CN110983914B - Road roller with panorama welt compaction system - Google Patents
Road roller with panorama welt compaction system Download PDFInfo
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- CN110983914B CN110983914B CN201911313764.5A CN201911313764A CN110983914B CN 110983914 B CN110983914 B CN 110983914B CN 201911313764 A CN201911313764 A CN 201911313764A CN 110983914 B CN110983914 B CN 110983914B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
The invention discloses a road roller with a panoramic welt compacting system, which comprises an image acquisition device arranged outside a vehicle body of the road roller; the man-machine interaction device is arranged in a cab of the road roller; the image data processing device reads the information acquired by the image acquisition device, processes the information and then sends the information to the man-machine interaction device for display; the information in the man-machine interaction device can be triggered to be amplified or switched to be displayed. Through the technical scheme, a driver can accurately master the surrounding real-time environment of the road roller through the human-computer interaction device when operating the road roller, and can accurately press the welt according to the information, so that the safety accidents are avoided while the overall pressing performance and accuracy are improved, and the safe, accurate and efficient pressing work is realized.
Description
Technical Field
The invention relates to a road roller with a panoramic welt compacting system.
Background
The development of modern science and technology greatly promotes the intellectualization of engineering machinery, and more high-end technologies are introduced into the field of engineering machinery, so that the engineering machinery continuously advances towards a more efficient target. With the full opening of a new high-quality development era in China, the development of urban road construction becomes a core element of urban economic development. A large amount of road paving and road maintenance requirements are met, and the road roller has an important function of being irreplaceable in road paving. Knowledge across the disciplinary domain is urgently needed to be introduced into road compaction operations in order to move road rollers toward high accuracy, high efficiency, high performance, intelligence and automation.
The road roller is used as road surface compaction equipment for road construction, is always in an important position in road construction, and is a development target of the road roller from beginning to end on how to carry out road surface compaction operation in a time-saving, labor-saving and efficient manner. In the actual construction process of road construction, because the vehicle body of the road roller is large, a large number of blind areas exist around the vehicle body, particularly, when the road edge is constructed, a driver is difficult to control the distance between the road roller and the road edge stones when operating alone, an under-pressure area is easy to appear too far, and the steel wheels can damage the road edge stones too close; if the problem is solved by arranging the instructor under the vehicle, time and labor are wasted, potential safety hazards are easy to generate, the problem becomes an industry pain point, and urgent needs to be solved.
In the prior art, chinese patent CN 109835256 a discloses a panoramic all-round viewing system and method for an automobile and an automobile, so as to solve the problem in the prior art that when the automobile runs on a steep road surface, a driver cannot see the road condition in front in the automobile, but only can see the sky, so that the front view is in a blind area, and there is a safety risk. The invention is different from the invention in that the structure and working mode of the road roller and the automobile are greatly different, the invention adopts a panoramic look-around method more suitable for engineering machinery such as the road roller, and the collected visual field is mainly used for assisting the welting compaction of the road roller. In addition, the invention also discloses a route track prediction and safety braking system based on the look-around for assisting the welt compaction operation of the road roller.
In the prior art, chinese patent CN 208715087U discloses a vehicle panoramic all-round viewing system, which utilizes a fisheye camera to acquire image information and generate a panoramic all-round viewing image, so that the vehicle viewing angle range is covered by the panorama, the driver's view is enlarged, and the driving safety is improved. Different from the invention, the key point is the image acquisition of the camera and the pattern splicing mode of the processor, the camera is not considered to be used in specific vehicle occasions, and the camera is simply arranged at four positions of the front, the back, the left and the right of the vehicle. The invention only considers that the panoramic looking-around system is suitable for a specific occasion of road surface compaction, more comprehensively considers the environment, operation, construction difficulties and various working conditions of the road roller in the construction process, and constructs a safe and efficient solution by utilizing the panoramic looking-around system and other systems according to the problem that the pressure leakage is easy to occur in the welt compaction of the road roller.
