Braking mode control methods, control systems and road machinery

Abstract

This application provides a braking mode control method, a control system, and road machinery, solving or improving the technical problem that existing road machinery, such as road rollers, only have a single braking mode, which cannot simultaneously meet the dual requirements of construction efficiency and surface quality. The braking mode control method provided in this application allows road machinery to be equipped with two or more braking modes. It comprehensively determines the construction conditions based on the road surface image and temperature, and then determines the appropriate braking mode according to the conditions. This not only improves the surface quality but also increases work efficiency, thus simultaneously meeting the dual requirements of construction efficiency and surface quality.

Description

Technical Field

[0001] This application relates to the field of braking technology, specifically to braking mode control methods, control systems, and road machinery. Background Technology

[0002] Road machinery is a type of machinery used to construct the pavement of highways, urban roads, and airport runways. For example, road rollers, also known as soil compactors, are heavy-duty road machinery used for road construction. They utilize the weight of the machine itself to cause permanent deformation and compaction of the compacted layer. They are widely used in the filling and compaction operations of large-scale engineering projects such as high-grade highways, railways, airport runways, dams, and stadiums. They can compact sandy, semi-cohesive, and cohesive soils, roadbed stabilized soils, and asphalt concrete pavement layers.

[0003] Current road rollers are only equipped with one braking mode, which cannot simultaneously meet the dual requirements of construction efficiency and surface quality. Summary of the Invention

[0004] In view of this, this application provides a braking mode control method, a control system, and road machinery, which solves or improves the technical problem that existing road machinery, such as road rollers, are only equipped with a single braking mode and cannot simultaneously meet the dual requirements of construction efficiency and construction surface quality.

[0005] As a first aspect of this application, a braking mode control method for road machinery is characterized by comprising: acquiring image information and temperature information of the construction road surface;

[0006] The road surface color of the construction road is determined based on the image information; the braking mode of the road machinery is determined based on the road surface color and / or the temperature information; wherein the braking mode includes a rapid braking mode and a flexible braking mode, the braking acceleration of the flexible braking mode is less than or equal to a first preset acceleration, the braking acceleration of the rapid braking mode is greater than or equal to a second preset acceleration, and the second preset acceleration is greater than the first preset acceleration.

[0007] In one possible implementation, determining the braking mode of the road machinery based on the road surface color and / or the temperature information includes: determining whether the road surface color is a preset color based on the road surface color; when the road surface color is a preset color, determining that the braking mode of the road machinery is the flexible braking mode.

[0008] In one possible implementation, determining the braking mode of the road machinery based on the road surface color and / or the temperature information further includes: when the road surface color is a color other than a preset color, determining whether the temperature of the construction road surface is greater than a first preset temperature based on the temperature information of the construction road surface; and when the temperature of the construction road surface is greater than the first preset temperature, determining that the braking mode of the road machinery is the flexible braking mode.

[0009] In one possible implementation, after determining that the braking mode of the road machinery is a flexible braking mode, the braking mode control method further includes: determining the distance between the obstacle and the road machinery based on the image information of the construction road surface; determining whether the distance between the obstacle and the road machinery is less than a preset limit distance; and when the distance is less than the preset limit distance, determining that the braking mode of the road machinery is the rapid braking mode.

[0010] In one possible implementation, determining the braking mode of the road machinery based on the road surface color and / or the temperature information further includes: when the road surface color is a color other than a preset color, and the temperature of the construction road surface is less than or equal to a first preset temperature, determining the braking mode of the road machinery as the rapid braking mode.

[0011] In one possible implementation, determining the braking mode of the road machinery based on the road surface color and / or the temperature information further includes: when the road surface color is a color other than a preset color, the temperature of the construction road surface is less than or equal to a first preset temperature, and the construction road surface is determined to be a water-stabilized road surface based on the image information of the construction road surface, determining the braking mode of the road machinery to be the rapid braking mode.

