CN115092132A

CN115092132A - Method and device for controlling automatic running of paver, edge controller and paver

Info

Publication number: CN115092132A
Application number: CN202210696971.9A
Authority: CN
Inventors: 刘洲印; 方堃; 施宏杰; 王云峰; 荣强强
Original assignee: Kyland Technology Co Ltd
Current assignee: Kyland Technology Co Ltd
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2022-09-23

Abstract

The invention discloses a method and a device for controlling automatic running of a paving machine, an edge controller and the paving machine. The method comprises the following steps: determining initial position information of the paving machine in a static state; determining first position information of a paving machine at a first time after the paving machine changes from a stationary state to a driving state and second position information of the paving machine at a second time, the second time being later than the first time, the first position information and the second position information being determined by an image pickup apparatus mounted on the paved road; and if the second position information is wrong position information, correcting the wrong position information into correct position information based on a displacement line obtained by fitting the initial position information and the first position information so as to enable the paving to automatically run according to a preset running line. The method corrects the wrong position information and controls the paving machine to automatically run along the preset running line according to the correct position information.

Description

Method and device for controlling automatic running of paver, edge controller and paver

Technical Field

The embodiment of the invention relates to the technical field of intelligent control, in particular to a method and a device for controlling automatic driving of a paver, an edge controller and the paver.

Background

In the process of operation of the paving machine, a driver is required to participate in driving control of the paving machine, and the paving machine is guaranteed to run according to a correct route at any time, so that a large amount of manpower is consumed, and how to control automatic running of the paving machine is a technical problem to be solved urgently at present.

In the prior art, the attitude information of the paving machine is acquired through a camera, and the driving direction of the paving machine is determined according to the attitude information, so that the automatic driving of the paving machine is controlled.

However, in the prior art, since the actual working condition environment is complicated, the position information of the paving machine determined by the visual data collected by the camera may have serious deviation, and thus the driving direction determined based on the position information may also have serious deviation, resulting in that the paving machine drives along a wrong route.

Disclosure of Invention

The invention provides a method and a device for controlling automatic running of a paving machine, an edge controller and the paving machine, which aim to solve the problem that the paving machine cannot automatically run along a running line when the paving machine works.

According to an aspect of the present invention, there is provided a method of controlling an automatic traveling of a paving machine, including:

determining initial position information of the paving machine in a static state;

determining first position information of the road paver at a first time after the road paver is changed from the stationary state to the driving state, and second position information of the road paver at a second time, the second time being later than the first time, the first position information and the second position information being determined by a camera device installed on the paved road;

and if the second position information is wrong position information, correcting the wrong position information into correct position information based on a displacement line obtained by fitting the initial position information and the first position information so that the pavement can automatically run according to a preset running line.

According to another aspect of the present invention, there is provided an apparatus for controlling automatic travel of a paving machine, including:

a first determination module for determining initial position information of the paving machine in a stationary state;

a second determination module for determining first position information of the road paver at a first time after the road paver is changed from the stationary state to the driving state, and second position information of the road paver at a second time, which is later than the first time, the first position information and the second position information being determined by a camera device mounted on the road;

and the correcting module is used for correcting the wrong position information into correct position information based on a displacement line obtained by fitting the initial position information and the first position information if the second position information is wrong position information, so that the pavement can automatically run according to a preset running line.

According to another aspect of the present invention, there is provided an edge controller including:

at least one processor;

and a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of controlling automatic travel of a paving machine as described in any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a paving machine including an edge controller according to another aspect of the present invention, the paving machine having a camera mounted thereon;

the camera shooting equipment is used for acquiring visual data; the edge controller is used for determining position information based on the visual data, correcting the position information, and controlling the paving machine to automatically run according to a preset running line based on the corrected correct position information.

According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a method of controlling automatic travel of a paving machine according to any one of the embodiments of the present invention when executed.