Disclosure of Invention
Aiming at the defect problems in the prior art and the problem that the pressure leakage is easy to occur in real time in the welt pressing of the road roller, the invention provides the road roller with the panoramic welt pressing system, which comprehensively considers the environment, operation and construction difficulty and various working conditions of the road roller in the construction process, adopts a panoramic looking-around method more suitable for engineering machinery such as the road roller and the like, and the collected visual field is mainly used for assisting the welt pressing of the road roller, so that the method is safer and more efficient.
The technical scheme adopted by the invention is as follows:
a roller having a panoramic welt compacting system, comprising:
the image acquisition device is arranged outside the road roller body;
the man-machine interaction device is arranged in a cab of the road roller;
the image data processing device reads the information acquired by the image acquisition device, processes the information and then sends the information to the man-machine interaction device for display; the information in the man-machine interaction device can be triggered to be amplified or switched to be displayed.
Furthermore, the image acquisition device comprises a plurality of panoramic cameras and streaming media cameras; the panoramic camera is used for collecting panoramic images around the road roller, and the streaming media camera is used for collecting images on the outer side surface of the steel wheel of the road roller.
Further, among the panoramic camera, at least 1 is installed in the road roller ceiling.
Furthermore, in the panoramic camera, at least 2 cameras are correspondingly arranged on the front frame and the rear frame of the road roller.
Furthermore, the streaming media camera is arranged on the frame above the steel wheel of the road roller.
Furthermore, the image data processing device combines the real-time images shot by the plurality of panoramic cameras and the streaming media camera at all angles, generates a 360-degree panoramic image around the vehicle body through distortion correction, perspective transformation and panoramic stitching fusion processing, and sends the panoramic image to the human-computer interaction device for display.
And further, the road roller tracking system also comprises a route track prediction device, and the road roller tracking track is predicted according to the steering angle of the road roller and is sent to the human-computer interaction device for display.
Further, the path trajectory prediction means comprise an angle sensor mounted at the articulated position for steering, by means of which the current steering angle of the roller is detected.
And further, obtaining the travel route track of the road roller by combining the steering angle and the current handle position of the road roller.
Further, the man-machine interaction device adopts a touch display screen or a key display screen, and the picture is triggered to be automatically amplified and displayed by triggering a display picture on the touch display screen or the key display screen or a key corresponding to the picture.
Further, when the road roller runs, the image processing device automatically adjusts and amplifies the read information acquired by the image acquisition device by a dynamic splicing method, and then sends the information to the human-computer interaction device for dynamic display.
Furthermore, the dynamic splicing method further comprises the steps of fusing and splicing the images collected by each side of the road roller according to real-time signals collected by the angle sensor at the hinged position of the road roller, combining a plurality of groups of static mapping tables formed by all the established spliced image combinations under the fixed hinged angle, generating a dynamic lookup table formed by the corresponding spliced image combinations under the dynamic angle, and rotating and adjusting the panoramic image in real time.
The invention achieves the following beneficial effects:
the invention provides a road roller with a panoramic welt compacting system, which is safer and more efficient by taking the environment, operation, construction difficulty and various working conditions of the road roller in the construction process into consideration comprehensively according to the problem that the welt compacting of the road roller is easy to cause pressure leakage, adopting a panoramic looking-around method more suitable for engineering machinery such as the road roller and the like, and using the collected visual field for assisting the welt compacting working condition of the road roller. Meanwhile, the welt compaction operation of the road roller can be assisted by the path track prediction and the safety braking system, and the safe, accurate and efficient compaction operation is further realized.
Drawings
Fig. 1 is a block diagram of the system of components of a roller having a panoramic welt compacting system of the present invention, as a first embodiment of the system.
FIG. 2 is a simplified display screen interface diagram of a human-computer interaction device for a road roller having a panoramic welt compaction system according to the present invention.
Fig. 3 is a second embodiment of a roller system having a panoramic welt compacting system in accordance with the present invention.
Fig. 4 is a third system embodiment of a roller having a panoramic welt compacting system in accordance with the present invention.
