CN113622263A - Road roller with road edge early warning device and road edge early warning method of road roller - Google Patents
Road roller with road edge early warning device and road edge early warning method of road roller Download PDFInfo
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- CN113622263A CN113622263A CN202111002581.9A CN202111002581A CN113622263A CN 113622263 A CN113622263 A CN 113622263A CN 202111002581 A CN202111002581 A CN 202111002581A CN 113622263 A CN113622263 A CN 113622263A
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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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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
Abstract
The invention provides a road roller with a road edge early warning device and a road roller road edge early warning method, wherein the road roller with the road edge early warning device comprises the following components: a frame provided with an accommodating space; the steel wheel is arranged in the accommodating space; the image acquisition assembly is fixedly arranged on the rack and is positioned right above the steel wheel, and the image acquisition assembly can acquire images of the edge of the steel wheel and the road edge; the early warning processing assembly is arranged in a cockpit of the frame, is electrically connected with the image acquisition assembly and can receive and process images and send out early warning signals. Through setting up the image acquisition subassembly directly over the steel wheel, can be directly perceived and clear edge and the road edge of seeing the steel wheel, consequently this embodiment can promote the precision of finding distance to centimetre level to realize the purpose that high accuracy road edge distance detected, and then can effectual supplementary driver drive the road roller operation.
Description
Technical Field
The specification relates to the technical field of road rollers, in particular to a road roller with a road edge early warning device and a road edge early warning method of the road roller.
Background
When the road roller works, the steel wheels are required to be close to the road edge as much as possible in order to flatten the whole road, and the distance from the outer edges of the steel wheels to the road edge can be controlled within 3cm preferably. The visual observation of the distance by the rearview mirror requires rich experience and space imagination, which is often difficult for a novice driver to realize. If the distance is not controlled well, the road edge is not smooth enough, or the road edge is crushed and the road roller wheels are damaged.
The Chinese patent application with publication number CN112598727A and publication date 20210402 discloses a navigation parameter extraction method based on a visual road roller, which comprises the following steps: step (1), preprocessing a road image: carrying out gray processing on the road image by a weighted average method; then, filtering is carried out on the multi-road image by adopting a bilateral filtering algorithm, and the algorithm can better keep image details and is convenient for accurately extracting a navigation datum line; step (2), edge detection: edge detection is carried out on the binary image obtained after image preprocessing, optimization and noise reduction by adopting a Marr Hildreth algorithm which consumes less time, so that two edge lines on the left side and the right side are obtained; step (3), navigation datum line extraction: in the last step, two boundaries of the sign line area are extracted, and in order to reduce the deviation caused by the width value of the sign line, the method takes an edge line close to the vehicle body as a navigation datum line; step (4), adopting the straight line fitting of the least square method based on the distance; step (5), navigation parameter extraction: a world coordinate system is established on a road roller vehicle body to analyze the pose state of the vehicle body, and since the pose is defined in a three-dimensional state, a navigation datum line needs to be converted into the world coordinate system, and the deviation of the test model is estimated through the extracted navigation datum line parameters.
The prior art has the following disadvantages: the road edge in front is detected by a vision method through an image acquisition assembly in front of the vehicle, and a road edge curve of a side body is predicted. Because the road edge of the side body cannot be directly seen, reasoning can be carried out only according to the road edge trend in front of the vehicle, and higher precision cannot be achieved, so that the high-precision road edge distance detection and alarm requirements cannot be met.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a road roller with a road edge early warning device and a road edge early warning method of the road roller, so as to achieve the purpose of detecting a road edge distance with high precision.
The embodiment of the specification provides the following technical scheme: a road roller having a curb forewarning device, comprising: a frame provided with an accommodating space; the steel wheel is arranged in the accommodating space; the image acquisition assembly is fixedly arranged on the rack and is positioned right above the steel wheel, and the image acquisition assembly can acquire images of the edge of the steel wheel and the road edge; the early warning processing assembly is arranged in a cockpit of the frame, is electrically connected with the image acquisition assembly and can receive and process images and send out early warning signals.
Further, the steel wheel is cylindric structure, and the steel wheel has both ends, and equal fixed mounting has at least one image acquisition subassembly directly over every one end of steel wheel.