According to the technical scheme of the embodiment of the invention, the problem that the position information of the paving machine determined by the visual data acquired by the camera in the prior art has serious deviation and the paving machine runs according to a wrong path because the running direction determined based on the position information also has serious deviation is solved by correcting the wrong position information of the paving machine, and the beneficial effect that the wrong position information determined by the visual data acquired by the camera can be corrected and the paving machine is controlled to automatically run along the preset running line based on the correct position information is achieved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, 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 view of an operational scenario of a paving machine according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of another exemplary operating scenario of a paving machine according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow chart illustrating a method for controlling the automatic travel of a paving machine according to one embodiment of the present invention;

FIG. 4 is a diagrammatic illustration of a paving machine in a stationary condition in accordance with an embodiment of the present invention;

FIG. 5 is a schematic illustration of a paving machine in a target state according to one embodiment of the present disclosure;

FIG. 6 is a schematic illustration of an initial position of a paving machine provided in accordance with an embodiment of the present invention;

FIG. 7 is a flowchart illustrating a method for controlling automatic travel of a paving machine according to a second embodiment of the present invention;

FIG. 8 is a schematic structural diagram of an apparatus for controlling the automatic travel of a paving machine according to a third embodiment of the present invention;

FIG. 9 is a schematic illustration of a paving machine according to a fourth embodiment of the present invention;

FIG. 10 is a schematic illustration of another paving machine according to a fourth embodiment of the present invention;

FIG. 11 is a schematic diagram of an edge controller of a method of controlling paving machine auto-run in accordance with an embodiment of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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. It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Moreover, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.

The term "include" and variations thereof as used herein are open-ended, i.e., "including but not limited to". The term "based on" is "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the following description.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that references to "a", "an", and "the" modifications in the present invention are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that reference to "one or more" unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present invention are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

Example one

Fig. 1 is a schematic view of an operation scene of a road paving machine according to an embodiment of the present invention, fig. 2 is a schematic view of another operation scene of a road paving machine according to an embodiment of the present invention, white lines in fig. 1 and 2 are reference lines, and as can be seen from fig. 1 and 2, the road paving machine can determine position information of the road paving machine according to visual data collected by a camera, and can travel in a traveling direction after determining the traveling direction according to the position information. However, since the actual working condition environment of the paving machine is complicated, the visual data acquired by the camera may be deviated, and thus the traveling direction determined based on the position information may also be seriously deviated, which may cause the paving machine to travel along a wrong route.

In order to solve the above problems, an embodiment of the present invention provides an automatic driving method for a paving machine. Fig. 3 is a flowchart of a method for controlling automatic travel of a paving machine according to an embodiment of the present invention, which may be applied to a case where the paving machine automatically travels along a travel line when the paving machine performs a work, and which may be performed by a device for controlling automatic travel of the paving machine, wherein the device may be implemented by software and/or hardware and is generally integrated with an edge controller, and in this embodiment, the type and model of the edge controller are not limited.

As shown in fig. 3, a method for controlling automatic driving of a paving machine according to an embodiment of the present invention includes the following steps:

and S110, determining initial position information of the paving machine in a static state.

In this embodiment, the initial state of the paving machine is a stationary state, the initial position information may be position information of the paving machine in the stationary state, and the position information may include direction information and distance information.

Fig. 4 is a schematic diagram of a paving machine according to one embodiment of the present invention, and as shown in fig. 4, the paving machine may be B, C, D, E in four situations.

The method for determining the initial position information may be: visual data are obtained through camera equipment installed on the paver, and initial position information is calculated according to the obtained visual data.

It is understood that the visual data acquired by the camera device on the road paver is correct data when the road paver is in a stationary state, and thus it is possible to ensure that the calculated initial position information is correct position information.

S120, determining first position information of the road paver at a first time after the road paver is changed from the static state to the driving state and second position information of the road paver at a second time, wherein the second time is later than the first time, and the first position information and the second position information are determined by an image pickup device installed on the paved road.