Figure 5 is a block diagram of a roller incorporating a panoramic welt compacting system of the present invention and the location of the system components.
Fig. 6 is a top view of fig. 5.
FIG. 7 is a dynamic stitching effect diagram of a road roller image processing apparatus with a panoramic welt compacting system according to the present invention.
Fig. 8 is a static mapping look-up table for a road roller image processing apparatus having a panoramic welt compaction system in accordance with the present invention.
Fig. 9 is a dynamic mapping look-up table for a road roller image processing apparatus having a panoramic welt compaction system in accordance with the present invention.
FIG. 10 is a schematic view of the dynamic splice of a roller with a panoramic welt compacting system of the present invention during articulated steering.
Detailed Description
The present invention will be better understood and implemented by those skilled in the art by the following detailed description of the technical solution of the present invention with reference to the accompanying drawings and specific examples, which are not intended to limit the present invention.
The invention discloses a road roller with a panoramic welting compaction system, which comprises a road roller original vehicle, an image acquisition device, a man-machine interaction device, an image data processing device and a route track prediction device, wherein the image acquisition device is arranged on the periphery of the road roller and is used for acquiring images around the road roller, the route track prediction device is arranged on a hinged part for steering of the road roller and is used for predicting the advancing track of the road roller, the image data processing device is arranged on a power distribution cabinet in a cab and is used for reading image information processing results from the image acquisition device, and the man-machine interaction device is arranged in the visual field range of a driver of the road roller and is used for displaying a panoramic image obtained by the image data processing device and a vehicle advancing track obtained by the route track prediction device.
The method comprises the following steps that images around the road roller are collected through an image collecting device, and the collected images are processed through an image processing device and sent to a human-computer interaction device to be displayed; and meanwhile, the route and track prediction device predicts the road roller traveling route through an angle sensor signal and sends the road roller traveling route to the man-machine interaction device for displaying. Through the technical scheme, a driver can accurately master the real-time environment around the road roller through the man-machine interaction device when operating the road roller, the current advancing track of the road roller is read through the route track prediction device, and accurate welting compaction is carried out according to the information, so that safety accidents are avoided while the comprehensiveness and the accuracy of compaction are improved, and safe, accurate and efficient compaction work is realized.
The image acquisition device contains 4 panoramic cameras and 4 streaming media cameras, and 2 of them are installed at the road roller ceiling, and 2 install and be used for gathering road roller panoramic image all around on the frame behind the car in the front of the vehicle in addition, and the streaming media camera is then installed respectively on the frame of road roller steel wheel top for gather road roller welt high definition image in order to realize accurate welt compaction.
The image processing device combines real-time images shot by 8 cameras in total at each angle of the vehicle, and generates 360-degree panoramic images around the vehicle body through the processing of distortion correction, perspective transformation, panoramic stitching fusion and the like shown in figure 8 and sends the panoramic images to the human-computer interaction device for display.
The route track prediction device adopts an angle sensor, the current steering angle of the road roller can be accurately obtained through the data of the angle sensor, and the advancing route track of the road roller can be obtained through the steering angle and the position of a handle of the road roller and displayed on the man-machine interaction device.
The man-machine interaction device mainly comprises a touch display screen or a key display screen which is arranged in a cab, and is characterized in that besides an image processing result of an image processing device and a route track prediction result of a route track prediction device, a driver manually clicks a certain welting picture on the display screen or presses a key corresponding to the welting picture, the clicked picture is automatically amplified to a high-definition state, an auxiliary line or a scale is added, and meanwhile, the panoramic all-around image is reduced on the other side, so that the driver can conveniently and accurately welt and compact.
As shown in fig. 5 and fig. 6, in this embodiment, a dual steel wheel road roller is taken as an example for description, the dual steel wheel road roller is generally used for compacting asphalt, when welting compaction is performed, that is, when an area of an asphalt road surface close to a curb is compacted, since an overall vehicle body of the road roller is large, a cab is high in position, a driver cannot observe a distance between an edge of a steel wheel and the curb, and a pressure leakage and under-pressure phenomenon cannot be avoided.
