A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Obstacle detection system and detection method for unmanned road roller
The invention relates to an obstacle detection system and detection method for an unmanned road roller, and the detection system comprises a front sensor unit, a rear sensor, a vehicle-mounted controller and an industrial personal computer which are respectively installed on the unmanned road roller. The vehicle-mounted controller communicates with the front sensor unit, the rear sensor unit and the industrial personal computer. The detection method comprises the following steps: obtaining a message sent by a vehicle-mounted controller, and obtaining obstacle distance information according to message data; dividing the detection areas of the three sensors in the front sensor unit or the rear sensor unit into six parts according to the number and sequence of detected obstacles, namely six detection areas; and determining the position of an obstacle detection point by the boundary of the six detection areas and a sector which is drawn by taking the distance between the road roller and the obstacle detected by the sensor as the radius. Compared with the prior art, the system has the advantages of ensuring the safety of constructors and construction vehicles, improving the construction efficiency and the like.
本发明涉及一种用于无人驾驶压路机的障碍物检测系统及检测方法，检测系统包括分别安装在无人驾驶压路机上的前方传感器单元、后方传感器、车载控制器和工控机，车载控制器分别与前方传感器单元、后方传感器单元和工控机进行通信。检测方法包括：获取车载控制器发送的报文，并根据报文数据获得障碍物距离信息；将前方传感器单元或后方传感器单元中三个传感器的检测区域根据检测到障碍物的数量和顺序划分为六个部分，即六个检测区域；由传感器检测到的压路机与障碍物之间的距离为半径绘制的扇形与六个检测区域的边界共同确定障碍物检测点的位置。与现有技术相比，本发明具有保证施工人员和施工车辆的安全、提高施工效率等优点。
Obstacle detection system and detection method for unmanned road roller
The invention relates to an obstacle detection system and detection method for an unmanned road roller, and the detection system comprises a front sensor unit, a rear sensor, a vehicle-mounted controller and an industrial personal computer which are respectively installed on the unmanned road roller. The vehicle-mounted controller communicates with the front sensor unit, the rear sensor unit and the industrial personal computer. The detection method comprises the following steps: obtaining a message sent by a vehicle-mounted controller, and obtaining obstacle distance information according to message data; dividing the detection areas of the three sensors in the front sensor unit or the rear sensor unit into six parts according to the number and sequence of detected obstacles, namely six detection areas; and determining the position of an obstacle detection point by the boundary of the six detection areas and a sector which is drawn by taking the distance between the road roller and the obstacle detected by the sensor as the radius. Compared with the prior art, the system has the advantages of ensuring the safety of constructors and construction vehicles, improving the construction efficiency and the like.
本发明涉及一种用于无人驾驶压路机的障碍物检测系统及检测方法，检测系统包括分别安装在无人驾驶压路机上的前方传感器单元、后方传感器、车载控制器和工控机，车载控制器分别与前方传感器单元、后方传感器单元和工控机进行通信。检测方法包括：获取车载控制器发送的报文，并根据报文数据获得障碍物距离信息；将前方传感器单元或后方传感器单元中三个传感器的检测区域根据检测到障碍物的数量和顺序划分为六个部分，即六个检测区域；由传感器检测到的压路机与障碍物之间的距离为半径绘制的扇形与六个检测区域的边界共同确定障碍物检测点的位置。与现有技术相比，本发明具有保证施工人员和施工车辆的安全、提高施工效率等优点。
Obstacle detection system and detection method for unmanned road roller
一种用于无人驾驶压路机的障碍物检测系统及检测方法
YANG MENG (author) / BIAN YONGMING (author) / WANG RUNFENG (author) / LIU GUANGJUN (author)
2021-06-04
Patent
Electronic Resource
Chinese
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