In this embodiment, the first location information may be understood as the location information of the paving machine at a first time; the second position information may be understood as position information of the road paver at the second moment in time. Where the first time may be a time after the paving machine has traveled from a stationary state for a period of time, the period of time may be a time within 5 seconds, and where the period of time is 3 seconds, the first time may be a 4 th second, and the first location information may be understood as location information of the paving machine at a 5 th second after 4 seconds of operation. For example, the second time may be an 8 th second, and the second position information may be exemplarily understood as position information at the 8 th second after the paving machine operates for 7 seconds.

In this embodiment, when the paving machine starts to operate, the paving machine starts to travel from a stationary state, and first position information of the paving machine at a first time and second position information of the paving machine at a second time may be sequentially determined. The determination method of the first position information may be: and calculating according to the visual data acquired by the camera equipment installed on the paving machine at the first moment.

It should be noted that, when the paving machine starts to run from a stationary state, the first position information is the position information of the position where the paving machine runs for a short time, so that it can be ensured that the visual data acquired by the camera device is correct data, and it can be further ensured that the calculated first position information is correct position information.

And S130, if the second position information is wrong position information, correcting the wrong position information into correct position information based on a displacement line obtained by fitting the initial position information and the first position information, so that the pavement can automatically run according to a preset running line.

In this embodiment, since the second position is the position information of the position where the paving machine has been driven for a long time, the visual data acquired by the image pickup device is wrong data due to the shake of the paving machine, the change of light, the unevenness of the ground, and the like, and thus the determined second position information is wrong position information, it is necessary to determine whether the second position information is wrong position information.

There may be multiple ways to determine whether the second location information is the wrong location information, and one possible way may be: and determining whether the second position information comprises abnormal data or not, and if the second position information comprises the abnormal data, determining that the second position information is error position information. The anomalous data may include missing data or data that does not have a linear relationship.

In this embodiment, when the second position information is determined to be the error position information, the abnormal data in the error position information may be removed, and then the error position information may be corrected to be the correct position information according to the linear relationship of the shift lines. Wherein the displacement line may be a trajectory line of the paving machine starting from a standstill to a first position.

Specifically, the correcting the wrong position information to correct position information based on a displacement line obtained by fitting the initial position information and the first position information includes: fitting according to the initial position information and the first position information to obtain a displacement line; filtering abnormal data in the error position information through a preset filtering algorithm based on the displacement line; and correcting the error position information of the abnormal data filtered out into correct position information based on the displacement line.

In this embodiment, the displacement line may be obtained by performing fitting in various ways based on the initial position information and the first position information. For example, a first position coordinate of the paving machine in a stationary state may be determined from the initial position information, a second position coordinate of the paving machine at a first time may be determined from the first position information, and a corresponding linear relationship may be fitted from the first position coordinate and the second position coordinate, resulting in a straight-line formula y ═ kx + b, where x represents an abscissa and y represents an ordinate.

The preset filtering algorithm may be a preset filtering algorithm, and the preset filtering algorithm may be arithmetic mean filtering or median mean filtering.

In this embodiment, filtering the abnormal data in the error position information by a preset filtering algorithm based on the displacement line includes: determining abnormal data in the error position information according to the linear relation of the displacement lines; and filtering the abnormal data through a preset filtering algorithm.

In this embodiment, the modifying the error position information with the abnormal data filtered out to the correct position information based on the displacement line includes: the correct position coordinates can be determined according to the linear relation of the displacement lines; the correct position information can be determined according to the correct position coordinates; the erroneous position information is corrected to correct position information.

In one embodiment, after determining that the second position information is the correct position information, the driving direction of the paving machine may be adjusted a plurality of times based on the initial position information and a displacement line fitted to the first position information and the second position information until the paving machine is driven along the preset driving line.

