An Automatic Driving Method, Device, System and Engineering Equipment for an Engineering Device

Abstract

The present application discloses an automatic driving method, device, system and engineering equipment for engineering equipment. By acquiring the environmental information on both sides of the road section to be constructed, calculating the road edge of the road section to be constructed based on the environmental information, then calculating the lateral distance and deflection angle between the engineering equipment and the road edge of the road section to be constructed, and finally planning the driving path of the engineering equipment according to the lateral distance and deflection angle; that is, in the construction process, the environmental information on both sides of the road section to be constructed is acquired in real time to calculate the road edge, based on the calculated road edge, the lateral distance and deflection angle between the engineering equipment and the road edge are calculated to determine the pose information of the engineering equipment relative to the road edge, the driving path of the engineering equipment is planned according to the pose of the engineering equipment relative to the road edge, and the driving path is adjusted according to the environmental information on both sides of the road section to be constructed acquired in real time, which not only reduces the necessary infrastructure required for the positioning of the engineering equipment, but also ensures that the planned driving path is more in line with the actual scenario, thus ensuring the construction effect.

Description

Technical Field

[0001] This application relates to the technical field of autonomous driving for engineering equipment, and particularly to an autonomous driving method, device, system and engineering equipment for engineering equipment. Background Art

[0002] Engineering equipment is an essential and important facility in the construction fields such as roads and bridges. For example, equipment for road construction such as pavers and rollers can greatly improve the efficiency of road construction, and using industrialized equipment for construction can also ensure the construction effect.

[0003] The existing manually-driven pavers mainly rely on workers to repeatedly observe the road surface to adjust machine parameters. The construction quality mostly depends on the operation experience of the operators, it is difficult to ensure the construction effect, and the construction efficiency is also low.

[0004] With the continuous in-depth development of intelligentization and digitization, more and more engineering equipment has gradually introduced automated or semi-automated operation systems. Moreover, due to the harsh traditional construction environment, high labor intensity, and uncontrollable quality, in order to overcome these drawbacks, the transformation of the road construction industry is also imperative.

[0005] However, the existing automated driving engineering equipment all needs to position the engineering equipment and plan the travel route of the engineering equipment based on the relative positions of the engineering equipment and the road. However, the current positioning methods mostly use navigation positioning, which not only requires a large amount of infrastructure construction before construction, but also is difficult to fully take into account the construction environment, resulting in an unsatisfactory construction effect. Summary of the Invention

[0006] In order to solve the above technical problems, this application is proposed. Embodiments of this application provide an autonomous driving method, device, system and engineering equipment for engineering equipment, which solve the above technical problems.

[0007] According to one aspect of this application, an autonomous driving method for engineering equipment is provided, including:

[0008] Step 110: Obtain the environmental information on both sides of the section to be constructed;

[0009] Step 120: Calculate the road edge of the section to be constructed according to the environmental information;

[0010] Step 130: Calculate the lateral distance and deviation angle between the engineering equipment and the road edge of the section to be constructed; and

[0011] Step 140: Plan the driving path of the engineering equipment according to the lateral distance and the deviation angle.

[0012] In one embodiment, a lidar is provided on the engineering equipment; wherein, step 110 includes:

[0013] Step 111: Acquire point cloud data on both sides of the road section to be constructed using the lidar;

[0014] Step 120 is adjusted to: Calculate the road edge of the road section to be constructed according to the point cloud data.

[0015] In one embodiment, step 120 includes:

[0016] Step 121: Extract the road edge points from the point cloud data; and

[0017] Step 122: Linearly fit the road edge points to obtain the road edge of the road section to be constructed.

[0018] In one embodiment, a camera is provided on the engineering equipment; wherein, step 110 includes:

[0019] Step 112: Acquire image data on both sides of the road section to be constructed using the camera;

[0020] Wherein, step 120 is adjusted to: Calculate the road edge of the road section to be constructed according to the image data.

[0021] In one embodiment, step 120 includes:

[0022] Step 123: Segment the image data to obtain a segmented image containing the road edge image; and

[0023] Step 124: Use the least squares method to fit the road edge of the road section to be constructed according to the segmented image.

[0024] In one embodiment, step 130 includes:

[0025] Step 131: Calculate a plurality of distances between the engineering equipment and the road edge of the road section to be constructed;

[0026] Step 132: Select the minimum value among the plurality of distances as the lateral distance between the engineering equipment and the road edge of the road section to be constructed; wherein, the lateral distance represents the shortest distance between the engineering equipment and the road edge of the road section to be constructed; and

[0027] Step 133: Calculate the deflection angle between the engineering equipment and the road edge of the road section to be constructed according to the plurality of distances.

[0028] In one embodiment, step 140 includes:

[0029] Step 141: Calculate the current rotation angle of the engineering equipment according to the lateral distance and the deflection angle; wherein, the current rotation angle represents the rotation angle of the front wheels of the engineering equipment.

