An intelligent control system for construction machinery

Abstract

The present invention relates to the technical field of data analysis, and specifically discloses an intelligent control system for construction machinery, including a server and a vehicle-mounted terminal, wherein the vehicle-mounted terminal includes an image acquisition module, a main control module, a communication module, and a display module; the server is used to estimate the future movement route of the construction machinery based on the current movement route of the construction machinery and the existing movement routes of other construction machinery, match the corresponding sections in the existing movement routes of other construction machinery based on the estimated movement route, calculate the average movement speed of each position on the successfully matched section, and use it as the average movement speed of each position of the estimated movement route; the main control module is also used to determine whether the current position is on the estimated movement route, and if so, calculate the difference between the current movement speed and the average movement speed of the corresponding position of the estimated movement route, and generate an alarm message if the difference is greater than a first threshold. The technical solution of the present invention can improve the safety of construction machinery during movement.

Description

Technical Field

[0001] The present invention relates to the technical field of data analysis, and in particular to an intelligent control system for engineering machinery. Background Art

[0002] With the rapid development of society, in terms of infrastructure, engineering machinery is widely used in construction engineering, transportation, agriculture, forestry, water conservancy and other fields due to its high work efficiency and work performance that cannot be achieved by manual labor. Among them, engineering machinery mainly includes excavators, loaders, rollers, etc.

[0003] Due to the harsh working environment, rough roads and large blind spots of construction machinery, it is easy for them to collide with people or obstacles around them, causing safety accidents. In order to avoid the above problems, construction machinery is gradually moving towards intelligence. For example, ultrasonic radars or cameras are installed on construction machinery to detect the surrounding environment of the construction machinery, and the operators are assisted in controlling the construction machinery based on the environmental information, reducing the difficulty of operation for the operators.

[0004] However, the construction site environment is complex, and it is easy to have dust and stains on the camera, which reduces the clarity of the picture and the recognition, making it more difficult to obtain information about the surrounding environment. Especially when the construction machinery needs to move, the information obtained is reduced, which can easily affect the judgment of the operator.

[0005] Therefore, an intelligent control system for construction machinery is needed which can improve the safety of construction machinery when it moves. Summary of the invention

[0006] The present invention provides an intelligent control system for engineering machinery, which can improve the safety of the engineering machinery when it moves.

[0007] In order to solve the above technical problems, this application provides the following technical solutions:

[0008] An intelligent control system for construction machinery, comprising a server and a vehicle-mounted terminal arranged on the construction machinery, wherein the vehicle-mounted terminal comprises an image acquisition module, an internal data acquisition module, a satellite positioning module, a main control module, a communication module and a display module;

[0009] The satellite positioning module is used to obtain the current location data of the construction machinery;

[0010] The communication module is used to send the location data to the server in real time;

[0011] The server is used to generate a movement trajectory of each construction machine according to the position data uploaded by each construction machine, and the movement trajectory includes a movement route and a movement speed of each position on the movement route;

[0012] The image acquisition module is used to collect image data outside the construction machinery;

[0013] The internal data acquisition module is used to obtain the status data of the construction machinery;

[0014] The main control module is used to analyze the image data and determine whether the clarity of the image data meets the preset requirements. If not, it determines whether the construction machinery is currently in a moving state based on the state data. If so, it sends an auxiliary request to the server through the communication module.

[0015] The server is also used to, after receiving the auxiliary request, estimate the future moving route of the engineering machinery according to the current moving route of the engineering machinery and the existing moving routes of other engineering machinery, match the corresponding road sections in the existing moving routes of other engineering machinery based on the estimated moving route, calculate the average moving speed of each position on the successfully matched road section as the average moving speed of each position of the estimated moving route; and send the estimated moving route and the average moving speed of each position to the main control module through the communication module;

[0016] The main control module is also used to determine whether the current position is on the estimated moving route, and if so, calculate the difference between the current moving speed and the average moving speed of the position corresponding to the estimated moving route, and determine whether the difference is greater than a first threshold, and if greater than the first threshold, generate an alarm message;

[0017] The display module is used to display image data and alarm information.

[0018] The basic scheme principles and beneficial effects are as follows:

[0019] This solution helps operators understand the surrounding environment by collecting and displaying image data outside the construction machinery. When the clarity of the image data decreases due to low light, heavy dust, or camera stains, the solution first determines whether the construction machinery is currently in motion based on the status data. If it is in motion, the future movement route of the construction machinery is estimated. Then, based on the movement trajectory of other construction machinery, the estimated movement route and the average movement speed of each position are obtained and sent to the communication module. Finally, the difference between the current movement speed and the average movement speed of the corresponding position of the estimated movement route is calculated. If the difference is greater than the first threshold, an alarm message is generated, which can promptly remind the operator of the possible risks ahead and slow down in time to reduce the probability of accidents, with high safety.