[0012] In one possible implementation, the braking mode further includes: a normal braking mode, wherein the braking acceleration of the normal braking mode is greater than the first preset acceleration and less than the second preset acceleration; wherein, determining the braking mode of the road machinery based on the road surface color and / or the temperature information further includes: determining the braking mode of the road machinery as the normal braking mode when the road surface color is a color other than a preset color, the temperature of the construction road surface is less than or equal to the first preset temperature, and the construction road surface is determined to be a non-water-stabilized road surface based on the image information of the construction road surface.

[0013] In one possible implementation, after determining the braking mode of the road machinery based on the road surface color and / or the temperature information, the control method further includes: determining whether the road surface color of the construction road surface undergoes a sudden change based on the image information; and / or, when it is determined based on the temperature information of the construction road surface detected at the previous detection time that the temperature of the construction road surface at the previous detection time is greater than a first preset temperature, determining whether the temperature of the construction road surface drops below the first preset temperature based on the temperature information of the construction road surface, and whether the difference between the temperature of the construction road surface and the first preset temperature is greater than a preset value; when the road surface color of the construction road surface undergoes a sudden change; and / or, when the temperature of the construction road surface drops below the first preset temperature, and the difference between the temperature of the construction road surface and the first preset temperature is greater than a preset value and a sudden change occurs, acquiring the image information of the road surface being constructed by the road machinery and the temperature information of the construction road surface.

[0014] As a second aspect of this application, this application also provides a braking mode control system for implementing the braking mode control method described above, comprising: a temperature sensor for acquiring temperature information of the construction road surface; a vision sensor for acquiring image information of the construction road surface; a controller, the controller being communicatively connected to the temperature sensor and the vision sensor respectively; and a braking execution module, the braking execution module being communicatively connected to the controller, the controller controlling the braking execution module to execute the braking mode of the road machinery.

[0015] As a third aspect of this application, this application also provides a road machinery, including: the braking mode control system described above.

[0016] This application provides a braking mode control method for road machinery. The road machinery is equipped with two or more braking modes, and the working conditions of the road machinery are determined comprehensively based on the construction road surface image and the construction road surface temperature. Then, a suitable braking mode is determined according to the working conditions. This not only improves the construction surface quality but also increases work efficiency, thus simultaneously meeting the dual requirements of construction efficiency and construction surface quality. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1 The diagram shown is a schematic flowchart of a braking mode control method provided in an embodiment of this application;

[0019] Figure 2 The diagram shown is a flowchart of a braking mode control method according to another embodiment of this application;

[0020] Figure 3 The diagram shown is a flowchart of a braking mode control method according to another embodiment of this application;

[0021] Figure 4 The diagram shown is a flowchart of a braking mode control method according to another embodiment of this application;

[0022] Figure 5 The diagram shown is a flowchart of a braking mode control method according to another embodiment of this application;

[0023] Figure 6 The diagram shown is a flowchart of a braking mode control method according to another embodiment of this application;

[0024] Figure 7 The diagram shown is a flowchart of a braking mode control method according to another embodiment of this application;

[0025] Figure 8 The diagram shown is a schematic diagram of the working principle of a braking mode control system provided in an embodiment of this application;

[0026] Figure 9 The diagram shown is a schematic diagram of the working principle of a braking mode control system according to another embodiment of this application;

[0027] Figure 10 The diagram shown is a schematic diagram of the working principle of a braking mode control system according to another embodiment of this application;

[0028] Figure 11 The diagram shown is a schematic diagram of the working principle of an electronic device provided in an embodiment of this application. Detailed Implementation

[0029] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, top, bottom, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0030] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0031] Application Overview

[0032] When road machinery, such as road rollers, is equipped with only one braking mode, if the road roller is equipped with the fast braking mode, it can achieve high work efficiency for working conditions where the requirements for the quality of the construction surface are not high. However, for working conditions where the requirements for the quality of the construction surface are high, such as on a relatively soft construction surface and where the quality of the compacted surface is required, the fast braking mode often leads to serious damage to the compaction quality of the construction surface. Although it can improve construction efficiency, the construction quality will be seriously damaged.