[0030] In one embodiment, the automatic driving method of the engineering equipment further includes:

[0031] Step 150: Three-dimensionally reconstruct a construction schematic diagram of the engineering equipment according to the environmental information and the driving path of the engineering equipment; and

[0032] Step 160: Send the construction schematic diagram to a display device.

[0033] According to another aspect of the present application, there is provided an automatic driving device for an engineering equipment, including: an environment detector disposed on the engineering equipment for detecting environmental information on both sides of a road section to be constructed; a controller electrically connected to the environment detector for executing the automatic driving method of the engineering equipment as described in any one of the above; and a traveling mechanism electrically connected to the controller for performing traveling actions of the engineering equipment according to the driving path planned by the controller.

[0034] In one embodiment, the environment detector includes: a lidar and / or a camera.

[0035] In one embodiment, the automatic driving device of the engineering equipment further includes: a side control box electrically connected to the controller, and the side control box is used for inputting control instructions to the controller.

[0036] According to another aspect of the present application, there is provided an automatic driving system for an engineering equipment, including: the automatic driving device of the engineering equipment as described in any one of the above; and a mobile control terminal communicatively connected to the controller, and the mobile control terminal is used for a user to manually input control instructions to the controller.

[0037] In one embodiment, the automatic driving system further includes: a local area network module communicatively connecting the mobile control terminal and the controller.

[0038] According to another aspect of the present application, there is provided an engineering equipment, including: an engineering equipment body; and the automatic driving device of the engineering equipment as described in any one of the above; wherein, the automatic driving device of the engineering equipment is disposed on the engineering equipment body.

[0039] An automatic driving method, device, system and engineering equipment provided by the present application obtain environmental information on both sides of a section to be constructed, calculate the road edge of the section to be constructed based on the environmental information, then calculate the lateral distance and deflection angle between the engineering equipment and the road edge of the section to be constructed, and finally plan the driving path of the engineering equipment according to the lateral distance and deflection angle. That is, during the construction process, the construction equipment obtains the environmental information on both sides of the section to be constructed in real time, calculates the road edge based on the environmental information, calculates the lateral distance and deflection angle between the engineering equipment and the road edge based on the calculated road edge to determine the pose information of the engineering equipment relative to the road edge, and plans the driving path of the engineering equipment according to the pose of the engineering equipment relative to the road edge, and adjusts the driving path in real time according to the environmental information on both sides of the section to be constructed obtained in real time. This can not only reduce the necessary infrastructure required for the positioning of the engineering equipment, but also ensure that the planned driving path is more in line with the actual scenario, thus ensuring the construction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By describing the embodiments of the present application in more detail with reference to the drawings, the above and other objects, features and advantages of the present application will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application, and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0041] Figure 1 FIG. is a schematic flow chart of an automatic driving method for an engineering equipment provided by an exemplary embodiment of the present application.

[0042] Figure 2 FIG. is a schematic flow chart of an automatic driving method for an engineering equipment provided by another exemplary embodiment of the present application.

[0043] Figure 3 FIG. is a schematic flow chart of an automatic driving method for an engineering equipment provided by another exemplary embodiment of the present application.

[0044] Figure 4 FIG. is a schematic flow chart of an automatic driving method for an engineering equipment provided by another exemplary embodiment of the present application.

[0045] Figure 5 FIG. is a schematic flow chart of an automatic driving method for an engineering equipment provided by another exemplary embodiment of the present application.

[0046] Figure 6 FIG. is a schematic flow chart of an automatic driving method for an engineering equipment provided by another exemplary embodiment of the present application.

[0047] Figure 7It is a schematic diagram for calculating the lateral distance and the deflection angle in an automatic driving method of a construction equipment provided by an exemplary embodiment of the present application.

[0048] Figure 8 It is a schematic flowchart of an automatic driving method of a construction equipment provided by another exemplary embodiment of the present application.

[0049] Figure 9 It is a schematic flowchart of an automatic driving method of a construction equipment provided by another exemplary embodiment of the present application.

[0050] Figure 10 It is a schematic flowchart of an automatic driving method of a construction equipment provided by another exemplary embodiment of the present application.

[0051] Figure 11 It is a schematic structural diagram of an automatic driving device of a construction equipment provided by an exemplary embodiment of the present application.

[0052] Figure 12 It is a schematic structural diagram of an automatic driving system of a construction equipment provided by an exemplary embodiment of the present application.

[0053] Figure 13 It is a schematic structural diagram of a construction equipment provided by an exemplary embodiment of the present application.