Furthermore, the steel wheels are a plurality of and are uniformly distributed in the accommodating space at intervals.
Further, the early warning processing component comprises: the system-level chip is arranged in the cockpit and is electrically connected with the image acquisition assembly; the screen is arranged in the cockpit and is electrically connected with the system-on-chip; and the loudspeaker is arranged in the cockpit and is electrically connected with the system-on-chip.
Furthermore, the screen is a vehicle-mounted screen of the road roller with the road edge early warning device, and the loudspeaker is a vehicle-mounted loudspeaker of the road roller with the road edge early warning device.
Further, the image acquisition assembly is a camera, a monocular camera or a binocular camera.
The invention also provides a road roller road edge early warning method, which is applied to the road roller with the road edge early warning device, and comprises the following steps: firstly, acquiring images of the edge and the road edge of the steel wheel through an image acquisition assembly; secondly, calculating the distance between the edge of the steel wheel and the road edge according to the image through an early warning processing assembly; and thirdly, early warning is carried out by the early warning processing assembly according to a preset scheme.
Further, the second step comprises: step 2.1, inputting the image into a segmentation network to obtain a segmentation mask; 2.2, extracting characteristic points of the edge and the road edge of the steel wheel through the segmentation mask; 2.3, mapping the characteristic points of the edge of the steel wheel and the road edge to world coordinates to fit a curve of the edge of the steel wheel and the road edge, and tracking the road edge and the fitting parameters of the steel wheel according to the curve; and 2.4, calculating the distance between the edge of the steel wheel and the road edge according to the fitting parameters.
Further, the distance between the edge of the steel wheel and the road edge is S, wherein the third step comprises the following steps: when S is larger than or equal to 10cm, the early warning processing assembly does not perform early warning; when S is more than or equal to 5cm and less than 10cm, the early warning processing assembly performs primary early warning; when S is more than or equal to 2cm and less than 5cm, the early warning processing component carries out secondary early warning; and when the S is less than 2cm, the early warning processing assembly performs three-level early warning.
Further, the early warning processing component comprises a screen and a loudspeaker, and the third step further comprises the following steps: displaying the distance between the edge of the steel wheel and the road edge in real time through a screen; when primary early warning is carried out, a first sound effect is played through a loudspeaker; when the secondary early warning is carried out, a second sound effect is played through the loudspeaker; when carrying out tertiary early warning, broadcast the third sound effect through the speaker.
Compared with the prior art, the beneficial effects that can be achieved by the at least one technical scheme adopted by the embodiment of the specification at least comprise: through setting up the image acquisition subassembly directly over the steel wheel, can be directly perceived and clear edge and the road edge of seeing the steel wheel, consequently this embodiment can promote the precision of finding distance to centimetre level to realize the purpose that high accuracy road edge distance detected, and then can effectual supplementary driver drive the road roller operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic front view of an embodiment of the present invention;
FIG. 2 is a schematic top view of the structure of FIG. 1;
FIG. 3 is a side view schematic of the structure of FIG. 1;
FIG. 4 is a schematic flow chart of an embodiment of the present invention.
Reference numbers in the figures: 10. a frame; 20. a steel wheel; 30. an image acquisition assembly.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. 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 application.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number and aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The technical solutions provided by the embodiments of the present application are described below with reference to the accompanying drawings.
As shown in fig. 1 to 4, an embodiment of the present invention provides a road roller with a road edge warning device, including a frame 10, a steel wheel 20, an image capturing assembly 30, and a warning processing assembly. The frame 10 is provided with an accommodating space; the steel wheel 20 is installed at the accommodating space; the image acquisition assembly 30 is fixedly arranged on the rack 10 and is positioned right above the steel wheel 20, and the image acquisition assembly 30 can acquire images of the edge and the road edge of the steel wheel 20; the early warning processing assembly is arranged in a cockpit of the frame 10, is electrically connected with the image acquisition assembly 30, and can receive and process images and send out early warning signals.