[0020] Furthermore, the number of the image acquisition modules is at least 4, which are distributed on four sides of the engineering machinery;

[0021] The main control module is also used to analyze the image data, identify the obstacle area, mark the obstacle area in the image data, and synthesize the panoramic image;

[0022] The display module is also used to display the panoramic image.

[0023] It can help operators understand the environment around construction machinery.

[0024] Furthermore, the main control module is also used to determine whether the difference is greater than a second threshold, and if so, generate a deceleration control instruction.

[0025] It can force deceleration when the speed of construction machinery is too fast, which is safer.

[0026] Furthermore, the communication module is also used to send the model information of the engineering machinery to the server;

[0027] The server is also used to determine the starting point according to the current moving route of the engineering machinery, and estimate the future moving route of the engineering machinery according to the current moving route of the engineering machinery and the existing moving routes of other engineering machinery of the same model and starting point.

[0028] Different types of construction machinery have different work contents and usually travel different routes. The same type of construction machinery may perform different work contents when starting from different starting points. For example, the same loading vehicle usually transports different materials when starting from different starting points. In this preferred solution, limiting the model and starting point of the construction machinery can improve the accuracy of the estimated moving route.

[0029] Furthermore, the display module is also used to receive manual annotation information, which includes the annotation position and the annotation category;

[0030] The main control module is also used to send the manual annotation information to the server;

[0031] The server is also used to determine whether there is an engineering machine within the preset range of the marked position according to the received position data, and if so, send the manual marking information to the communication module of the corresponding engineering machine;

[0032] The display module is also used to obtain and display the manually labeled information from the communication module.

[0033] For example, if the display module uses a display screen with a touch function, the operator can directly mark the obstacles that are not presented on the image data displayed on the display screen to alert other operators.

[0034] Furthermore, when the main control module determines that the current position is not on the estimated moving route, it is also used to send identification information to the server through the communication module;

[0035] The server is also used to obtain the current position of the engineering machine after receiving the identification information, determine whether the current position is on the existing moving route of other engineering machines, and if so, calculate the average moving speed of other engineering machines at the position, and send the average moving speed of other engineering machines at the position to the communication module; the display module is also used to obtain the average moving speed of other engineering machines at the position from the communication module and display it;

[0036] If the current position is not on the existing moving route of other engineering machinery, match the existing moving route of the same type of engineering machinery within the preset distance of the current position, mark it as a reference moving route, and send it to the communication module;

[0037] The display module is also used to obtain the reference moving route from the communication module and display it.

[0038] By displaying the average moving speed of other construction machinery, it can provide a reference for operators, and it can also help operators to infer road conditions based on the average moving speed. By displaying the reference moving route, it can help operators find existing routes.

[0039] Furthermore, the server is further configured to determine whether the engineering machine generating the moving route is of a preset category, and if so, based on matching the moving route with existing moving routes of other engineering machines, mark the sections of the existing moving routes of other engineering machines that overlap with the moving route as invalid sections;

[0040] The server is also used to exclude invalid sections when matching corresponding sections in existing moving routes of other engineering machinery based on the estimated moving route.

[0041] Furthermore, the communication module adopts a 5G communication module.

[0042] Using 5G communication, the latency is lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a logic block diagram of an intelligent control system for engineering machinery according to Example 1. DETAILED DESCRIPTION

[0044] The following is further described in detail through specific implementation methods:

[0045] Embodiment 1

[0046] like Figure 1 As shown, an intelligent control system for engineering machinery in this embodiment includes a server and a vehicle-mounted terminal arranged on the engineering machinery.

[0047] The vehicle-mounted terminal includes an image acquisition module, an internal data acquisition module, a satellite positioning module, a main control module, a communication module and a display module.

[0048] The satellite positioning module is used to obtain the current location data of the construction machinery;

[0049] The communication module is used to send the location data to the server in real time; in this embodiment, the communication module adopts a 5G communication module.

[0050] The server is used to generate a movement trajectory of each construction machine according to the position data uploaded by each construction machine, and the movement trajectory includes a movement route and a movement speed of each position on the movement route;

[0051] The image acquisition module is used to collect image data outside the engineering machinery; the number of image acquisition modules is at least 4, distributed on the four sides of the engineering machinery, namely the front side, the rear side, the left side and the right side; in this embodiment, there are 4.

[0052] The internal data acquisition module is used to acquire the status data of the engineering machinery; in this embodiment, the status data includes the moving speed and the traveling direction.

