times, the road roller is controlled to continue traveling in the current traveling direction. Specifically, the road roller is controlled to run from the coordinate position to the direction of the termination end of the current rolling road, and the road roller is controlled to run reversely to the coordinate position after the road roller runs to the termination end or runs to a first preset distance away from a next obstacle; then, continuously controlling the road roller to roll back and forth for 2 times between the coordinate position and the termination end or the position which is a first preset distance away from the next obstacle; and returning to the coordinate position after rolling back and forth for 2 times, and controlling the road roller to run from the coordinate position to the direction of the starting end. Therefore, the rolling passes of the rolled areas of the current rolling road can be the same.

The invention also provides an obstacle avoidance control system of the unmanned road roller, which comprises the unmanned road roller, an obstacle detection module and a control center. The obstacle detection module is arranged on the unmanned road roller and comprises but is not limited to a laser radar, a millimeter wave radar, an ultrasonic radar and a vision sensor, and the obstacle detection module can be mounted at the front part of the vehicle body of the road roller and is used for detecting whether an obstacle exists in the direction from the unmanned road roller to the end of the rolling road. The unmanned road roller and the barrier detection module are respectively in communication connection with the control center. The obstacle detection module detects obstacle information of the road roller in the direction of the termination end in real time, and sends a detection result to the control center, and the control center is used for executing the obstacle avoidance control method of the unmanned road roller in any embodiment.

The control center is further used for obtaining the treading points, the construction data, the construction process parameters and the like of the construction area of the road roller, planning the driving path of the road roller according to the treading points and controlling the rolling operation of the road roller according to the construction data and the process parameters. The control center is also used to perform all operations and controls related to the rolling operation of the roller, such as historical data queries.

Further, the obstacle avoidance control system for the unmanned road roller provided by the embodiment of the invention further comprises a positioning module arranged on the road roller, such as a GPS module. And the positioning module is in communication connection with the control center and is used for detecting the coordinate position of the road roller. The positioning module detects the coordinate position of the road roller in real time and sends the detection result to the control center, and the control center determines the coordinate position of the obstacle according to the coordinate position of the road roller and the distance between the road roller and the obstacle.

Further, the obstacle avoidance control system for the unmanned road roller provided by the embodiment of the invention further comprises an alarm module, such as an audible and visual alarm module, wherein the alarm module is in communication connection with the control center and is used for sending an alarm signal to remind constructors or managers when the distance between the road roller and an obstacle is a first preset distance.

The present invention further provides an electronic device, as shown in fig. 3, which is a schematic structural diagram of the electronic device provided by the present invention, as shown in fig. 3, the electronic device may include: a processor (processor)310, a communication Interface (communication Interface)320, a memory (memory)330 and a communication bus 340, wherein the processor 310, the communication Interface 320 and the memory 330 communicate with each other via the communication bus 340. Processor 310 may invoke logic instructions in memory 330 to perform a method of unmanned road roller obstacle avoidance control, the method comprising:

dividing the operation area into a plurality of rolling roads, and controlling the road roller to run between the starting end and the ending end of any one rolling road;

judging whether an obstacle exists in the driving direction of the road roller;

if a barrier exists in the driving direction of the road roller to the terminating end, and the distance between the road roller and the barrier is a first preset distance, controlling the road roller to reversely drive;

and after the road roller reversely runs to the starting end, controlling the road roller to change the road to other rolling roads or to continue running on the current rolling road after the running direction is switched.

In addition, the logic instructions in the memory 330 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute the method provided by the above methods to execute the method for obstacle avoidance control of an unmanned road roller, where the method includes:

dividing the operation area into a plurality of rolling roads, and controlling the road roller to run between the starting end and the ending end of any one rolling road;

judging whether an obstacle exists in the driving direction of the road roller;

if a barrier exists in the driving direction of the road roller to the terminating end, and the distance between the road roller and the barrier is a first preset distance, controlling the road roller to reversely drive;

and after the road roller reversely runs to the starting end, controlling the road roller to change the road to other rolling roads or to continue running on the current rolling road after the running direction is switched.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the methods for obstacle avoidance control of an unmanned road roller, the methods including:

dividing the operation area into a plurality of rolling roads, and controlling the road roller to run between the starting end and the ending end of any one rolling road;

judging whether an obstacle exists in the driving direction of the road roller;

if a barrier exists in the driving direction of the road roller to the terminating end, and the distance between the road roller and the barrier is a first preset distance, controlling the road roller to reversely drive;

and after the road roller reversely runs to the starting end, controlling the road roller to change the road to other rolling roads or to continue running on the current rolling road after the running direction is switched.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.