[0054] Figure 14 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. Detailed implementation manners

[0055] Next, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0056] To achieve the automated operation of construction equipment (hereinafter illustrated by a paver as an example, but it should be understood that the construction equipment in this application includes, but is not limited to, pavers), the relative position and attitude of the paver and the construction section can be obtained, thereby planning the automatic driving path of the paver. Among them, the method of obtaining the relative position and attitude of the paver and the construction section can be to use a positioning system (such as GNSS, etc.) to perform real-time positioning on the paver and the markers (such as base stations, etc.) on the construction section, and calculate the relative position of the paver and the markers on the construction section according to the positions of the paver and the markers on the construction section, and plan the automatic driving path of the paver based on the relative position relationship between the paver and the markers on the construction section. However, adopting this positioning method not only requires a large amount of complex work such as base station erection and data collection in the early stage of construction, but also may lead to different positioning accuracies due to different construction environments. For example, the signal is weak in remote locations, resulting in inaccurate positioning or delay. In addition, the positioning accuracy of the positioning system is also limited, making it difficult to meet the accuracy requirements of road construction.

[0057] To solve the above problems, this application proposes an automatic driving method, device, system and construction equipment for construction equipment. By collecting the environmental information on both sides of the section to be constructed in real time, and calculating the road edge of the section to be constructed based on this environmental information, and calculating the relative pose (including position and attitude) between the paver and the road edge based on this road edge, and planning the driving path of the paver according to the relative pose between the paver and the road edge. By collecting the environmental information on both sides of the section to be constructed at close range, the authenticity and accuracy of the collected data can be improved to reduce errors, and calculating the road edge of the section to be constructed based on the real-time collected environmental information can also improve the accuracy of obtaining the road edge, thereby providing a relatively accurate data basis for subsequent planning of the paver driving path.

[0058] The following specifically describes the specific structure and implementation manner of the embodiments of this application with reference to the drawings:

[0059] Figure 1 is a schematic flowchart of an automatic driving method for construction equipment provided by an exemplary embodiment of this application. As Figure 1 shown, the automatic driving method for this construction equipment includes the following steps:

[0060] Step 110: Obtain the environmental information on both sides of the section to be constructed.

[0061] By installing a device for collecting environmental information on each of the left and right sides of the paver, environmental information on both sides of the road section to be constructed can be collected in real time during the automatic driving process of the paver. For example, environmental information on both sides of the road section to be constructed within 5 meters in the forward direction of the paver can be obtained. Specifically, the environmental information includes feature information on both sides of the road section to be constructed, such as curb feature data, marker feature data, tree feature information, etc. By collecting environmental information at close range, the timeliness and accuracy of the collected environmental information can be ensured, so as to more accurately reflect the current state of the road section to be constructed.

[0062] Step 120: Calculate the curb of the road section to be constructed based on the environmental information.

[0063] The environmental information contains various types of feature information, such as curb stones, guardrails, bridge guardrails, etc. and artificially set reference objects (lines, templates, points, etc.). By analyzing and differentiating various types of feature information, the curb information of the road section to be constructed can be obtained, so as to obtain relatively accurate curb information through actual collection. Specifically, it can be differentiated according to the differences between the curb information and other feature information, such as color (gray scale, etc.), density, and distance range limit from the paver. By differentiating according to multiple aspects of features, relatively accurate curb information can be obtained.

[0064] Step 130: Calculate the lateral distance and deflection angle between the construction equipment and the curb of the road section to be constructed.

[0065] Since the curb information is collected and calculated by the device installed on the paver, after obtaining the curb information of the road section to be constructed, the relative lateral distance and deflection angle between the construction equipment and the curb can be calculated. That is to say, after obtaining the curb information with the environmental information collection device on the paver as the collection point, the relative pose between the paver and the curb can be calculated (including the lateral distance and deflection angle between the paver and the curb, and the absolute positions of the paver and the curb can be not considered), which can not only reduce the calculation amount of calculating the absolute position, but also improve the accuracy of the relative pose.

[0066] Step 140: Plan the driving path of the construction equipment according to the lateral distance and deflection angle.

[0067] After calculating the lateral distance and deflection angle between the paver and the curb, that is, obtaining the pose state of the paver relative to the curb. At this time, the driving trajectory of the paver can be planned according to this pose state to ensure that the paver travels along the curb (specifically, the edge of the screed of the paver is close to the curb).

[0068] An automatic driving method for construction equipment provided by the present application obtains environmental information on both sides of a section to be constructed, calculates the road edge of the section to be constructed based on the environmental information, then calculates the lateral distance and deviation angle between the construction equipment and the road edge of the section to be constructed, and finally plans the driving path of the construction equipment according to the lateral distance and deviation angle. That is, during the construction process, the construction equipment obtains the environmental information on both sides of the section to be constructed in real time, calculates the road edge based on the environmental information, calculates the lateral distance and deviation angle between the construction equipment and the road edge based on the calculated road edge to determine the pose information of the construction equipment relative to the road edge, and plans the driving path of the construction equipment according to the pose of the construction equipment relative to the road edge, and adjusts the driving path in real time according to the environmental information obtained on both sides of the section to be constructed in real time. This can not only reduce the necessary infrastructure required for the positioning of construction equipment, but also ensure that the planned driving path is more in line with the actual scenario, thus ensuring the construction effect.