The method for controlling the automatic driving of the road paving machine provided by the embodiment of the invention comprises the steps of firstly determining the initial position information of the road paving machine in a static state; then determining first position information of the paving machine at a first time after the paving machine changes from the stationary state to the driving state, and second position information of the paving machine at a second time, the second time being later than the first time; then, if the second position information is wrong position information, correcting the wrong position information into correct position information based on a displacement line obtained by fitting the initial position information and the first position information; and finally, adjusting the driving direction of the paving machine for multiple times based on the displacement line and the correct position information, determining the current position information of the paving machine after each adjustment, and ending the adjustment until the current position information is the same as the target position information, so that the paving machine automatically drives according to a preset driving line. The method can control the road paver to automatically run along the preset running line according to the correct position information by correcting the wrong position information.

In the first embodiment of the present invention, the initial position information, the first position information, the second position information, the error position information, the correct position information, the current position information, and the target position information are all position information. The content of the position information includes a first distance between an edge of the traveling crawler on a side of the paving machine close to the preset traveling line and a reference line, an angle of an included angle between a center line of the paving machine and the preset traveling line, and a second distance between the head of the paving machine and the preset traveling line.

The first distance between the edge of the traveling crawler belt on the right side of the paving machine and the reference line can be calculated according to the visual data acquired by the camera equipment; the angle of the included angle between the central line of the paving machine and the preset driving line can be obtained through the camera equipment, and the second distance between the head of the paving machine and the preset driving line can also be obtained through the camera equipment. The preset driving line may be understood as a preset driving line along which the paving machine should travel, and the reference line may be understood as a road marking line, the reference line and the preset driving line being parallel to each other and spaced apart from each other by a certain distance.

Further, the second distance between the paver head and the preset travel line is determined in the following manner: acquiring an angle of an included angle between the direction of the head of the paving machine and a preset driving line and a third distance between the camera device and the preset driving line along the direction perpendicular to the body of the paving machine by a camera device installed on the paving machine, wherein the camera device is installed on the paving machine; and determining a second distance between the edge of the front of the road paver on one side close to the preset driving line and the preset driving line by utilizing a trigonometric function formula based on the angle, the third distance and the length of the body of the road paver.

Taking initial position information as an example for explanation, fig. 6 is a schematic diagram of an initial position of a road paving machine according to an embodiment of the present invention, as shown in fig. 6, L represents a distance between a preset driving line and a reference line,

indicating the angle between the direction of the paver nose and the preset travel line, L3 indicating the third distance, L4 indicating the length of one half of the body. By formula of trigonometric function

L2 can be calculated, and L1, i.e., the second distance, can be calculated from L4 between the front of the paving machine and the preset driving line.

Further, the target position information satisfies that the first distance is equal to a distance between a preset driving line and a reference line, the angle is a preset angle, and the second distance is equal to a preset value.

In the present embodiment, the target position information needs to satisfy that a first distance between the edge of the traveling crawler on the right of the paver and the reference line is equal to a distance between the preset traveling line and the reference line, an angle of an included angle between the direction of the paver head and the preset traveling line is a preset angle, and a second distance between the edge of the right side of the paver head and the preset traveling line is a preset value. Wherein the preset angle may be 0 and the preset value may be the width of the traveling track on the right side of the paving machine.

Example two

Fig. 7 is a flowchart illustrating a method for controlling automatic driving of a paving machine according to a second embodiment of the present invention, where the second embodiment is optimized based on the above embodiments. Please refer to the first embodiment for a detailed description of the present embodiment.

As shown in fig. 7, a second embodiment of the present invention provides a method for controlling automatic driving of a paving machine, including the following steps:

and S210, determining initial position information of the paving machine in a static state.

S220, determining first position information of the road paving machine at a first time after the road paving machine is changed from the static state to the driving state and second position information of the road paving machine at a second time, wherein the second time is later than the first time, and the first position information and the second position information are determined by an image pickup device installed on the road paving.

And S230, if the second position information is wrong position information, correcting the wrong position information into correct position information based on a displacement line obtained by fitting the initial position information and the first position information.

