Paving operation control method and system

Abstract

A system for controlling a paving operation includes a paving machine, the paving machine including a measuring device and a paving machine controller. The measuring device obtains thermal image data and position data of an asphalt mat, and the paving machine controller determines whether a person is on the asphalt mat based on a temperature range and the thermal image data. The paving system also includes a compactor controller. When the paving machine controller determines that a person is on the asphalt mat, the paving machine controller determines the distance between the person and the compactor based on the obtained position data, and when the determined distance between the person and the compactor is less than a speed-maintaining threshold distance, the paving machine controller outputs a signal for reducing the speed of the compactor. Upon receiving the signal, the compactor controller automatically reduces the speed of the compactor.

Description

Technical Field

[0001] The present invention generally relates to a method and system for use during paving operations, and more particularly to a method and system for controlling a compactor during paving operations. Background Art

[0002] During a paving operation, multiple machines move simultaneously across a work area to form an asphalt mat. For example, a paving system may include a haul truck that delivers the paving material, a paver that distributes the paving material over the work area, and one or more compactors or rollers that compact and level the distributed paving material. The haul truck, paver, and one or more compactors may travel at set distances relative to each other to ensure that the paving material is distributed and compacted at an optimal temperature. To this end, the paving machine may be equipped with a temperature measuring device that measures the temperature at multiple points on the asphalt mat to control the machine's movement and assess the quality of the asphalt mat.

[0003] For example, the system described in U.S. Patent No. 8,099,218 B2 includes an electronic control unit that uses sensed paving material temperature and machine position to determine whether a compacting machine is about to compact paving material in a soft zone. A soft zone is an area of ​​paving material at a temperature that causes the material to push easily and create waves in front of the compactor drum. The '218 patent discloses an electronic control unit that establishes a plan for paving a work area based on a location temperature model, compares temperature data received from a temperature sensor with predicted temperatures from the location temperature model, and updates the location temperature model to change the plan if the temperatures differ, and operates the system according to the updated plan by outputting appropriate machine guidance signals. In one embodiment, signals are transmitted to the machines to adjust the relative spacing therebetween to avoid compacting areas of the mat, such as soft zones, that are within a predetermined temperature range, or to ensure that specific areas of the mat are compacted when the mat is within a predetermined temperature range. That is, the system described in the '218 patent operates according to an updated plan by outputting signals to control machine navigation based on a comparison between predicted and sensed temperatures to ensure compaction of the mat within a desired temperature range.

[0004] However, the system described in the '218 patent does not provide for processing thermal image data and controlling the machine based on human indications on the mat during the paving operation.

[0005] The paving operation control method and system according to the present invention can solve one or more of the above problems and / or other problems in the art. However, the scope of the present invention is defined by the appended claims, rather than by the ability to solve any specific problem. Summary of the Invention

[0006] In one aspect, a method for controlling the operation of a compactor during a paving operation may include obtaining thermal image data and position data of an asphalt mat using a measurement device on the paving machine, and determining, using a controller, whether a person is on the asphalt mat based on a temperature range and the thermal image data. The method also includes determining, using the controller, a distance between the person and the compactor using the obtained position data and a position of the compactor, and generating, using the controller, a signal to reduce the speed of the compactor when the determined distance between the person and the compactor is less than a speed-maintaining threshold distance.

[0007] In another aspect, a system for controlling a paving operation may include a paver having a measuring device configured to obtain thermal image data and position data of an asphalt mat and a paver controller configured to determine whether a person is on the asphalt mat based on a temperature range and the thermal image data. The system may also include a compactor including a compactor controller in communication with the paver controller. The paver controller is further configured to determine a distance between the person and the compactor based on the obtained position data when the paver controller determines that a person is on the asphalt in near real time. Additionally, the paver controller is configured to generate and output a signal for reducing the speed of the compactor when the determined distance between the person and the compactor is less than a speed-maintaining threshold distance. Furthermore, the compactor controller is configured to automatically reduce the speed of the compactor upon receiving the signal to reduce the speed of the compactor.