The invention is provided with 4 panoramic cameras 1, 2, 3 and 4 and streaming media cameras 5, 6, 7 and 8 at the positions marked in figures 5 and 6. The full images around the road roller are comprehensively collected by utilizing the characteristic that the panoramic cameras 1, 2, 3 and 4 have wide image collection range, so that a driver can comprehensively observe the construction environment around the road roller when driving a vehicle; the compaction area of the steel wheel edge of the road roller is collected by the streaming media cameras 5, 6, 7 and 8 specially for the characteristic that the image camber is small, a driver can click a certain side area on the display screen to magnify and watch a high-definition image, the distance between the steel wheel and the road edge stone can be clearly seen when compaction operation is carried out, and accurate welting compaction operation is carried out.
In order to realize accurate route prediction, the present invention marks the position of the angle sensor 9 in fig. 6. Through installing angle sensor 9 in vehicle articulated department, the most accurate angle signal can be gathered to on-vehicle controller, sends the display screen after handling and shows the route of prediction. The driver can master the vehicle advancing track by observing the predicted route, the construction safety of compaction operation is guaranteed by combining the panoramic image, and meanwhile, the construction efficiency is improved.
The dynamic splicing scheme shown in fig. 7 is adopted, and the range which can be acquired by the image acquisition device is shown by large ellipses in four directions of the road roller in fig. 7. When the road roller is static, in order to display a uniform high-definition annular view image, the area shown by the hatched lines in the ellipse is cut by the image processing device, and only the area in the small ellipse without the hatched lines is displayed. When the road roller moves forwards, backs or turns, the shadow areas in the corresponding directions can be automatically and completely displayed, so that a driver can refer to the large-range all-round image in the current moving direction.
The dynamic splicing scheme also adopts a dynamic lookup table mode as shown in fig. 8 and fig. 9. Fig. 8 is a normal static search mode, and a static panoramic image is generated by distortion correction, perspective transformation, and panorama stitching fusion in combination with vehicle size parameters. Because the road roller is hinged, the panoramic image is easy to have faults when the road roller is turned, and for dynamic splicing of the road roller, the invention adopts a mode of generating a real-time dynamic lookup table according to an angle sensor signal at the hinged part, and real-time rotation and adjustment are carried out on the panoramic image according to the turning angle of the road roller, so that the situations of faults and disorder of the panoramic image are avoided, and the schematic diagram is shown in fig. 10.
The static mapping table refers to the combination of the spliced images at all fixed hinge angles. The dynamic lookup table refers to a splicing combination corresponding to a dynamic angle. And multiple groups of static mapping tables are used for generating a dynamic lookup table according to the hinge angle so as to realize dynamic splicing.
The angle sensor at the hinge joint CAN accurately measure the real-time steering angle, and the signal of the angle sensor is transmitted to the image processing device in real time through the CAN bus, and the examples are as follows:
when the angle is positive:
Angle_X=（data[7]*256+data[6]）*0.1
the data [7] and the data [6] are respectively the high and low positions of the angle timing angle sensor data transmitted on the CAN bus;
when the angle is negative:
Angle_Y =（data[5]*256+data[4] -65536）*0.1
and data [5] and data [4] are high and low bits of angle sensor data transmitted on the CAN bus when the angle is negative.
The following is a detailed description of three embodiments shown in the drawings:
as shown in fig. 1, in this embodiment, 4 panoramic cameras, 4 streaming media cameras, and an angle sensor are all directly connected to the same 360-degree panoramic host, the host performs image-capturing splicing work, performs route trajectory prediction work according to an angle sensor signal, and transmits the collected images to a display for display, and the display style is shown in fig. 2.
As shown in fig. 3, compared with the first embodiment, the first embodiment of the present invention adds a panoramic all-around camera host and a streaming media camera host, processes images collected by the camera and then sends the processed images to the 360 all-around camera host for integration, and the hosts are then uniformly transmitted to the display for display, where the display style is the same as that of the first embodiment.