S240, adjusting the driving direction of the paving machine for multiple times based on the displacement line and the correct position information, determining the current position information of the paving machine after each adjustment, and ending the adjustment until the current position information is the same as the target position information, so that the paving machine automatically drives according to a preset driving line.

The target position information may be attitude information and distance information of the road paver in the target state. FIG. 5 is a schematic illustration of a paving machine according to one embodiment of the present invention in a target state, as shown in FIG. 5, where the paving machine is traveling along a predetermined travel line.

In this embodiment, the driving direction of the paving machine may be determined based on the displacement line, the driving direction of the paving machine may be continuously adjusted according to the correct position information, and the current position information of the paving machine may be determined according to the angle and distance of each adjustment until the determined current position information is the same as the target position information. Wherein the traveling direction of the paving machine can be changed by controlling the traveling speed of the left and right traveling crawler belts of the paving machine.

Specifically, the adjusting the traveling direction of the paving machine a plurality of times based on the displacement line and the correct position information includes: determining a driving direction of the paving machine according to a slope of the displacement line; determining an adjustment direction of the paving machine based on a driving direction of the paving machine and the correct position information; the travel direction of the paving machine is adjusted a plurality of times based on the adjustment direction.

In this embodiment, an angle value of the slope, which may be an angle value of the direction of the front of the road paver from which the direction of travel of the road paver can be determined, can be determined from the slope of the displacement line. For example, the displacement line may be expressed as y ═ kx + b, where k may represent the slope of the displacement line, and the arc value may be calculated by arctank, and the angle value may be calculated by arctank × 180/pi.

In this embodiment, an offset direction and an offset angle of the road paver may be determined from the driving direction of the road paver and the information on the correct position of the road paver at the current position, from which offset direction and offset angle an adjustment direction of the road paver may be determined.

In this embodiment, adjusting the driving direction of the paving machine may include adjusting the driving direction of the paving machine a plurality of times over a plurality of preset time periods.

The preset time period may be understood as a preset time period, and for example, the preset time period may be one driving direction adjustment every 3 seconds, and one preset period may be 3 seconds.

Wherein the adjustment direction of the paving machine in the next preset time period can be determined based on the result calculated from the adjustment direction of the previous preset time period.

Further, the adjusting the driving direction of the road paving machine a plurality of times based on the adjusting direction includes: controlling the paving machine to travel in the adjusted direction for a preset time period; determining a steering displacement of the paving machine over the one preset time period; determining a steering angle of the paving machine within the one preset time period based on the steering displacement; determining an adjustment direction of the paving machine in a next preset time period based on the steering displacement, the steering angle and the target position information; the driving direction of the road paver is adjusted a plurality of times according to the process.

The steering displacement of the road paver within a preset time period may be calculated by the formula l ═ t × v, l may represent the steering displacement, t may represent a preset time period, and v may represent the traveling speed of the road paver.

The position information of the paving machine at the target position can be obtained according to the target position information, and the condition that the first distance between the edge of the traveling crawler belt on the right side of the paving machine and the datum line at the target position is the distance between the preset traveling line and the datum line can be understood; the angle of an included angle between the direction of the paver head and the preset driving line is 0, and the second distance between the paver head and the preset driving line is the width of the traveling crawler on the right side of the paver.

It can be understood that the adjustment direction of the paving machine in the next preset time period can be determined by combining the target position information with the steering displacement and the steering angle of the paving machine in the previous preset time period, the paving machine can calculate a new steering displacement and a new steering angle after driving for a preset time period according to the adjustment direction, the adjustment direction of the paving machine in the next preset time period can be determined by combining the target position information with the new steering displacement and the new steering angle, and the driving direction of the paving machine can be adjusted for multiple times according to the above process until the current position information of the paving machine is the same as the target position information.

In this embodiment, after the driving direction of the paving machine is adjusted once, it is necessary to determine the current position information of the paving machine after the adjustment once, and determine whether the current position information is the same as the target position information, if so, the adjustment is finished; if not, continuing to adjust.