[0069] Figure 2 It is a schematic flowchart of an automatic driving method for construction equipment provided by another exemplary embodiment of the present application. A lidar is set on the construction equipment; as Figure 2 shown, the above step 110 may include:

[0070] Step 111: Use the lidar to obtain the point cloud data on both sides of the section to be constructed.

[0071] Correspondingly, step 120 is adjusted to: Calculate the road edge of the section to be constructed according to the point cloud data.

[0072] By respectively setting a lidar on the left and right sides of the paver to collect the environmental information on both sides of the section to be constructed, where the environmental information is point cloud data. Specifically, the lidar respectively collects the point cloud data on its own side (including the road edge data on that side), and after collecting the point cloud data, differentiates the point cloud data to obtain the road edge data of the section to be constructed, and obtains the road edge of the section to be constructed based on the road edge data.

[0073] Figure 3 It is a schematic flowchart of an automatic driving method for construction equipment provided by another exemplary embodiment of the present application. As Figure 3 shown, the above step 120 may include:

[0074] Step 121: Extract the road edge points from the point cloud data.

[0075] After collecting the point cloud data on both sides of the section to be constructed, according to the difference between the road edge and other features, differentiate and extract the road edge points (i.e., the point cloud data corresponding to the road edge) from the point cloud data. Specifically, the region growing algorithm can be used to extract the road edge points from the point cloud data.

[0076] Step 122: Fit a straight line based on the curb points to obtain the curb of the section to be constructed.

[0077] Since the point cloud data is a set of discontinuous point data, and the curb is usually a straight line (at least within a short distance segment), and non-curb points may be extracted due to errors or other reasons during the process of extracting curb points, a straight line can be fitted based on multiple curb points to obtain the curb of the section to be constructed, which can exclude the interference of non-curb points and thus improve the accuracy of the obtained curb information.

[0078] Figure 4 It is a schematic flowchart of an automatic driving method for a construction device provided by another exemplary embodiment of the present application. A camera is provided on the construction device; as Figure 4 shown, the above step 110 may include:

[0079] Step 112: Use the camera to obtain the image data on both sides of the section to be constructed.

[0080] Correspondingly, step 120 is adjusted to: Calculate the curb of the section to be constructed according to the image data.

[0081] By respectively arranging a camera on the left and right sides of the paver to collect the environmental information on both sides of the section to be constructed, where the environmental information is image data. Specifically, the cameras respectively collect the image data on their own sides (including the curb images on that side). After the image data is collected, the image data is divided to obtain the curb images of the section to be constructed, and the curb of the section to be constructed is obtained based on the curb images.

[0082] Figure 5 It is a schematic flowchart of an automatic driving method for a construction device provided by another exemplary embodiment of the present application. As Figure 5 shown, the above step 120 may include:

[0083] Step 123: Segment the image data to obtain a segmented image containing the curb image.

[0084] After the image data on both sides of the section to be constructed is collected, according to the difference between the curb and other features, the segmented image (i.e., the image data corresponding to the curb) in the image data is distinguished and extracted.

[0085] Step 124: Fit the segmented image using the least squares method to obtain the curb of the section to be constructed.

[0086] Since the curb is usually straight (at least within a short distance segment), and non-curb images may appear in the segmented image due to interference or other reasons during the image segmentation process, the curb of the road section to be constructed can be obtained by fitting a straight line based on multiple curb images at this time, which can exclude the interference of non-curb images, thereby improving the accuracy of the obtained curb information. Specifically, after obtaining the segmented image, the least squares method can be used to calculate the straight line with the minimum sum of the squares of the distances to the boundary of the segmented image as the curb.

[0087] Optionally, in order to further improve the accuracy of the obtained environmental information, the present application can also respectively set a lidar and a camera on the left and right sides of the paver. The lidar is used to collect the point cloud data on its own side respectively. After the point cloud data is collected, the point cloud data is distinguished to obtain the curb data of the road section to be constructed; the camera is used to collect the image data on its own side (including the curb image on this side) respectively. After the image data is collected, the image data is divided to obtain the curb image of the road section to be constructed. Finally, the curb data obtained by the lidar and the curb image obtained by the camera are combined and corroborated with each other to obtain the curb of the road section to be constructed, thereby improving the accuracy of the environmental information, and the environmental information can also be obtained when the lidar or the camera fails, improving the reliability of the autonomous driving.

[0088] It should also be understood that the specific number of lidars or cameras in the embodiments of the present application can be set according to the requirements of the actual application scenario. For example, multiple lidars or multiple cameras can be set on one side of the paver to improve the acquisition accuracy and reliability, as long as the specific number of lidars or cameras set can meet the requirements of environmental information acquisition. The embodiments of the present application do not limit the specific number of lidars or cameras.

[0089] Figure 6 It is a schematic flowchart of an autonomous driving method for an engineering device provided by another exemplary embodiment of the present application. As Figure 6 shown, the above step 130 may include:

[0090] Step 131: Calculate multiple distances between the engineering device and the curb of the road section to be constructed.