[0033] If the road roller is equipped with a slow braking mode, it can result in a high-quality road surface when the requirements for road surface quality are high. However, in situations where the requirements for road surface quality are not high, such as the construction of water-stabilized layers, the slow braking mode reduces the construction efficiency.

[0034] Therefore, this application provides a braking mode control method applicable to road machinery. The road machinery is equipped with two or more braking modes, and the working conditions of the road machinery are determined comprehensively based on the construction road surface image and the construction road surface temperature. Then, the appropriate braking mode is determined according to the working conditions, which not only improves the quality of the construction surface, but also improves the work efficiency.

[0035] The technical methods described below, with reference to the accompanying drawings of the embodiments of this application, will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0036] Exemplary methods

[0037] As a first aspect of this application, this application provides a braking mode control method applicable to road machinery; Figure 1 The diagram shown is a schematic flowchart of a braking mode control method provided in this application. Figure 1 As shown, the braking mode control method includes the following steps:

[0038] Step S10: Obtain image information and temperature information of the construction road surface;

[0039] Specifically, the image information of the construction road surface can be captured by a vision sensor, and the image information can be either video or photographic. The vision sensor can be installed in the cab or on the front frame of the road machinery.

[0040] Temperature information of the construction road surface can be detected using temperature sensors, which are installed on the front frame of the road machinery.

[0041] Step S20: Determine the road surface color based on the image information;

[0042] Specifically, the road surface color for construction can be determined based on image information using the following methods:

[0043] (1) The terminal constructs a deep learning model. Based on the common construction road surfaces of road machinery, multiple road surface images of construction roads are collected in advance as sample images. The image features of each sample image are extracted. Based on the extracted image features of each sample image, the deep learning model is trained. After training, a road surface color classification model is obtained. Then, when the road machinery is working, it takes pictures of the construction road surface through a vision sensor to obtain the image information of the construction road surface. Then, the image information of the construction road surface is input into the road surface color classification model. Then, the road surface color classification model classifies the image information of the construction road surface and outputs the road surface color of the construction road surface. (2) The image information is input into the color recognition sensor to identify the road surface color. The color recognition sensor is also called a color sensor or color sensor. It is a sensor that detects color by comparing the color of an object with the reference color that has been taught before. When the two colors match within a certain error range, the detection result is output.

[0044] Step S30: Determine the braking mode of the road machinery based on the road surface color and / or temperature information.

[0045] Specifically, the braking modes include a rapid braking mode and a flexible braking mode. In the flexible braking mode, the braking acceleration is less than or equal to the first preset acceleration A1. In the rapid braking mode, the braking acceleration is greater than or equal to the second preset acceleration A2, and the second preset acceleration A2 is greater than the first preset acceleration A1.

[0046] The operating conditions of road machinery can be determined based on the road surface color and / or the temperature of the road surface. For example, when the road surface color is black, dark gray, or brownish-black, the operating condition of the road machinery can be determined as "asphalt condition." Since "asphalt condition" has high requirements for the quality of the road surface, a flexible braking mode can be used to ensure the compaction quality of the road surface, thus improving the construction quality. When the road surface is not black, dark gray, or brownish-black, and the road surface temperature is lower than a first preset temperature (e.g., the first preset temperature is in the range of 75℃-85℃), the operating condition is determined to be non-asphalt condition, and a rapid braking mode can be used, improving construction efficiency. In summary, the braking mode control method provided in this application allows road machinery to be equipped with two or more braking modes. The operating conditions of the road machinery are determined comprehensively based on the road surface image and the road surface temperature. Then, an appropriate braking mode is determined based on the operating conditions. This not only improves the surface quality of the road surface but also increases work efficiency, simultaneously meeting the dual requirements of construction efficiency and surface quality.

[0047] In one possible implementation, such as Figure 2 As shown, step S30 (determining the braking mode of the road machinery based on road surface color and / or temperature information) specifically includes the following steps:

[0048] Step S301: Determine whether the road surface color is the preset color based on the road surface color;

[0049] The preset colors can be black, dark brown, or dark gray. Determining whether the road surface color is a preset color means determining whether the road surface color is one of these three colors. If the road surface color is one of these three colors, the determination result in step S301 is considered to be yes.