Further, the running speed of the left and right travelling crawler belts of the paving machine is adjusted according to the adjusting direction determined in each adjusting process, and a control instruction of the running speed after each adjustment is sent to a running controller, so that the running controller controls the paving machine to automatically run according to the running speed after each adjustment.

Wherein the traveling direction of the paving machine can be determined by the traveling speed of the left and right traveling tracks of the paving machine, and the traveling direction of the paving machine can be changed by changing the speed difference of the left and right traveling tracks of the paving machine.

The method for controlling the automatic driving of the paving machine provided by the embodiment of the invention embodies the process that the paving machine automatically drives according to the preset driving line. By the method, the running direction of the paver can be more accurately adjusted, the paver is controlled to be quickly adjusted to the correct running direction, and the paver automatically runs along the preset running line.

EXAMPLE III

Fig. 8 is a schematic structural diagram of an apparatus for controlling automatic travel of a paving machine according to a third embodiment of the present invention, which may be applied to a case where the paving machine is controlled to automatically travel along a travel line while the paving machine performs work, wherein the apparatus may be implemented by software and/or hardware and is generally integrated with an edge controller.

As shown in fig. 8, the apparatus includes: a first determination module 110, a second determination module 120, and a correction module 130.

A first determination module 110 for determining initial position information of the paving machine in a stationary state;

a second determination module 120 for determining first position information of the paving machine at a first time after the paving machine is changed from the stationary state to the driving state, and second position information of the paving machine at a second time, the second time being later than the first time, the first position information and the second position information being determined by a camera apparatus installed on the paving path;

a correcting module 130, configured to correct the incorrect position information to correct position information based on a displacement line obtained by fitting the initial position information and the first position information if the second position information is incorrect position information, so that the pavement is automatically driven according to a preset driving line;

in the present embodiment, the apparatus first determines initial position information of the paving machine in a stationary state by the first determination module 110; first position information of the road paver at a first time after the road paver is changed from the stationary state to the driving state and second position information of the road paver at a second time, which is later than the first time, are then determined by a second determination module 120, the first position information and the second position information being determined by a camera device mounted on the road; and then, the correcting module 130 is configured to correct the wrong position information to correct the correct position information based on a displacement line obtained by fitting the initial position information and the first position information if the second position information is wrong position information, so that the paving road automatically runs according to a preset running line.

The present embodiment provides an apparatus for controlling automatic traveling of a paving machine, which is capable of correcting erroneous position information to correct position information to cause the paving machine to automatically travel along a preset travel line.

Further, the content of the position information includes a first distance between an edge of the traveling crawler on a side of the paving machine close to the preset traveling line and a reference line, an angle of an included angle between a center line of the paving machine and the preset traveling line, and a second distance between the head of the paving machine and the preset traveling line.

On the basis of the optimization, the second distance between the paver head and the preset driving line is determined in the following manner: acquiring an angle of an included angle between the direction of the head of the paving machine and a preset driving line and a third distance between the camera device and the preset driving line along the direction perpendicular to the body of the paving machine by a camera device installed on the paving machine, wherein the camera device is installed on the paving machine; and determining a second distance between the edge of the paver head close to one side of the preset driving line and the preset driving line by utilizing a trigonometric function formula based on the angle, the third distance and the length of the body of the paver.

Based on the above technical solution, the modification module 130 is specifically configured to: fitting according to the initial position information and the first position information to obtain a displacement line; filtering abnormal data in the error position information through a preset filtering algorithm based on the displacement line; and correcting the error position information of which the abnormal data is filtered out into the correct position information based on the displacement line.

Further, the apparatus further includes an adjusting module configured to: and adjusting the driving direction of the paving machine for multiple times based on the displacement line and the correct position information, determining the current position information of the paving machine after each adjustment, and ending the adjustment until the current position information is the same as the target position information so that the paving machine automatically drives according to a preset driving line.