[0091] Specifically, as Figure 7As shown, multiple laser beams can be emitted by a lidar. After the laser reaches a feature and is reflected back to the lidar, the lidar can calculate the relative position and distance between the feature and the lidar based on the angles and times of the received reflected laser beams. It should be understood that the lidar in this application can emit multiple laser beams in different directions (for example, by rotating the emission, etc.). This application can also set multiple lidars to emit laser beams from multiple position points, as long as multiple distances and angles between the paver and the roadside can be obtained. The specific method for the lidar in this application to obtain multiple distances between the paver and the roadside is not limited.

[0092] It should also be understood that this application can also use a camera to obtain image data including a section of the roadside, and calculate the distances and angles between the paver and multiple points on this section of the roadside based on the image data.

[0093] Step 132: Select the minimum value among multiple distances as the lateral distance between the engineering equipment and the roadside of the section to be constructed.

[0094] Among them, the lateral distance represents the shortest distance between the engineering equipment and the roadside of the section to be constructed, that is, the lateral distance is the shortest distance between a certain fixed point (such as the position where the lidar or camera is located, etc.) on the left and right sides of the paver and the roadside. The lidar in this application can calculate the lateral distance between the paver and the roadside based on the distances and angles between multiple points on the roadside and the lidar (the lidar is set at a fixed position on the paver), and the camera can also calculate the lateral distance between the paver and the roadside based on the distances and angles between multiple points on the roadside and the camera (the camera is set at a fixed position on the paver), that is, Figure 7 the distance d shown in

[0095] Step 133: Calculate the deflection angle between the engineering equipment and the roadside of the section to be constructed based on multiple distances.

[0096] After obtaining multiple distances between the lidar or camera and the roadside, the deflection angle between the paver and the roadside (that is, the attitude of the paver relative to the roadside) can be calculated based on these multiple distances. Specifically, the angle between the straight line where the outer edge of the paver side is located and the roadside can be calculated as the deflection angle between the paver and the roadside. After knowing the shortest distance and the deflection angle between the paver and the roadside, adjust the driving path of the paver.

[0097] Figure 8 is a schematic flow chart of an automatic driving method for an engineering equipment provided by another exemplary embodiment of this application. As Figure 8 shown, the above step 140 may include:

[0098] Step 141: Calculate the current steering angle of the engineering equipment according to the lateral distance and the deflection angle, where the current steering angle represents the front-wheel steering angle of the engineering equipment.

[0099] After obtaining the lateral distance and the deflection angle between the paver and the curb, combined with the relative position information between the curb and the paver, calculate the current steering angle of the front wheels of the paver to ensure that the edge of the screed of the paver is close to the curb, thereby ensuring the construction quality. Specifically, the front-wheel steering angle of the paver can be calculated according to parameters such as the lateral distance and the deflection angle between the paver and the curb, the control preview distance of the paver (the set distance between the edge of the screed of the paver and the curb), and the machine wheelbase, providing parameters for the path planning of the paver.

[0100] Figure 9 is a schematic flowchart of an automatic driving method for an engineering equipment provided by another exemplary embodiment of the present application. As Figure 9 shown, the automatic driving method for the above-mentioned engineering equipment may further include:

[0101] Step 150: Three-dimensionally reconstruct a construction schematic diagram of the engineering equipment according to the environmental information and the driving path of the engineering equipment.

[0102] Use a lidar or a camera to dynamically perceive the environmental information on both sides of the section to be constructed in real time. The schematic diagram of the section to be constructed can be obtained by three-dimensional reconstruction; and according to the driving path of the paver, the schematic diagram of the paver's automatic driving can be simulated. Combining the schematic diagram of the section to be constructed and the schematic diagram of the paver's automatic driving, the construction schematic diagram of the paver (i.e., the construction process and the rendering) can be simulated.

[0103] Step 160: Send the construction schematic diagram to a display device.

[0104] After obtaining the construction schematic diagram, the construction schematic diagram can be displayed locally (on the display screen of the paver, etc.), or the construction schematic diagram can be sent to other devices, such as a background server or a display device in a command room, or the construction schematic diagram can be sent to a mobile terminal such as a mobile phone to more conveniently monitor the construction effect.

[0105] Figure 10 is a schematic flowchart of an automatic driving method for an engineering equipment provided by another exemplary embodiment of the present application. As Figure 10 shown, the automatic driving method for the engineering equipment may include the following steps:

[0106] Step 201: Move the paver to the construction starting point.

[0107] Specifically, the paver can be driven to the construction starting point by manual driving or manual remote control operation, that is, the paver is moved to the initial position on the section to be constructed.

[0108] Step 202: Set the parameters of the screed of the paver.

[0109] Specifically, the height, mechanical elevation angle, leveling height, etc. of the screed of the paver can be set manually or remotely.

[0110] Step 203: Determine whether the construction parameters of the paver need to be adjusted. If so, go to Step 204; otherwise, go to Step 205.