[0008] Furthermore, a method for automatically reducing the speed of a compactor after detecting the presence of a person on an asphalt mat during a paving operation may include receiving near real-time temperature data and near real-time position data for a plurality of points on the asphalt mat from a measurement device on the paving machine, and determining, using a controller on the paving machine, a point within a temperature range among the plurality of points based on the received near real-time temperature data as a person identification point. Furthermore, the method may include generating a signal to reduce the speed of the compactor upon determining the person identification point. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A schematic diagram of a paving system according to the present invention is shown, the paving system comprising a paving device and a compactor;

[0010] Figure 2 A heat map of an asphalt mat is shown, including data indicating that a person is on the asphalt mat;

[0011] Figure 3 A schematic diagram showing a notification of a display of a compacting machine according to the present invention;

[0012] Figure 4A schematic diagram showing a thermal measurement device and a controller of a paving device and a controller of a compacting machine according to the present invention; and

[0013] Figure 5 A flow chart of a paving operation control method according to the present invention is shown. DETAILED DESCRIPTION

[0014] The foregoing general description and the following detailed description are exemplary and illustrative only and do not limit the claimed features. As used herein, the terms "comprises," "comprising," "having," "including," or other variations thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but may also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, in the present invention, relative terms such as "approximately" and "generally," "substantially," and "about" are used to indicate a possible variation of ±10% in the stated value. Furthermore, in the present invention, the term "automatically" is used to indicate that a function is performed within a device, such as a controller, without action by an operator.

[0015] Reference Figure 1 , a paving system 100 for use in a paving operation includes a paving apparatus or paver 102, which may include a hopper 104, a paver platform 106, at least one auger 108, a screed plate 110, a thermal measurement device 112, a paver controller 114, and a paver global positioning system (GPS) device 116. The paver 102 may be any conventional paving apparatus or machine. The thermal measurement device 112 may be an optical temperature sensor, such as a thermal camera or thermal line scanner that uses infrared radiation to capture thermal image data 118. The thermal measurement device 112 has a field of view (FOV) 120 and is shown mounted on the paver platform 106. In this orientation, the thermal measurement device 112 is configured to capture thermal image data 118 for each data point 122 along each scan line 124 of an asphalt mat 126 deposited on a work surface located behind the screed plate 110 as the paver 102 advances. That is, when the paving machine 102 is Figure 1 As the thermal measurement device 112 travels along the work surface in the direction indicated by arrow A, it faces the opposite direction relative to arrow A and captures thermal image data 118. For each of a plurality of scan lines 124, the thermal image data 118 may include pixel values ​​or coordinate values ​​x, y and a temperature value T for each of a plurality of data points 122 along the scan line 124. x,y , to generate a full thermal map 128 of the asphalt mat 126, such as Figure 2As shown. Thermal measurement device 112 can capture thermal image data 118 in near real time. However, the present invention is not limited to this arrangement of thermal measurement device 104, and thermal measurement device 112 can be mounted to other parts of paving machine 102 or can be held by a user. For example, thermal measurement device 112 can be mounted to screed plate 110.

[0016] The paving machine GPS device 116 can be any conventional type of GPS device, including: an antenna that amplifies the radio signal transmitted by the GPS satellite at a specific frequency; and a receiver that receives the amplified radio signal and converts it into an electrical signal, i.e. Figure 2 The GPS data 130 shown is provided for use by the paving machine controller 114. That is, the paving machine GPS device 116 receives signals from three or more satellites to determine the position of the paving machine 102 using trilateration. The receiver of the paving machine GPS device 116 calculates, for each signal received from a satellite, the difference between the time the satellite transmitted the signal and the time the paving machine GPS device 116 received the signal. Using the time and signal information received from the three or more satellites, the receiver triangulates the near real-time position of the paving machine 102 and may also determine the speed of the paving machine 102. However, as described below, the GPS device 116 may operate as part of a total station system.