In the technology before improvement, a single front-view camera is adopted, so that the road edge of the side surface of the vehicle body cannot be directly observed, and the curve of the road edge of the vehicle body can be estimated only through a fitted curve, so that the distance measurement precision is low. And through setting up image acquisition subassembly 30 directly over steel wheel 20 in this embodiment, can be directly perceived and clear see the edge and the curb of steel wheel 20, consequently this embodiment can promote the range finding precision to centimetre level to realize the purpose that high accuracy curb distance detected, and then can effectual supplementary driver drive the operation of road roller.
The steel wheel 20 in this embodiment is a cylindrical structure, the steel wheel 20 has two ends, and at least one image capturing assembly 30 is fixedly mounted right above each end of the steel wheel 20. All install image acquisition assembly 30 in every one end top of steel wheel 20, image acquisition assembly 30 can all carry out real-time supervision to the both sides of steel wheel 20 to make this embodiment can carry out the operation of pressing the way in different directions, all install image acquisition assembly 30 in every one end top of steel wheel 20 simultaneously and can further guarantee the range finding precision.
Preferably, the steel wheel 20 is provided in plurality and is spaced apart from the accommodating space. In this embodiment, two steel wheels 20 are uniformly spaced, the number of the image capturing assemblies 30 is four, and as shown in fig. 1 to 3, the capturing range of each image capturing assembly 30 is a sector range. The area between the edge of the steel wheel 20 below and the corresponding road edge can be completely covered in the range, so that the image between the edge of the steel wheel 20 and the road edge can be clearly acquired.
The number of image capturing assemblies 30 in this embodiment is at least twice the number of steel wheels 20 to ensure monitoring of both sides of the steel wheels 20.
It should be noted that the image capturing assembly 30 is a camera, a monocular camera, or a binocular camera. The image acquisition assembly in this embodiment is a camera. Because only a camera is used, the cost of this embodiment is significantly lower than the prior art techniques that employ depth cameras or lidar. And the optical imaging of the embodiment has the characteristic of high resolution, compared with the binocular imaging in the prior art, the embodiment has obvious advantages in structural complexity, installation difficulty, volume and cost by adopting monocular imaging, and has lower computational power requirement on the early warning processing assembly.
The image acquisition assembly 30 of this scheme adoption's mounted position is closer to the road surface, and field of view (FOV) angle is littleer, and the range finding precision is higher. In addition, the vision of the image acquisition assembly 30 of this embodiment can obtain more information, and the judgment of the road edge is more accurate, and the condition that the road edge is close to the ground height by the depth camera or the laser radar in the prior art cannot be judged. And the resolution of the image acquisition assembly 30 in the embodiment is higher, and the cost is much lower compared with the prior art.
The early warning processing component in the present embodiment is not shown, and the applicant now describes it. The early warning processing component comprises a system-on-chip, a screen and a loudspeaker. Wherein the system-on-chip is disposed in the cockpit and electrically connected to the image capture assembly 30; the screen is arranged in the cockpit and is electrically connected with the system-on-chip; the loudspeaker is arranged in the cockpit and is electrically connected with the system-on-chip.
The system-on-chip (SOC) may be a system-on-chip control logic module, a microprocessor/microcontroller CPU core module, a DSP module, an embedded memory module, an external communication interface module, an analog front end module including an ADC/DAC, a power supply and power consumption management module, and for a wireless SOC, a radio frequency front end module, a user defined logic (which may be implemented by an FPGA or an ASIC), and a micro-electromechanical module, and more importantly, a SOC is embedded with a basic software (RDOS or COS and other application software) module or a loadable user software, etc.
The system level chip, the screen and the loudspeaker are arranged for processing the images of the edge and the road edge of the steel wheel 20, feeding back the processing result to the screen and feeding back the processing result at the screen and the loudspeaker according to different early warning schemes, so that the aim of warning a driver of the road roller is fulfilled
Preferably, the screen is a vehicle-mounted screen of a road roller with a road edge early warning device, and the loudspeaker is a vehicle-mounted loudspeaker of the road roller with the road edge early warning device. Namely a screen, and a vehicle-mounted screen and a vehicle-mounted loudspeaker which can share a press machine, so as to achieve the purpose of saving cost.