[0111] Step 204: Adjust the construction parameters of the paver and go back to Step 203.

[0112] Specifically, the construction parameters such as the paving width, the traveling speed of the paver, the working mode and vibration frequency of the paver, and the feeding speed of the spiral screed of the paver can be adjusted by using the control terminal.

[0113] Step 205: Obtain the lateral distance and direction angle of the paver relative to the roadside.

[0114] Specifically, the lateral distance and angle between the paver and the roadside are obtained by using a lidar and / or a camera. The specific method is as described in the above embodiment and will not be elaborated here.

[0115] Step 206: Determine whether the lateral distance and direction angle of the paver relative to the roadside are reasonable. If so, go to Step 207; otherwise, go to Step 203.

[0116] Determine whether the lateral distance and direction angle of the paver relative to the roadside obtained within the set discrimination area are reasonable and accurate.

[0117] Step 207: Calculate the lateral distance between the physical centroid of the paver and the roadside and the head direction of the paver.

[0118] Calculate the lateral distance between the physical centroid (which can be a fixed point set on the paver) of the paver in the current state and the roadside, and the head direction of the paver.

[0119] Step 208: Calculate the target path of the paver according to the paving width and the lateral distance.

[0120] Step 209: Predict the predicted path of the paver with the centroid of the paver as the origin.

[0121] Step 210: Calculate the output rotational speeds of the left and right crawlers of the paver.

[0122] Specifically, the output rotational speeds of the left and right crawlers of the paver are calculated based on the traveling speed, the predicted path, and the set speed of the paver.

[0123] Step 211: Determine whether the position and attitude of the paver meet the requirements. If so, go to Step 212; otherwise, go to Step 214.

[0124] Step 212: Control the paver to perform path tracking.

[0125] Specifically, output the crawler control amount to control the paver to perform path tracking.

[0126] Step 213: Determine whether the paver has completed the construction task. If so, go to Step 216; otherwise, go to Step 211.

[0127] Step 214: Output the non-compliance items and display an alarm.

[0128] Step 215: Manually handle the non-compliance items and alarm information.

[0129] Step 216: The construction operation is completed.

[0130] Figure 11 It is a schematic structural diagram of an automatic driving device for a construction equipment provided by an exemplary embodiment of the present application. As Figure 11 shown, the automatic driving device 80 of the construction equipment includes: an environment detector 1, which is arranged on the construction equipment and is used to detect the environmental information on both sides of the road section to be constructed; a controller 2, which is electrically connected to the environment detector 1 and is used to execute the automatic driving method of the construction equipment in any of the above items; and a traveling mechanism 3, which is electrically connected to the controller 2 and is used to perform the traveling actions of the construction equipment according to the traveling path planned by the controller 2.

[0131] For the automatic driving device of a construction equipment provided by the present application, the environment detector 1 detects the environmental information on both sides of the road section to be constructed, the controller 2 calculates the road edge of the road section to be constructed according to the environmental information, then calculates the lateral distance and the deflection angle between the construction equipment and the road edge of the road section to be constructed, and finally plans the traveling path of the construction equipment according to the lateral distance and the deflection angle. The traveling mechanism 3 performs the traveling actions of the construction equipment according to the traveling path planned by the controller 2; that is, the construction equipment obtains the environmental information on both sides of the road section to be constructed in real time during the construction process, calculates the road edge according to the environmental information, calculates the lateral distance and the deflection angle between the construction equipment and the road edge based on the calculated road edge to determine the pose information of the construction equipment relative to the road edge, and plans the traveling path of the construction equipment according to the pose of the construction equipment relative to the road edge, and adjusts the traveling path in real time according to the environmental information on both sides of the road section to be constructed in real time. This can not only reduce the necessary infrastructure required for the positioning of the construction equipment, but also ensure that the planned traveling path is more in line with the actual scenario, thereby ensuring the construction effect.

[0132] In one embodiment, the above-mentioned environment detector 1 may be: a lidar and / or a camera.

[0133] By respectively arranging one or more lidar sensors on the left and right sides of the paver to collect the environmental information on both sides of the road section to be constructed, where the environmental information is point cloud data. Specifically, the lidar sensors respectively collect the point cloud data on their own sides. After the point cloud data is collected, the point cloud data is distinguished to obtain the curb data of the road section to be constructed, and the curb of the road section to be constructed is obtained based on the curb data.

[0134] Alternatively, by respectively arranging one or more cameras on the left and right sides of the paver to collect the environmental information on both sides of the road section to be constructed, where the environmental information is image data. Specifically, the cameras respectively collect the image data on their own sides. After the image data is collected, the image data is divided to obtain the curb image of the road section to be constructed, and the curb of the road section to be constructed is obtained based on the curb image.