[0017] The near real-time position of the paving machine 102 can be defined as a paving machine coordinate PD(x,y). The paving machine coordinate PD(x,y) can be, for example, the point on the paving machine 102 closest to the asphalt mat 126. The paving machine GPS device 116 can also determine the near real-time position of the paving machine 102 in relation to other machines in the paving system 100 and can transmit the near real-time position of the paving machine 102 to the paving machine controller 114 or other device. The paving machine GPS device 116 can be located in, on, or associated with the paving machine 102.

[0018] See again Figure 1 The paving machine 102 also includes a paving machine display 132 mounted within the paving machine platform 106 and optionally mounted on the back of the paving machine 102. The paving machine display 132 can be connected to the paving machine controller 114. The paving machine display 132 can be, for example, a liquid crystal display (LCD) device that displays data, commands, alarms, or other informational notifications to an operator of the paving machine 102. The paving machine display 132 can also serve as a user interface for receiving input or commands from a user and outputting alarms or other notifications to the user.

[0019] like Figure 1As shown, paving system 100 also includes at least one compactor 134, which can be any conventional compacting device or machine. Compactor 134 has a compactor cab 136, a compactor controller 138, a compactor GPS device 140, and a compactor display 142. Compactor display 142 can be, for example, a liquid crystal display (LCD) device. Compactor 134 can also include a front frame 144 and a cylindrical roller 146 mounted on front frame 144. Roller 146 can be, for example, a single smooth roller. However, compactor 134 can have more than one roller 146. Alternatively, compactor 134 can be a pneumatic fatigue compactor.

[0020] refer to Figure 3 The compactor display 142 displays data and notifications 148 to the operator of the compactor 136, including commands and alarms or other information, and can receive user input. Similar to the paver GPS device 116, the compactor GPS device 140 can be any conventional type of GPS device, including: an antenna that amplifies radio signals transmitted by GPS satellites at a specific frequency; and a receiver that receives the amplified radio signal and converts it into an electrical signal, i.e., Figure 2 The GPS data 130 shown is provided for use by a compactor controller 138. That is, the compactor GPS device 140 receives signals from three or more satellites to determine the location of the compactor 134 using trilateration. For each signal received by the compactor GPS device 140, the compactor GPS device's receiver calculates the difference between the time the satellite transmitted the signal and the time the compactor GPS device 140 received the signal. Using the time and signal information received from the three or more satellites, the receiver triangulates the near real-time location of the compactor 134 and may also determine the speed of the compactor 134.

[0021] Alternatively, the compactor GPS device 140 and the paving machine GPS device 116 may operate as part of a total station system, such as a virtual reference system (VRS), a real-time kinematic (RTK) system, or a satellite-based augmentation system (SBAS). A total station system may include Figure 1 1. Base station 150 and satellite 152 are shown. Base station 150 may have coordinates of an origin (0,0), and satellite 152 may wirelessly communicate with each of paver GPS device 116, compactor GPS device 140, and base station 150 to determine the coordinates of paver 102 and compactor 134. Additionally, in situations where a total station system does not require a satellite, base station 150 may wirelessly communicate with each of paver GPS device 116 and compactor GPS device 140. Details of determining the coordinates of paver 102 and compactor 134 are described below.

[0022] The near real-time position of the compactor 134 can be defined as the compactor coordinate C(x,y). The compactor coordinate C(x,y) can be, for example, the point on the compactor 134 that is closest to the paving machine coordinate PD(x,y). The compactor GPS device 140 can also determine the relationship between the near real-time positions of the compactor 134 and other machines in the paving system 100 and can transmit the near real-time position of the compactor 134 to the paving machine controller 114 or other devices. The compactor GPS device 140 can be located in, on, or associated with the compactor 134.