As shown in fig. 4, compared to the first embodiment, this embodiment omits the whole host, and only reserves the panoramic all-around camera host for stitching processing the all-around camera images, and the processed all-around images are accessed to the display video interface AV1, and the streaming media camera is divided into left and right welt images which are directly accessed to the display video interfaces AV2 and AV 3. The driver can switch the display of AV1, AV2 and AV3 by pressing the keys on the display, and the combination mode can be as follows: 1. only AV1 is shown; 2. displaying AV1 and AV 2; 3. AV1 and AV3 are shown. When the combination modes 2 and 3 are displayed, the display automatically divides the screen and simultaneously displays the all-round view image and the welt image. In other embodiments, other combinations may be used.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (7)
1. A roller having a panoramic welt compacting system, comprising:
the image acquisition device is arranged outside the road roller body;
the man-machine interaction device is arranged in a cab of the road roller;
the image data processing device reads the information acquired by the image acquisition device, processes the information and sends the information to the human-computer interaction device for display; the information in the man-machine interaction device can be triggered to be amplified or switched to be displayed; the route track prediction device predicts the advancing track of the road roller according to the steering angle of the road roller and sends the advancing track of the road roller to the human-computer interaction device for displaying;
the route track prediction device comprises an angle sensor arranged at a hinged position for steering, and the current steering angle of the road roller is detected through the angle sensor; obtaining the advancing route track of the road roller by combining the steering angle and the current handle position of the road roller;
when the road roller runs, the image processing device automatically adjusts and amplifies the panoramic image at the advancing or turning direction side by using the read information acquired by the image acquisition device through a dynamic splicing method and then sends the panoramic image to the human-computer interaction device for dynamic display;
the dynamic splicing method further comprises the steps of carrying out fusion splicing on images collected by each side of the road roller according to real-time signals collected by an angle sensor at the hinged position of the road roller, combining a plurality of groups of static mapping tables formed by all built spliced image combinations under fixed hinged angles, generating a dynamic lookup table formed by the spliced image combinations corresponding to dynamic angles, and carrying out real-time rotation and adjustment on the panoramic image.
2. The roller with the panoramic welt compacting system of claim 1, wherein the image capture device comprises a plurality of panoramic cameras and streaming media cameras; the panoramic camera is used for collecting panoramic images around the road roller, and the streaming media camera is used for collecting images on the outer side surface of the steel wheel of the road roller.
3. The roller with the panoramic welt compacting system of claim 2, wherein at least 1 of the panoramic cameras is mounted to the roller ceiling.
4. The roller with the panoramic welt compacting system of claim 2, wherein at least 2 panoramic cameras are mounted on the frame of the roller in front of and behind the roller.
5. The roller with the panoramic welt compacting system of claim 2, wherein the streaming media camera is mounted on the frame above the roller steel wheels.
6. The roller with the panoramic welt compacting system as set forth in claim 2, wherein the image data processing device combines real-time images shot by the plurality of panoramic cameras and the streaming media camera at each angle, and generates a 360-degree panoramic image around the vehicle body through distortion correction, perspective transformation and panoramic stitching fusion processing, and sends the panoramic image to the human-computer interaction device for display.
7. The roller with the panoramic welt compacting system according to claim 1, wherein the human-computer interaction device is a touch display screen or a button display screen, and the picture is triggered to be automatically magnified and displayed by triggering a displayed picture on the touch display screen or the button display screen or a button corresponding to the picture.
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| CN201911313764.5A CN110983914B (en) | 2019-12-19 | 2019-12-19 | Road roller with panorama welt compaction system |
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| CN201911313764.5A CN110983914B (en) | 2019-12-19 | 2019-12-19 | Road roller with panorama welt compaction system |
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| WO2024083864A1 (en) * | 2022-10-20 | 2024-04-25 | Bomag Gmbh | Tandem roller with improved visibility for the operator, and work train comprising such a tandem roller |
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