[0050] When the judgment result in step S301 is yes, that is, the road surface color is determined to be the preset color, the construction condition can be determined to be "asphalt road condition". At this time, the flexible braking mode is executed, that is, step S302 is executed.

[0051] Step S302: Determine that the braking mode of the road machinery is flexible braking mode. The braking acceleration of the flexible braking mode is less than or equal to the first preset acceleration A1. That is, the maximum braking acceleration of the flexible braking mode is the first preset acceleration A1. When the road machinery is in flexible braking mode, the compaction quality of the road surface can be guaranteed and the construction quality can be improved.

[0052] When the judgment result in step S301 is negative, that is, the road surface color is a color other than the preset color, such as the road surface color is neither black, nor brownish-black, nor dark gray, then steps S303-304 are executed.

[0053] Step S303: Determine whether the temperature of the construction surface is greater than the first preset temperature based on the temperature information of the construction surface;

[0054] Specifically, the first preset temperature can be any temperature within the range of 75℃-85℃, such as 80℃.

[0055] When the judgment result in step S303 is yes, the temperature of the construction road surface is greater than the first preset temperature, and the construction condition can be determined as "asphalt condition". Then step S302 can be executed, that is, the braking mode of the road machinery is determined to be flexible braking mode.

[0056] When the judgment result in step S303 is negative, that is, the temperature of the construction road surface is less than or equal to the first preset temperature, the construction condition can be determined to be non-asphalt condition, and step S304 can be executed.

[0057] Step S304: Determine that the braking mode of the road machinery is the fast braking mode. The braking acceleration of the fast braking mode is greater than or equal to the second preset acceleration A2. That is, the minimum braking acceleration of the fast braking mode is the second preset acceleration A2. In other words, the road machinery is in the fast braking mode. When the construction road conditions do not have high requirements for construction quality, the use of the fast braking mode can improve construction efficiency.

[0058] In one possible implementation, such as Figure 3 As shown, after step S302 (determining the braking mode of the road machinery to be flexible braking mode), the braking mode control method further includes the following steps:

[0059] Step S305: Determine the distance between the obstacle and the road machinery based on the image information of the construction road surface;

[0060] When the construction condition is determined to be "asphalt condition", the road machinery executes a flexible braking mode to construct the road surface. During the construction process, image information of the road surface is continuously acquired, and the presence of obstacles ahead and the distance between the road machinery and obstacles are determined based on the image information. After determining the distance between the obstacle and the road machinery, it is judged whether the distance between the obstacle and the road machinery is less than a preset limit distance, i.e., step S306.

[0061] Step S306: Determine whether the distance between the obstacle and the road machinery is less than the preset limit distance;

[0062] The preset limit distance is the maximum safe distance between the obstacle and the road machinery.

[0063] When the judgment result in step S306 is yes, meaning the distance between the obstacle and the road machinery is less than the limit safety distance, continuing construction in the flexible braking mode will result in a collision with the obstacle. Therefore, the rapid braking mode needs to be executed (i.e., step S304) to avoid a collision with the obstacle. When the judgment result in step S306 is no, meaning the distance between the obstacle and the road machinery is greater than or equal to the limit safety distance, continuing in the flexible braking mode will also prevent a collision between the road machinery and the obstacle. This demonstrates that a flexible braking mode combined with an active safety control mode is used to cope with the appearance of sudden obstacles and ensure construction safety.

[0064] In one possible implementation, such as Figure 4 As shown, after step S20 (determining the road surface color based on image information), the braking mode control method further includes the following steps:

[0065] Step S201: Determine the distance between the obstacle and the road machinery based on the image information of the construction road surface;

[0066] Step S202: Determine whether the distance between the obstacle and the road machinery is less than the preset limit distance;

[0067] The preset limit distance is the maximum safe distance between the obstacle and the road machinery.