[0023] Reference Figure 4 , the paving machine controller 114 may include at least one paving machine memory 154, at least one paving machine processor 156, a paving machine receiver 158, and a paving machine transmitter 160. The paving machine memory 154 may comprise suitable logic, circuitry, interfaces, and / or code that may be configured to store the set of instructions to be executed by the paving machine processor 156. In one embodiment, the paving machine memory 154 may be configured to store one or more programs, routines, or scripts that may be executed in conjunction with the paving machine processor 156 to perform operations such as Figure 5 The paving machine memory 154 may also store the thermal image data 118, the GPS data 130, and threshold values, including a threshold temperature and a threshold distance, which may be used to define a temperature range, all of which may be used in the method 500. The paving machine memory 154 may be a random access memory (RAM), a read-only memory (ROM), a hard disk drive (HDD), a storage server, and / or a secure digital (SD) card. The paving machine processor 156 may be, for example, a central processing unit (CPU). However, the paving machine memory 154 and the paving machine processor 156 are not limited to the devices listed above.

[0024] The paving machine receiver 158 wirelessly receives signals from other machines in the paving system 100 and / or machines or servers remote from the paving system 100. The paving machine transmitter 160 wirelessly transmits signals to other machines in the paving system 100 and / or machines or servers remote from the paving system 100. The signals may include, for example, alarm commands, navigation commands, thermal image data 118, and GPS data 130. The paving machine receiver 158 and the paving machine transmitter 160 may be configured to communicate via a Wi-Fi network or any other suitable wireless network.

[0025] The compactor controller 138 may include at least one compactor memory 162, at least one compactor processor 164, a compactor receiver 166, and a compactor transmitter 168. Similar to the paver memory 154, the compactor memory 162 includes suitable logic, circuitry, interfaces, and / or code that may be configured to store a set of instructions to be executed by the compactor processor 164. In one embodiment, the compactor memory 162 may be configured to store one or more programs, routines, or scripts that may be executed in conjunction with the compactor processor 164 to perform operations such as Figure 5 The steps of the method 500 shown in FIG. 1 and FIG. 2 may also be performed by the compactor memory 162. The compactor memory 162 may also store the thermal image data 118, the GPS data 130, and threshold values, including threshold temperatures and threshold distances, which may be used to define temperature ranges, all of which may be used in the method 500. The compactor memory 162 may be a random access memory (RAM), a read-only memory (ROM), a hard disk drive (HDD), a storage server, and / or a secure digital (SD) card. For example, the compactor processor 164 may be a central processing unit (CPU). However, the compactor memory 162 and the compactor processor 164 are not limited to the devices listed above.

[0026] The compactor receiver 166 wirelessly receives signals from other machines in the paving system 100 and / or machines or servers remote from the paving system 100. The compactor transmitter 168 wirelessly transmits signals to other machines in the paving system 100 and / or machines or servers remote from the paving system 100. These signals may include, for example, alarm commands, navigation commands, paving material temperature data, and machine location data. The compactor receiver 166 and the compactor transmitter 168 may be configured to communicate via a Wi-Fi network or any other suitable wireless network.

[0027] The paver controller 114 and the compactor controller 138 are configured to control the paving operation of the paving system 100 based at least in part on the thermal image data 118 output from the thermal measurement device 112, the GPS data 130 output from the paver GPS device 116 and the compactor GPS device 140, and programs executed by the paver processor 150 and the compactor processor 164. At least one of the paver controller 114 and the compactor controller 138 calculates a relative distance and coordinate value (x, y) between one or both of the paver coordinates PD(x, y) and the compactor coordinates C(x, y) of the received thermal image data 118.

[0028] For example, the paver GPS device 116 and the compactor GPS device 140 wirelessly communicate the paver coordinates PD(x,y) and the compactor coordinates C(x,y), respectively, within the same local coordinate system and using the same origin (0,0). Additionally, the thermal measurement device 112 is calibrated relative to the paver 102 such that an offset distance D(x,y) between the paver 102 and a data point 122 included in the thermal image data 118 is known. Using the offset distance D(x,y), the coordinate values ​​(x,y) of each of the plurality of data points 122 included in the thermal image data 118 associated with the paver 102 can be determined. That is, at least one of the paver controller 114 and the compactor controller 138 uses the paver coordinates PD(x,y) or the compactor coordinates C(x,y) and the offset distance D(x,y), respectively, to determine the distance between the coordinate value (x,y) and the paver coordinate values ​​PD(x,y) and / or the compactor C(x,y): (x,y) = PD(x,y) + D(x,y).