[0135] Alternatively, by respectively arranging one or more lidar sensors and one or more cameras on the left and right sides of the paver, using the lidar sensors to respectively collect the point cloud data on their own sides. After the point cloud data is collected, the point cloud data is distinguished to obtain the curb data of the road section to be constructed; using the cameras to respectively collect the image data on their own sides. After the image data is collected, the image data is divided to obtain the curb image of the road section to be constructed. Finally, by comprehensively using the curb data obtained by the lidar sensors and the curb image obtained by the cameras to corroborate each other to obtain the curb of the road section to be constructed, the accuracy of the environmental information is improved, and the environmental information can also be obtained when the lidar sensor or the camera fails, improving the reliability of the automatic driving.

[0136] In one embodiment, as Figure 11 shown, the above-mentioned automatic driving device 80 may further include: a side control box 4, the side control box 4 is electrically connected to the controller 2, and the side control box 4 is used for the user to manually input a control instruction to the controller 2.

[0137] By arranging the control box 4 on the paver to input a control instruction to the controller 2, that is, when the automatic driving of the paver deviates or fails, the operator can use the control box 4 arranged on the side of the paver to achieve manual control or voice control of the paver, such as manually controlling the walking, steering, screed control, etc. of the paver, so that manual intervention can be carried out at any time to ensure the construction effect.

[0138] Figure 12 is a schematic structural diagram of an automatic driving system of a construction equipment provided by an exemplary embodiment of the present application. As Figure 12 shown, the automatic driving system 90 of the construction equipment includes: the automatic driving device 80 of the construction equipment as described in any one of the above; and a mobile control terminal 5, the mobile control terminal 5 is communicatively connected to the controller 2, and the mobile control terminal 5 is used for the user to manually input a control instruction to the controller 2.

[0139] An automatic driving system for construction equipment provided by this application obtains the environmental information on both sides of the road section to be constructed through the automatic driving device 80, calculates the road edge of the road section to be constructed based on the environmental information, then calculates the lateral distance and deviation angle between the construction equipment and the road edge of the road section to be constructed, and finally plans the driving path of the construction equipment based on the lateral distance and deviation angle, so as to realize the automatic driving of the construction equipment. In addition, the user can input control instructions to the controller 2 through the mobile control terminal 5 to achieve manual control; that is, the construction equipment obtains the environmental information on both sides of the road section to be constructed in real time during construction, calculates the road edge based on this environmental information, calculates the lateral distance and deviation angle between the construction equipment and the road edge based on the calculated road edge to determine the pose information of the construction equipment relative to the road edge, and plans the driving path of the construction equipment according to the pose of the construction equipment relative to the road edge, and adjusts the driving path in real time according to the environmental information on both sides of the road section to be constructed obtained in real time. This can not only reduce the necessary infrastructure required for the positioning of construction equipment, but also ensure that the planned driving path fits the actual scenario better, with better real-time performance and stronger robustness, and the mobile control terminal 5 can be used to intervene in the control of construction equipment at any time, thus ensuring the construction effect.

[0140] In one embodiment, as Figure 12 shown, the above automatic driving system 90 may further include: a local area network module 6, and the local area network module 6 is communicatively connected to the mobile control terminal 5 and the controller 2.

[0141] By setting the local area network module 6 to provide a local area wireless network (such as Bluetooth, infrared, etc.), the controller 2 and the mobile control terminal 5 are communicatively connected, so as to realize the short-distance and rapid intervention of the mobile control terminal 5 in controlling the operation of the paver. Moreover, the data obtained and calculated by the controller 2 can also be sent to the mobile control terminal 5 in real time through the local area network module 6, so as to realize the real-time display of data and facilitate user monitoring.

[0142] Figure 13 is a schematic structural diagram of a construction equipment provided by an exemplary embodiment of this application. As Figure 13 shown, the construction equipment includes: a construction equipment body 10; and an automatic driving device 80 for the construction equipment as described in any one of the above; wherein, the automatic driving device 80 for the construction equipment is arranged on the construction equipment body 10.

[0143] An engineering device provided by the present application obtains environmental information on both sides of a road section to be constructed through an automatic driving device 80, calculates the road edge of the road section to be constructed based on the environmental information, then calculates the lateral distance and deflection angle between the engineering device and the road edge of the road section to be constructed, and finally plans the driving path of the engineering device according to the lateral distance and deflection angle; that is, the construction device obtains the environmental information on both sides of the road section to be constructed in real time during construction, calculates the road edge based on the environmental information, calculates the lateral distance and deflection angle between the engineering device and the road edge based on the calculated road edge to determine the pose information of the engineering device relative to the road edge, and plans the driving path of the engineering device according to the pose of the engineering device relative to the road edge, and adjusts the driving path in real time according to the environmental information obtained in real time on both sides of the road section to be constructed. This can not only reduce the necessary infrastructure required for the positioning of the engineering device, but also ensure that the planned driving path fits the actual scenario better, thereby ensuring the construction effect.

[0144] Next, refer to Figure 14 to describe the electronic device according to an embodiment of the present application. The electronic device can be any one or both of the first device and the second device, or a stand-alone device independent of them. The stand-alone device can communicate with the first device and the second device to receive the input signals collected from them.