Further, the adjusting module is specifically configured to: determining a driving direction of the paving machine according to a slope of the displacement line; determining an adjustment direction of the paving machine based on a driving direction of the paving machine and the correct position information; the travel direction of the paving machine is adjusted a plurality of times based on the adjustment direction.

Based on the above technical solution, the adjusting the driving direction of the paving machine for a plurality of times based on the adjusting direction includes: controlling the paving machine to travel in the adjusted direction for a preset time period; determining a steering displacement of the paving machine over the one preset time period; determining a steering angle of the paving machine within the one preset time period based on the steering displacement; determining an adjustment direction of the paving machine in a next preset time period based on the steering displacement, the steering angle and the target position information; the travel direction of the paving machine is adjusted a plurality of times in accordance with the above-described process.

Further, the adjusting module is further configured to: and adjusting the running speed of the left and right travelling tracks of the paving machine according to the adjusting direction determined in each adjusting process, and sending a control command of the running speed after each adjustment to a running controller so that the running controller controls the paving machine to automatically run according to the running speed after each adjustment.

The device for controlling the automatic traveling of the paving machine can execute the method for controlling the automatic traveling of the paving machine provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example four

Fig. 9 is a schematic structural diagram of a paving machine according to a fourth embodiment of the present invention, in which, as shown in fig. 9, a camera 10 is installed on the paving machine, and the paving machine includes an edge controller 20 according to any embodiment of the present invention;

the image pickup apparatus 10 is used to acquire visual data; the edge controller 20 is configured to determine position information based on the visual data, correct the position information, and control the paving machine to automatically travel according to a preset travel line based on the corrected correct position information.

The image pickup apparatus 10 may be any apparatus having an image pickup function, such as a security camera. Preferably, the camera device 10 may be mounted at the right-side body edge of the paving machine.

Edge controller 20 may be used, among other things, to implement the method of controlling paving machine auto-travel provided in any of the embodiments of the present invention. The details of the method are not repeated herein, and reference may be made to embodiment one and embodiment two.

Fig. 10 is another schematic structural diagram of a paving machine according to a fourth embodiment of the present invention, as shown in fig. 10, a paving console is disposed in the paving machine, an edge controller is disposed in the paving console of the paving machine, and a security camera is mounted on the paving machine.

According to the paving machine provided by the fourth embodiment of the invention, the edge controller can control the paving machine to automatically run according to the preset running line.

EXAMPLE five

FIG. 11 shows a schematic block diagram of an edge controller 20 that can be used to implement an embodiment of the present invention. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 11, the edge controller 20 includes at least one processor 21, and a memory communicatively connected to the at least one processor 21, such as a Read Only Memory (ROM)22, a Random Access Memory (RAM)23, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 21 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)22 or the computer program loaded from the storage unit 28 into the Random Access Memory (RAM) 23. In the RAM 23, various programs and data necessary for the operation of the edge controller 20 can also be stored. The processor 21, the ROM 22, and the RAM 23 are connected to each other via a bus 24. An input/output (I/O) interface 25 is also connected to bus 24.

A number of components in the edge controller 20 are connected to the I/O interface 25, including: an input unit 26 such as a keyboard, a mouse, etc.; an output unit 27 such as various types of displays, speakers, and the like; a storage unit 28, such as a magnetic disk, optical disk, or the like; and a communication unit 29 such as a network card, modem, wireless communication transceiver, etc. The communication unit 29 allows the edge controller 20 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 21 may be any of various general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 21 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. Processor 21 performs the various methods and processes described above, such as a method of controlling the automatic travel of a paving machine.