[0029] The paver controller 114 and the compactor controller 138 are configured to receive inputs and provide outputs in any suitable manner. For example, a user can use the paver display 132 to provide inputs to the paver 102 and receive outputs from the paver. Similarly, a user can use the compactor display 142 to provide inputs to the compactor 134 and receive outputs from the compactor. Alternatively, each of the paver 102 and the compactor 134 may have an input device, such as a keyboard, mouse, joystick, or steering wheel, through which a user can provide inputs. Inputs from the user may include user-defined values, such as one or more user-defined threshold temperatures and one or more user-defined threshold distances. Inputs may also include alarm commands and navigation commands. Alternatively, a user may provide inputs and receive outputs remotely, with the inputs and outputs being transmitted via one or more of the paver receiver 158, the paver transmitter 160, the compactor receiver 166, and the compactor transmitter 168, as appropriate.

[0030] Industrial Applicability

[0031] The paving system 100 of the present invention, and in particular, the methods performed by the paver controller 114 and the compactor controller 138, can use the received thermal image data 118 and GPS data 130 to provide detection of a person 170 on the asphalt mat 126 and automatic control of the compactor 134 to reduce speed or stop upon detection of the person 170. That is, the paving system 100 thus provides automatic control of the machines of the paving system 100 without the need for specialized equipment.

[0032] Figure 5A flow chart is shown of a method 500 performed by the paver controller 114 and the compactor controller 138 using the thermal image data 118 obtained using the thermal measurement device 112 and the GPS data 130 obtained using the paver GPS device 116 and the compactor GPS device 140 of the paving system 100 .

[0033] Specifically, Figure 5 A method 500 is shown for controlling the operation of a compactor 134 based on detection of a person 170 on an asphalt mat 126. For example, in step 502, the paving machine controller 114 obtains thermal image data 118 of the asphalt mat 126 from the thermal measurement device 112, including coordinate values ​​(x, y) and temperature values ​​T for each of the plurality of scan lines 124 for each of the plurality of data points 122 along the scan line 124. x,y The paver controller 114 also obtains GPS data 130 , including paver coordinates PD(x,y) from the paver GPS device 116 and compactor coordinates C(x,y) from the compactor GPS device 140 .

[0034] Next, in step 504, the paving machine controller 114 determines whether a person 170 is present on the asphalt mat 126 between the paving machine 102 and the compactor 134 by analyzing the received thermal image data 118. Specifically, the paving processor 156 determines the temperature value T for each data point 122 of each scan line 124 within the FOV 120. x,y Is it at the low threshold temperature T low and high threshold temperature T high The low threshold temperature T can be selected based on the temperature distribution of the human body. low and high threshold temperature T high , in order to exclude, for example, temperature values ​​T of manholes or curbs x,y For example, the low threshold temperature T low It can be 80°F, the high threshold temperature T high It can be 105°F. In addition, the low threshold temperature T low and high threshold temperature T high The selection may further be based on ambient temperature or based on capability information of thermal measurement device 112. If paving machine controller 114 determines a temperature value T of one or more data points 122 x,y Within the temperature range R, the paving machine controller 114 may store those data points 122 as Figure 2Person identifier data points 166 are shown, and thus, person 170 is determined to be present on asphalt mat 126. Additionally, paving machine controller 114 may identify one of person identifier data points 166 as person coordinates P(x,y). Person coordinates P(x,y) may be the point among person identifier data points 166 that is closest to compactor coordinates C(x,y).