[0053] The main control module is used to analyze the image data, identify the obstacle area, mark the obstacle area in the image data, and synthesize a panoramic image. In this embodiment, the image data is identified by a pre-trained convolutional neural network model. The obstacle area refers to an area that hinders the passage of engineering machinery, or an area where there is danger when the engineering machinery passes, such as an area with obstacles, gullies, walls, and mountains.

[0054] The main control module is used to analyze the image data and determine whether the clarity of the image data meets the preset requirements. If it does not meet the preset requirements, it determines whether the engineering machinery is currently in a moving state according to the state data. If so, it sends an auxiliary request to the server through the communication module. In this embodiment, the moving speed is greater than 0 and the forward direction is the front direction of the vehicle. It is considered to be a moving state; in other embodiments, the forward direction can also be regarded as both the front direction and the rear direction of the vehicle.

[0055] The communication module is also used to send the model information of the construction machinery to the server;

[0056] The server is also used to estimate the future moving route of the construction machinery based on the current moving route of the construction machinery and the existing moving routes of other construction machinery after receiving the auxiliary request. Specifically, the server determines the starting point based on the current moving route of the construction machinery, and estimates the future moving route of the construction machinery based on the current moving route of the construction machinery and the existing moving routes of other construction machinery of the same model and starting point. In this embodiment, the estimated moving route overlaps with the existing moving routes of other construction machinery of the same model and starting point. In other words, it is estimated that the construction machinery will travel along the moving routes of other construction machinery of the same model and starting point. If there are multiple different moving routes of other construction machinery of the same model and starting point, all different routes are used as estimated moving routes. As the construction machinery continues to move, subsequent calculations are continued based on the latest moving route of the construction machinery, and redundant moving routes can be gradually filtered out.

[0057] The server also matches the corresponding sections in the existing moving routes of other engineering machinery based on the estimated moving route, calculates the average moving speed of each position on the successfully matched section, and uses it as the average moving speed of each position on the estimated moving route; and sends the estimated moving route and the average moving speed of each position to the main control module through the communication module.

[0058] The main control module is also used to determine whether the current position is on the estimated moving route. If so, calculate the difference between the current moving speed and the average moving speed of the corresponding position of the estimated moving route, and determine whether the difference is greater than the first threshold. If it is greater than the first threshold, generate an alarm message; the main control module is also used to determine whether the difference is greater than the second threshold. If it is greater than the second threshold, generate a deceleration control instruction. Subsequently, the braking mechanism of the engineering machinery executes the reduction control instruction to achieve deceleration. Among them, the second threshold is greater than the first threshold. The first threshold and the second threshold are set according to the type of engineering machinery and the environment of the construction site.

[0059] The display module is used to display the panoramic image and also to display the alarm information after receiving the alarm information. For example, the alarm information is: the current speed is too fast, please slow down.

[0060] Embodiment 2

[0061] The difference between this embodiment and the first embodiment is that in this embodiment, the display module is also used to receive manual annotation information, which includes the annotation position and the annotation category; the annotation category includes obstacles, people, deceleration and other information used to remind other operators. For example, if workers often pass through a certain location, the annotation category can be set to people. The annotation category can be set according to the actual situation of the construction site, which is convenient for operators to directly select and reduce input time.

[0062] The main control module is also used to send the manual annotation information to the server;

[0063] The server is also used to determine whether there is an engineering machine within the preset range of the marked position according to the received position data, and if so, send the manual marking information to the communication module of the corresponding engineering machine;

[0064] The display module is also used to obtain and display the manually labeled information from the communication module.

[0065] Embodiment 3

[0066] The difference between this embodiment and the first embodiment is that, in this embodiment, when the main control module determines that the current position is not on the estimated moving route, it is also used to send identification information to the server through the communication module;

[0067] The server is also used to obtain the current position of the engineering machine after receiving the identification information, determine whether the current position is on the existing moving route of other engineering machines, and if so, calculate the average moving speed of other engineering machines at the position, and send the average moving speed of other engineering machines at the position to the communication module; the display module is also used to obtain the average moving speed of other engineering machines at the position from the communication module and display it;

[0068] If the current position is not on the existing moving route of other engineering machinery, match the existing moving route of the same type of engineering machinery within the preset distance of the current position, mark it as a reference moving route, and send it to the communication module;

[0069] The display module is also used to obtain the reference moving route from the communication module and display it.