[0068] When the judgment result in step S202 is yes, that is, the distance between the obstacle and the road machinery is less than the limit safety distance, then regardless of the construction conditions of the road machinery, in order to prevent the road machinery from colliding with the obstacle, a rapid braking mode needs to be executed (i.e., step S304) to avoid collision. When the judgment result in step S202 is no, that is, the distance between the obstacle and the road machinery is greater than or equal to the limit safety distance, step S301 (judging whether the road surface color is a preset color based on the road surface color) continues.

[0069] In one possible implementation, such as Figure 5 As shown, between steps S303 and S304, step S30 (determining the braking mode of the road machinery based on road surface color and / or temperature information) further includes the following steps:

[0070] Step S3030: Determine whether the construction road surface is a water-stabilized road surface based on the image information of the construction road surface;

[0071] Water-stabilized pavement refers to the water-stabilized layer of the constructed pavement, also known as cement-stabilized crushed stone layer. The water-stabilized layer is made by mixing crushed stone with a cement binder, and then applying pressure to make the base layer of the constructed pavement more solid. The water-stabilized layer can effectively bond with the subgrade, has a certain degree of hardness, and can ensure the solidity of the highway while saving on construction materials. Furthermore, the water-stabilized layer needs to have good bonding with the surface layer, possessing sufficient flatness and solidity, as well as good water resistance, stability, and hardness.

[0072] When the judgment result in step S3030 is yes, that is, when the construction road surface is a water-stabilized road surface, the braking mode of the road machinery is determined to be the fast braking mode, that is, step S304 is executed.

[0073] When the judgment result in step S3030 is negative, that is, the road surface is not a water-stabilized road surface and the working condition of the road machinery is not "asphalt working condition", the braking mode of the road machinery is determined to be the normal braking mode. In the normal braking mode, the braking acceleration is greater than the first preset acceleration A1 and less than the second preset acceleration A2.

[0074] The road machinery of this application is equipped with three braking modes. The operating conditions of the road machinery are determined based on image and temperature information of the road surface being constructed. In "asphalt condition," a flexible braking mode is used to ensure the compaction quality of the road surface and improve construction quality. In water-stabilized road surface condition, a rapid braking mode is used to improve work efficiency. When the road surface condition falls between water-stabilized road surface and "asphalt condition," a normal braking mode is used, satisfying both construction quality and work efficiency. Regardless of the condition of the road surface being constructed, the appropriate braking mode can be selected, allowing the road machinery to adapt to various road surface conditions and reducing the probability of low efficiency or poor construction quality due to a single braking mode.

[0075] Specifically, the following two methods can be used to determine whether a construction pavement is a water-stabilized pavement based on the image information of the construction pavement:

[0076] (1) Image recognition methods:

[0077] The image information of the construction pavement is identified. When objects exceeding a preset height and having a preset length or width (a reference length for the object's length or width) are continuously identified within a preset length range (e.g., within 1 meter of the construction pavement), the construction pavement is determined to be a water-stabilized pavement. In other words, if the image information indicates that the construction pavement is not smooth and has significant unevenness and undulations, then it can be determined to be a water-stabilized pavement.

[0078] (2) Self-learning methods:

[0079] Construct a database of water-stabilized pavements;

[0080] Input multiple water-stabilized pavement images into the water-stabilized pavement database for storage;

[0081] Specifically, water-stabilized pavement images can provide construction workers with image information of various water-stabilized pavements during normal construction, and these images are stored in a water-stabilized pavement database.

[0082] Based on the construction pavement image information obtained during the construction process, a search is performed in the water-stabilized pavement database. When a water-stabilized pavement image that matches the construction pavement image information is found in the water-stabilized pavement database, the construction pavement can be identified as a water-stabilized pavement.

[0083] Specifically, when the matching degree between the water-stabilized pavement image in the water-stabilized pavement database and the image information of the construction pavement is greater than or equal to a preset percentage, it can be determined that the water-stabilized pavement image and the image information of the construction pavement are matched.

[0084] When the matching degree between the water-stabilized pavement images in the water-stabilized pavement database and the image information of the construction pavement is less than a preset percentage, it means that the water-stabilized pavement images and the image information of the construction pavement do not match. When no water-stabilized pavement image matching the image information of the construction pavement can be found in the water-stabilized pavement database, the construction pavement is determined to be a non-water-stabilized pavement.