[0035] If the paver controller 114 determines that a person is present on the asphalt mat 126 between the paver 102 and the compactor 134, then in step 506, the paver controller 114 outputs a signal to the compactor controller 138 to automatically reduce the speed of the compactor 134. Specifically, the paver transmitter 160 outputs a deceleration signal to the compactor 134. The method 500 then ends.

[0036] Although the method 500 is described as including steps 502 through 506, the method may include additional steps. For example, in an alternative embodiment, the method 500 may include an additional step in which the compactor receiver 166 receives a deceleration signal from the paving machine transmitter 160 and the compactor controller 138 automatically reduces the speed of the compactor 134 by, for example, applying a braking system. The method 500 may also include the additional step of outputting a notification 148 via the compactor display 142 indicating that the speed of the compactor 134 was automatically reduced due to the identification of the person 170 on the asphalt mat 126. As an example, the notification may read as follows: Figure 3 Compactor Slowdown - Person on Pad shown.

[0037] Additionally, in another alternative embodiment, the method 500 may include the step of determining a relationship between the position of the person 170 and the position of the compactor 134 after the paving machine controller 114 determines that the person 170 is present on the asphalt mat 126 between the paving machine 102 and the compactor 134. Specifically, the paving machine controller 114 calculates the compactor-to-person distance X between the compactor coordinates C(x,y) and the person coordinates P(x,y). C-P In the following step, the paving machine controller 114 sets the distance X from the compactor to the person. C-P Distance X from the speed threshold maintain_speed The comparison is made to determine whether to maintain the speed of the compactor 134 or to decelerate the compactor 134. For example, the maintaining speed threshold distance X may be determined based on the stopping capability of the compactor 134, including the weight of the compactor 134 and the speed of the compactor 134, as well as industry standards and guidelines. maintain_speed That is, based on the weight of the compactor 134 (which may be in excess of 15,000 pounds) and the speed of the compactor 134 (which may be between 3 mph and 8 mph), for example, the maintaining speed threshold distance X may be calculated by the paving machine controller 114. maintain_speed If the distance from the compactor to the person is XC-P Less than the speed threshold distance X maintain_speed , the paver controller 114 generates a deceleration signal. And, as in step 506 above, the paver controller 114 then instructs the compactor controller 138 to automatically decelerate the speed of the compactor 134 via a deceleration signal. On the other hand, if the distance X from the compactor to the person is C-P Greater than or equal to the maintaining speed threshold distance X maintain_speed , the paving machine controller 114 does not generate a reduce speed signal. Then, the method 500 ends.

[0038] In yet another alternative embodiment, the method may further include the following steps: determining the distance X from the compactor to the person at the paving machine controller 114; C-P Less than the speed threshold distance X maintain_speed Then, determine the distance X from the compactor to the person C-P Is it less than the operating threshold distance X? maintain_operation , to determine whether to maintain the operation of the compactor 134 or to stop the compactor 134. Maintaining the operation threshold distance X maintain_operation Less than the speed threshold distance X maintain_speed The maintenance operation threshold distance X may be determined based on the stopping capabilities of the compactor 134, including the weight of the compactor 134 and the speed of the compactor 134, as well as industry standards and guidelines. maintain_operation That is, based on the weight of the compactor 134 (which may be in excess of 15,000 pounds) and the speed of the compactor 134 (which may be between 3 mph and 8 mph, for example), the maintenance operation threshold distance X may be calculated by the paving machine controller 114. maintain_speed If the distance XC-P from the compactor to the person is less than the operating threshold distance X maintain_operation , the paver controller 114 generates a stop operation signal. And, similar to step 506 above, the paver controller 114 then outputs the signal to the compactor controller 138. In this alternative embodiment, the method 500 may further include the steps of receiving the stop operation signal from the paver controller 114 via the compactor receiver 166, and automatically stopping the compactor 134 using the compactor controller 138. In addition, in this alternative embodiment, the method 500 may further include outputting to the compactor display 142 an indication that the compactor 134 has stopped due to the identification of the person 170 on the asphalt mat 126 at a distance X. maintain_operation The additional step of automatically stopping the notice 148 is as follows. As an example, the notice 148 can read "Stop Compactor - Someone on Mat".