As shown in fig. 4, an embodiment of the present invention further provides a road roller road edge early warning method, which is applied to the road roller with the road edge early warning device, and the road roller road edge early warning method includes:
firstly, acquiring images of the edge and the road edge of the steel wheel 20 through an image acquisition assembly 30;
secondly, calculating the distance between the edge of the steel wheel 20 and the road edge according to the acquired image through the early warning processing assembly;
and thirdly, early warning is carried out by the early warning processing assembly according to a preset scheme.
By applying the method, the alarm can be given in a grading way according to the distance between the edge of the steel wheel 20 and the road edge, so that a driver can be effectively assisted in driving the road roller to work.
Specifically, the second step comprises:
step 2.1, inputting the image into a segmentation network to obtain a segmentation mask;
2.2, extracting characteristic points of the edge and the road edge of the steel wheel 20 through the segmentation mask;
step 2.3, mapping the characteristic points of the edge and the road edge of the steel wheel 20 to world coordinates to fit the curve of the edge and the road edge of the steel wheel 20, and then tracking the fitting parameters of the road edge and the steel wheel 20 according to the curve;
and 2.4, calculating the distance between the edge of the steel wheel 20 and the road edge according to the fitting parameters.
The segmentation mask is used to block the image to be processed (wholly or partially) with the selected image, graphic or object to control the image processing area or process. The particular image or object used for overlay is referred to as a mask or template. In digital image processing, a mask is a two-dimensional matrix array, and a multi-valued image may be used.
In step 2.3, calibrated camera parameters and inside and outside parameters are adopted to map the characteristic points of the edge and the road edge of the steel wheel 20 to world coordinates, so that a curve of the edge and the road edge of the steel wheel 20 is fitted, and then the fitting parameters of the road edge and the steel wheel 20 are tracked according to the curve.
It should be noted that the specific calculation method of the second step in this embodiment is the same as the calculation method of the distance between the edge of the steel wheel 20 and the road edge in the prior art, and details thereof are not described here.
Further, in this embodiment, the distance between the edge of the steel wheel 20 and the road edge is S, wherein the third step includes:
when S is larger than or equal to 10cm, the early warning processing assembly does not perform early warning;
when S is more than or equal to 5cm and less than 10cm, the early warning processing assembly performs primary early warning;
when S is more than or equal to 2cm and less than 5cm, the early warning processing component carries out secondary early warning;
and when the S is less than 2cm, the early warning processing assembly performs three-level early warning.
The early warning is divided into three stages according to the distance between the edge of the steel wheel 20 and the road edge, so that the position relation between the edge of the steel wheel 20 and the road edge can be effectively reminded to a driver, and the purpose of assisting the driver of the road roller is achieved.
Of course, the early warning level in this embodiment may be divided into other levels according to different needs, for example, two levels, four levels, or five levels. All the grading methods which can play a role in early warning are within the protection scope of the application.
Meanwhile, the specific division of the numerical value interval in each early warning grade can also be selected according to different requirements, the range of the numerical value interval in the implementation does not limit the invention, and other division methods can also be adopted.
Preferably, the early warning processing component comprises a screen and a loudspeaker, and the third step further comprises the following steps:
displaying the distance between the edge of the steel wheel 20 and the road edge in real time through a screen;
when primary early warning is carried out, a first sound effect is played through a loudspeaker;
when the secondary early warning is carried out, a second sound effect is played through the loudspeaker;
when carrying out tertiary early warning, broadcast the third sound effect through the speaker.
The driver can be helped to intuitively know the distance between the edge of the steel wheel 20 and the road edge by distinguishing the first sound effect, the second sound effect and the third sound effect. Meanwhile, the specific numerical value of the distance between the edge of the steel wheel 20 and the road edge can be displayed on the screen in real time, so that the driver can conveniently perform subsequent operation, and the accident that the road pressing effect is poor due to improper distance is prevented.
The first sound effect, the second sound effect and the third sound effect can be broadcast by the same sound but at different frequencies, and when the distance between the edge of the steel wheel 20 and the road edge is smaller than a limit value, the broadcasting frequency can be accelerated, so that the purpose of reminding a driver is achieved.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the method embodiments described later, since they correspond to the system, the description is simple, and for the relevant points, reference may be made to the partial description of the system embodiments.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A road roller with a curb pre-warning device, comprising:
a frame (10) provided with an accommodating space;
a steel wheel (20) installed at the accommodation space;
the image acquisition assembly (30) is fixedly arranged on the rack (10) and is positioned right above the steel wheel (20), and the image acquisition assembly (30) can acquire images of the edge and the road edge of the steel wheel (20);
the early warning processing assembly is arranged in a cab of the frame (10), is electrically connected with the image acquisition assembly (30), and can receive and process the image and send out an early warning signal.