[0070] Embodiment 4

[0071] The difference between this embodiment and the first embodiment is that in this embodiment, the server is also used to determine whether the engineering machinery generating the moving route is of a preset category. If so, based on matching the moving route with the existing moving routes of other engineering machinery, the sections in the existing moving routes of other engineering machinery that overlap with the moving route are marked as invalid sections. The server is also used to exclude invalid sections when matching the corresponding sections in the existing moving routes of other engineering machinery based on the estimated moving routes. In this embodiment, the preset category is a road roller or a bulldozer. After driving, engineering machinery of this category, such as a road roller or a bulldozer, will change the road conditions of the temporary road, and the previous average moving speed will no longer have a reference value. By excluding invalid sections, the accuracy of the average moving speed calculation can be improved.

[0072] The above are only embodiments of the present invention. The invention is not limited to the fields involved in this implementation case. The common sense such as the known specific structures and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field to which the invention belongs before the application date or the priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to explain the content of the claims.

Claims

1. An intelligent control system for construction machinery, comprising a server and a vehicle-mounted terminal arranged on the construction machinery, characterized in that: The vehicle-mounted terminal includes an image acquisition module, an internal data acquisition module, a satellite positioning module, a main control module, a communication module and a display module; The satellite positioning module is used to obtain the current location data of the construction machinery; The communication module is used to send the location data to the server in real time; The server is used to generate a movement trajectory of each construction machine according to the position data uploaded by each construction machine, and the movement trajectory includes a movement route and a movement speed of each position on the movement route; The image acquisition module is used to collect image data outside the construction machinery; The internal data acquisition module is used to obtain the status data of the construction machinery; The main control module is used to analyze the image data and determine whether the clarity of the image data meets the preset requirements. If not, it determines whether the construction machinery is currently in a moving state based on the state data. If so, it sends an auxiliary request to the server through the communication module. The server is also used to, after receiving the auxiliary request, estimate the future moving route of the engineering machinery according to the current moving route of the engineering machinery and the existing moving routes of other engineering machinery, match the corresponding road sections in the existing moving routes of other engineering machinery based on the estimated moving route, calculate the average moving speed of each position on the successfully matched road section as the average moving speed of each position of the estimated moving route; and send the estimated moving route and the average moving speed of each position to the main control module through the communication module; The main control module is also used to determine whether the current position is on the estimated moving route, and if so, calculate the difference between the current moving speed and the average moving speed of the position corresponding to the estimated moving route, and determine whether the difference is greater than a first threshold, and if greater than the first threshold, generate an alarm message; The display module is used to display image data and alarm information; The number of the image acquisition modules is at least 4, which are distributed on four sides of the engineering machinery; The main control module is also used to analyze the image data, identify the obstacle area, mark the obstacle area in the image data, and synthesize the panoramic image; The display module is also used to display the panoramic image; The main control module is also used to determine whether the difference is greater than a second threshold, and if so, generate a deceleration control instruction; The communication module is also used to send the model information of the engineering machinery to the server; The server is also used to determine the starting point according to the current moving route of the engineering machinery, and estimate the future moving route of the engineering machinery according to the current moving route of the engineering machinery and the existing moving routes of other engineering machinery of the same model and starting point; The display module is also used to receive manual annotation information, which includes the annotation position and the annotation category; The main control module is also used to send the manual annotation information to the server; The server is also used to determine whether there is an engineering machine within the preset range of the marked position according to the received position data, and if so, send the manual marking information to the communication module of the corresponding engineering machine; The display module is also used to obtain the manual annotation information from the communication module and display it; When the main control module determines that the current position is not on the estimated moving route, it is also used to send identification information to the server through the communication module; The server is also used to obtain the current position of the engineering machine after receiving the identification information, determine whether the current position is on the existing moving route of other engineering machines, and if so, calculate the average moving speed of other engineering machines at the position, and send the average moving speed of other engineering machines at the position to the communication module; the display module is also used to obtain the average moving speed of other engineering machines at the position from the communication module and display it; If the current position is not on the existing moving route of other engineering machinery, match the existing moving route of the same type of engineering machinery within the preset distance of the current position, mark it as a reference moving route, and send it to the communication module; The display module is also used to obtain the reference moving route from the communication module and display it.

2. The intelligent control system for construction machinery according to claim 1, characterized in that: The server is also used to determine whether the engineering machinery generating the moving route is of a preset category, and if so, based on matching the moving route with the existing moving routes of other engineering machinery, mark the sections of the existing moving routes of other engineering machinery that overlap with the moving route as invalid sections; The server is also used to exclude invalid sections when matching corresponding sections in existing moving routes of other engineering machinery based on the estimated moving route.

3. The intelligent control system for construction machinery according to claim 1, characterized in that: The communication module adopts a 5G communication module.

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