[0039] Furthermore, while the paver controller 114 performs certain steps of the method 500 in the above-described embodiment, in another alternative embodiment, the compactor controller 138 may perform at least some of these steps. For example, in this alternative embodiment, the compactor controller 138 may obtain the thermal image data 118 and the paver coordinates PD(x, y) from the paver controller 114. The compactor controller 138 may then determine whether a person 170 is on the asphalt mat 126 by analyzing the received thermal image data 118 using the compactor processor 164. If a person is identified as being on the asphalt mat 126 between the paver 102 and the compactor 134, the compactor controller 138 may automatically slow down or stop the compactor 134 in the same manner as described in the above-described alternative embodiment. Additionally, upon determining that a person 170 is on the asphalt mat 126, the compactor controller 138 may calculate the distance X from the compactor to the person. C-P , and can use the speed threshold distance X maintain_speed and maintain the operating threshold distance X maintain_operation , automatic control of the compactor 134 is performed in the same manner as described above with respect to the paver controller 138. Additional steps may be performed in this alternative embodiment, such as those described above with respect to the various alternative embodiments.

[0040] Furthermore, although one of the paver controller 114 and the compactor controller 138 is described in the above embodiment as performing certain steps of method 500, in yet another alternative embodiment, a controller remote from the paver 102 and the compactor 134 may be used to perform at least some steps of method 500. For example, in an alternative embodiment, a remote controller may obtain thermal image data 118 and paver coordinates PD(x,y) from the paver controller 114. The remote controller may then determine whether a person 170 is on the asphalt mat 126 by analyzing the received thermal image data 118 using a processor to perform the above functions. If a person is identified as being on the asphalt mat 126 between the paver 102 and the compactor 134, the remote controller may automatically slow down or stop the compactor 134 in the same manner as described in the above alternative embodiment. Additionally, after determining that the person 170 is on the asphalt mat 126, the remote controller may calculate the distance X from the compactor to the person. C-P , and can use the speed threshold distance X maintain_speed and maintain the operating threshold distance X maintain_operation , automatic control of the compactor 134 is performed in the same manner as described above with respect to the paver controller 138. Additional steps, such as those described above, may be performed in this alternative embodiment.

[0041] Although specific temperature thresholds are described above, the threshold temperatures are not limited to these values ​​and may be subject to change. For example, the threshold temperature may be determined by the paving machine controller 114 using the ambient temperature. Additionally, although a specific maintaining speed threshold distance X is described above, maintain_speed and a specific maintenance operation threshold distance X maintain_operation , but the threshold distance is not limited to these values ​​and may be subject to change. In addition, the distance X from the compactor to the person is determined by one of the paver controller 114, the compactor controller 138, or the remote controller. C-P In an embodiment, the method may include determining the distance X from the paving device to the compactor. PD-C , the distance X PD-C This may be calculated based on the received GPS data 130 or may be a predetermined threshold distance used to control the paving operation.

[0042] The locations of the paver 102, compactor 134, and person 170 used in method 500 may be near real-time locations. That is, the paver controller 114, compactor controller 134, or a remote controller may be used in performing the steps of the method.

[0043] The method 500 may be executed each time the paving machine controller 114 acquires a scan line 124. Alternatively, the method 500 may be executed less frequently. For example, the method 500 may be executed after the paving machine controller 114 acquires a plurality of scan lines 124.

[0044] Furthermore, the method 500 of the present invention may be used as a feature of autonomous or semi-autonomous paving operations of the paving system 100. That is, the method 500 may be used in fully autonomous paving operations that do not require input or action by one or more operators. Alternatively, the method 500 may be used in semi-autonomous paving operations where input or action by one or more operators may be required for the paving operation.