In some embodiments, a method of controlling paving machine auto-travel may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 28. In some embodiments, part or all of the computer program may be loaded and/or installed onto the edge controller 20 via the ROM 22 and/or the communication unit 29. When the computer program is loaded into RAM 23 and executed by processor 21, one or more steps of a method for controlling the automatic travel of a paving machine as described above may be performed. Alternatively, in other embodiments, processor 11 may be configured by any other suitable means (e.g., by firmware) to perform a method of controlling paving machine auto-travel.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described herein may be implemented on an edge controller having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the edge controller. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of controlling automatic travel of a paving machine, the method comprising:

2. The method of claim 1, wherein the content of the position information includes a first distance between an edge of the traveling track on a side of the paving machine near a preset travel line and a reference line, an angle of an included angle between a centerline of the paving machine and the preset travel line, and a second distance between the paving machine nose and the preset travel line.

3. The method of claim 2, wherein the second distance between the paving machine head and the preset travel line is determined by:

acquiring an angle of an included angle between the direction of the head of the paving machine and a preset driving line and a third distance between the camera device and the preset driving line along the direction perpendicular to the body of the paving machine by a camera device installed on the paving machine, wherein the camera device is installed on the paving machine;

and determining a second distance between the edge of the paver head close to one side of the preset driving line and the preset driving line by utilizing a trigonometric function formula based on the angle, the third distance and the length of the body of the paver.

4. The method of claim 1, wherein correcting the wrong position information to correct position information based on a displacement line fitted by the initial position information and the first position information comprises:

fitting according to the initial position information and the first position information to obtain a displacement line;

filtering abnormal data in the error position information through a preset filtering algorithm based on the displacement line;

and correcting the error position information of which the abnormal data is filtered out into the correct position information based on the displacement line.

5. The method according to claim 2, wherein the target position information satisfies that the first distance is equal to a distance between a preset driving line and a reference line, the angle is a preset angle, and the second distance is equal to a preset value.

6. The method of claim 1, wherein the paving machine is automatically driven according to a preset driving line, comprising:

and adjusting the driving direction of the paving machine for multiple times based on the displacement line and the correct position information, determining the current position information of the paving machine after each adjustment, and ending the adjustment until the current position information is the same as the target position information so that the paving machine automatically drives according to a preset driving line.

7. The method of claim 6, wherein adjusting the direction of travel of the paving machine a plurality of times based on the line of displacement and correct position information comprises:

determining a driving direction of the paving machine according to a slope of the displacement line;

determining an adjustment direction of the paving machine based on a driving direction of the paving machine and the correct position information;

the travel direction of the paving machine is adjusted a plurality of times based on the adjustment direction.

8. The method of claim 7, wherein the adjusting the direction of travel of the paving machine a plurality of times based on the adjustment direction comprises:

controlling the paving machine to travel for a preset time period according to the adjusting direction;

determining a steering displacement of the paving machine within the one preset time period;

determining a steering angle of the paving machine within the one preset time period based on the steering displacement;

determining an adjustment direction of the paving machine in a next preset time period based on the steering displacement, the steering angle and the target position information;

the travel direction of the paving machine is adjusted a plurality of times in accordance with the above-described process.

9. The method of claim 6, wherein the travel speeds of the left and right travel tracks of the paving machine are adjusted according to the adjustment direction determined during each adjustment, and a control command for each adjusted travel speed is sent to a travel controller to cause the travel controller to control the paving machine to travel automatically at each adjusted travel speed.

10. An apparatus for controlling automatic travel of a paving machine, the apparatus comprising:

a second determination module that determines first position information of the road paving machine at a first time after the road paving machine is changed from the stationary state to the traveling state, and second position information of the road paving machine at a second time, the second time being later than the first time, the first position information and the second position information being determined by a camera apparatus mounted on the road paving;

11. An edge controller, characterized in that the edge controller comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of controlling paving machine auto-drive of any of claims 1-9.

12. A paving machine comprising the edge controller of claim 11, wherein the paving machine has a camera mounted thereon;

13. A computer-readable storage medium, characterized in that it stores computer instructions for causing a processor, when executed, to implement the method of controlling the automatic travel of a road paving machine as claimed in any one of claims 1 to 9.