[0145] Figure 14 The block diagram of the electronic device according to an embodiment of the present application is illustrated.

[0146] As Figure 14 shown, the electronic device 10 includes one or more processors 11 and a memory 12.

[0147] The processor 11 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device 10 to perform desired functions.

[0148] The memory 12 can include one or more computer program products. The computer program products can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory can include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory can include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions can be stored on the computer-readable storage media. The processor 11 can run the program instructions to implement the automatic driving method of the engineering device in various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components can also be stored in the computer-readable storage media.

[0149] In one example, the electronic device 10 may further include: an input device 13 and an output device 14, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0150] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector for receiving the collected input signals from the first device and the second device.

[0151] In addition, the input device 13 may further include, for example, a keyboard, a mouse, and so on.

[0152] The output device 14 may output various information to the outside, including the determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, and so on.

[0153] Of course, for simplicity, Figure 14 only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, and so on are omitted. In addition, according to specific application scenarios, the electronic device 10 may further include any other appropriate components.

[0154] The computer program product may be written in any combination of one or more programming languages for the program code to execute the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0155] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0156] The foregoing description has been presented for purposes of illustration and description. In addition, the description is not intended to limit embodiments of the present application to the form disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some variations, modifications, alterations, additions, and subcombinations thereof.

Claims

1. An automatic driving method for an engineering device, characterized in that, Including: Step 110: Obtain the environmental information on both sides of the section to be constructed, where the environmental information includes the feature information on both sides of the section to be constructed; Step 120: Calculate the curb of the section to be constructed according to the environmental information; Step 130: Calculate the lateral distance and deflection angle between the engineering equipment and the curb of the section to be constructed; where, Step 130 includes: Step 131: Calculate multiple distances between the engineering equipment and the curb of the section to be constructed; Step 132: Select the minimum value among the multiple distances as the lateral distance between the engineering equipment and the curb of the section to be constructed; where, the lateral distance represents the shortest distance between the engineering equipment and the curb of the section to be constructed; Step 133: Calculate the deflection angle between the engineering equipment and the curb of the section to be constructed according to the multiple distances; Step 140: Plan the driving path of the engineering equipment according to the lateral distance and the deflection angle; where, Step 140 includes: Step 141: Calculate the current steering angle of the engineering equipment according to the lateral distance and the deflection angle; where, the current steering angle represents the front-wheel steering angle of the engineering equipment; Step 150: Three-dimensionally reconstruct the construction schematic diagram of the engineering equipment according to the environmental information and the driving path of the engineering equipment; Step 160: Send the construction schematic diagram to the display device.

2. The automatic driving method of the engineering equipment according to claim 1, characterized in that A lidar is provided on the engineering equipment; where, Step 110 includes: Step 111: Use the lidar to obtain the point cloud data on both sides of the section to be constructed; The environmental information includes the point cloud data; and / or, A camera is provided on the engineering equipment; where, Step 110 includes: Step 112: Use the camera to obtain the image data on both sides of the section to be constructed; The environmental information includes the image data.

3. The automatic driving method of the engineering equipment according to claim 2, wherein Step 120 includes: Step 121: Extract the curb points from the point cloud data; Step 122: Linearly fit the curb of the section to be constructed according to the curb points; and / or, Step 120 includes: Step 123: Segment the image data to obtain a segmented image containing the curb image; Step 124: Linearly fit the curb of the section to be constructed according to the segmented image by using the least squares method.

4. An automatic driving device for an engineering equipment, characterized in that, Including: An environment detector, which is provided on the engineering equipment and is used to detect the environmental information on both sides of the section to be constructed, where the environmental information includes the feature information on both sides of the section to be constructed; A controller, which is electrically connected to the environment detector and is used to execute the automatic driving method of the engineering equipment according to any one of claims 1-3; and A driving mechanism, which is electrically connected to the controller and is used to execute the driving action of the engineering equipment according to the driving path planned by the controller.

5. The automatic driving device of the engineering equipment according to claim 4, characterized in that, The environment detector includes: a lidar and / or a camera; and / or, the automatic driving device of the engineering equipment further includes: Side control box, the side control box is electrically connected to the controller, and the side control box is used for a user to manually input a control instruction to the controller.

6. An automatic driving system for an engineering device, characterized in that, Comprising: The automatic driving device of the engineering equipment according to claim 4 or 5; And Mobile control terminal, the mobile control terminal is communicatively connected to the controller, and the mobile control terminal is used for inputting a control instruction to the controller.

7. The automatic driving system of the engineering equipment according to claim 6, characterized in that, The automatic driving system further includes: Local area network module, the local area network module communicatively connects the mobile control terminal and the controller.

8. An engineering device, characterized in that, Comprising: Engineering equipment body; And The automatic driving device of the engineering equipment according to claim 4 or 5; wherein, the automatic driving device of the engineering equipment is arranged on the engineering equipment body.

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