[0045] Embodiments of the present invention encompass a system for controlling the operation of a compactor during a paving operation using thermal image data and position data of an asphalt mat, as well as at least a threshold temperature. Furthermore, embodiments of the present invention encompass a method for controlling a compactor during a paving operation using thermal image data and position data of an asphalt mat, a threshold temperature, and one or more threshold distances. Furthermore, embodiments of the present invention encompass a method for reducing the speed of a compactor during a paving operation when a person is detected on the asphalt mat using at least thermal image data and position data of the asphalt mat, as well as a threshold temperature.

[0046] By means of the system and associated methods of the present invention, a mechanism is provided by which thermal image data can be used to detect people on an asphalt mat in near real time, potentially without requiring additional equipment or devices, and machines in paving system 100 can be controlled based on such detection. Specifically, thermal measurement device 112 for obtaining thermal image data can be provided on a paving machine to control the movement of the machines in paving system 100 and assess the quality of the asphalt mat. Thus, the system and associated methods of the present invention can utilize the same thermal image data obtained by thermal measurement device 112 without requiring a separate device.

[0047] Furthermore, with respect to at least some of the embodiments described above, with the systems and associated methods of the present invention, the deceleration signal may be limited to those instances in which the person 170 is near the compactor 134 (i.e., within a maintained speed threshold distance X). maintain_speed within and / or maintain the operating threshold distance X maintain_operation ) to reduce interruptions to paving operations.

[0048] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed systems and methods without departing from the scope of the invention. Other embodiments of the systems and methods will be apparent to those skilled in the art from consideration of the specification and practice of the paving operation control system and methods disclosed herein. It is intended that the specification and examples be considered exemplary only, with the true scope of the invention being indicated by the following claims and their equivalents.

Claims

1. A system for controlling a paving operation, the system comprising: A paving machine comprising: a measuring device configured to obtain thermal image data and position data of the asphalt mat; as well as a paving machine controller configured to determine whether a person is on the asphalt mat based on the temperature range and the thermal image data; and a compactor including a compactor controller in communication with the paver controller, Wherein, the paver controller is configured to: when the paver controller determines that there is a person on the asphalt mat layer, determine the distance between the person and the compactor based on the obtained position data, and when the determined distance between the person and the compactor is less than the speed maintenance threshold distance, generate and output a signal for reducing the speed of the compactor, and the compactor controller is configured to automatically reduce the speed of the compactor when receiving the signal to reduce the speed of the compactor.

2. The system of claim 1, wherein the paver controller and the compactor controller are in wireless communication with each other.

3. The system of claim 1, wherein: The thermal image data and the position data are obtained in near real time.

4. The system of claim 1 , wherein the paving machine controller identifies one or more points in the plurality of points in the thermal image data having temperature values ​​within the temperature range in determining whether a person is on the asphalt mat.

5. The system of claim 4, wherein the paver controller, when determining the distance between the person and the compactor, calculates a distance between a position value of at least one of the identified one or more points and a position value of the compactor.

6. The system of claim 5, wherein: The compactor further includes a display, and the compactor controller is further configured to display a notification on the display indicating that a person is identified on the asphalt mat when the distance between the person and the compactor is less than the maintaining speed threshold distance.

7. The system of claim 5, wherein: The paving machine controller is further configured to generate and output a signal for stopping operation of the compacting machine when the determined distance between the person and the compacting machine is less than a maintain operation threshold distance, the maintain operation threshold distance being less than the maintain speed threshold distance.

8. The system of claim 7, wherein: The compactor controller is configured to automatically stop operation of the compactor upon receiving a signal to stop operation of the compactor.

9. The system of claim 8, wherein: The compactor further includes a display, and the compactor controller is further configured to display a notification on the display indicating that operation of the compactor is automatically stopped due to identification of a person on the asphalt mat when the distance between the person and the compactor is less than the maintaining operation threshold distance.

10. The system of claim 1, wherein the temperature range is defined by a low threshold temperature of 80°F and a high threshold temperature of 105°F.

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