2. The road roller with the road edge early warning device according to claim 1, wherein the steel wheel (20) is of a cylindrical structure, the steel wheel (20) is provided with two ends, and at least one image acquisition assembly (30) is fixedly arranged right above each end of the steel wheel (20).
3. The road roller with the road edge early warning device according to claim 2, characterized in that a plurality of steel wheels (20) are arranged at intervals in the accommodating space.
4. The compactor with curb forewarning device of claim 1, wherein the forewarning processing assembly includes:
the system-level chip is arranged in the cockpit and is electrically connected with the image acquisition assembly (30);
the screen is arranged in the cockpit and is electrically connected with the system-on-chip;
a speaker disposed within the cockpit and electrically connected to the system on chip.
5. The road roller with a road edge early warning device according to claim 4, wherein the screen is a vehicle-mounted screen of the road roller with the road edge early warning device, and the loudspeaker is a vehicle-mounted loudspeaker of the road roller with the road edge early warning device.
6. The road roller with a curb pre-warning device of claim 1, wherein the image acquisition component is a camera, a monocular camera, or a binocular camera.
7. A road roller road edge early warning method applied to a road roller with a road edge early warning device according to any one of claims 1 to 6, wherein the road roller road edge early warning method comprises the following steps:
firstly, acquiring images of the edge and the road edge of the steel wheel (20) through an image acquisition assembly (30);
secondly, calculating the distance between the edge of the steel wheel (20) and the road edge according to the image through the early warning processing assembly;
and thirdly, the early warning processing assembly carries out early warning according to a preset scheme.
8. The road roller curb pre-warning method of claim 7, wherein the second step comprises:
step 2.1, inputting the image into a segmentation network to obtain a segmentation mask;
2.2, extracting characteristic points of the edge and the road edge of the steel wheel (20) through the segmentation mask;
2.3, mapping the characteristic points of the edge and the road edge of the steel wheel (20) to world coordinates to fit a curve of the edge and the road edge of the steel wheel (20), and tracking the fitting parameters of the road edge and the steel wheel (20) according to the curve;
and 2.4, calculating the distance between the edge of the steel wheel (20) and the road edge according to the fitting parameters.
9. The road roller road edge early warning method according to claim 8, wherein the distance between the edge of the steel wheel (20) and the road edge is S, and the third step comprises:
when S is larger than or equal to 10cm, the early warning processing assembly does not perform early warning;
when S is more than or equal to 5cm and less than 10cm, the early warning processing assembly performs primary early warning;
when S is more than or equal to 2cm and less than 5cm, the early warning processing component carries out secondary early warning;
and when the S is less than 2cm, the early warning processing assembly performs three-level early warning.
10. The road roller curb pre-warning method of claim 9, wherein the pre-warning processing assembly includes a screen and a speaker, and the third step further comprises the steps of:
displaying the distance between the edge of the steel wheel (20) and the road edge in real time through the screen;
when the primary early warning is carried out, a first sound effect is played through the loudspeaker;
when the secondary early warning is carried out, a second sound effect is played through the loudspeaker;
and when the three-level early warning is carried out, a third sound effect is played through the loudspeaker.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111002581.9A CN113622263A (en) | 2021-08-30 | 2021-08-30 | Road roller with road edge early warning device and road edge early warning method of road roller |
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| CN202111002581.9A CN113622263A (en) | 2021-08-30 | 2021-08-30 | Road roller with road edge early warning device and road edge early warning method of road roller |
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| CN110331639A (en) * | 2019-07-08 | 2019-10-15 | 长安大学 | One kind can AUTONOMOUS TASK intelligent roller system |
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| CN112949398A (en) * | 2021-01-29 | 2021-06-11 | 成都安智杰科技有限公司 | Lane line detection method, distance measurement method and corresponding device |
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