[0085] When a water-stabilized pavement image matching the image information of the construction pavement is found in the water-stabilized pavement database, and the construction pavement is determined to be a water-stabilized pavement, the image information of the construction pavement is then stored as a water-stabilized pavement image in the water-stabilized pavement database to update the water-stabilized pavement database. This enables the water-stabilized pavement database to have a self-learning function, so that the accuracy of determining whether the construction pavement is a water-stabilized pavement based on the water-stabilized pavement database gradually improves.

[0086] In one possible implementation, such as Figure 6As described above, after step S30 (determining the braking mode of the road machinery based on road surface color and / or temperature information), the control method further includes the following steps:

[0087] Step S40: Determine whether the road surface color of the construction road has changed abruptly based on the image information;

[0088] When the color of the road surface suddenly changes, it indicates that the road surface has changed. The corresponding braking mode needs to be re-determined based on the color and temperature of the road surface, i.e., step S10 and subsequent steps are executed.

[0089] Specifically, a sudden change in the road surface color during construction refers to either the road surface color changing from a preset color to a color other than the preset color, or vice versa.

[0090] In one possible implementation, such as Figure 7 As shown, after step S30 (determining the braking mode of the road machinery based on road surface color and / or temperature information), the control method further includes the following steps:

[0091] Step S50: When it is determined that the temperature of the construction road surface at the previous detection time is greater than the first preset temperature based on the temperature information of the construction road surface at the previous detection time, it is determined whether the temperature of the construction road surface has dropped below the first preset temperature based on the temperature information of the construction road surface, and whether the difference between the temperature of the construction road surface and the first preset temperature is greater than the preset value; that is, it is determined whether the temperature of the construction road surface has changed abruptly.

[0092] Specifically, in this application, the temperature information of the construction pavement is the temperature information of the construction pavement detected at the current moment. The previous detection moment is the detection moment before the current moment, and the temperature information of the construction pavement is the temperature information of the construction pavement detected at the previous detection moment.

[0093] When determining whether the temperature of the construction pavement has changed abruptly, it is first necessary to determine whether the temperature of the construction pavement at the previous detection time was greater than the first preset temperature. If the temperature of the construction pavement at the previous detection time was greater than the first preset temperature, then it is necessary to determine whether the temperature of the construction pavement has dropped below the first preset temperature (i.e., the current temperature of the construction pavement is less than the first preset temperature) based on the temperature information of the construction pavement, and whether the difference between the temperature of the construction pavement and the first preset temperature is greater than the preset value (i.e., whether the temperature drop of the current construction pavement relative to the first preset temperature is significant).

[0094] When the temperature of the road surface at the previous detection time was greater than the first preset temperature, and the temperature of the road surface dropped below the first preset temperature (i.e., the current temperature of the road surface is less than the first preset temperature), and the difference between the temperature of the road surface and the first preset temperature is greater than the preset value, it indicates that the current temperature of the road surface has dropped below the first preset temperature relative to the temperature of the road surface at the previous detection time, and the temperature drop is significant. Therefore, it can be said that the temperature of the road surface has changed abruptly, and thus the road surface has changed. It is necessary to re-determine the corresponding braking mode based on the road surface color and temperature, i.e., execute step S10 and subsequent steps.

[0095] Exemplary control system

[0096] As a second aspect of this application, this application also provides a braking mode control system for implementing the braking mode control method described above. Figure 8 The diagram shown is a schematic diagram of the working principle of a braking mode control system provided in this application. Figure 8 As shown, the control system includes:

[0097] Temperature sensor 100 is used to acquire temperature information of the road surface during road construction by road machinery;

[0098] The vision sensor 200 is used to acquire image information of the road surface being constructed by road machinery. The vision sensor mainly consists of one or two image sensors, sometimes accompanied by a light projector and other auxiliary equipment. The primary function of the vision sensor is to acquire sufficient raw images for the machine vision system to process. Image sensors can be laser scanners, linear and area array CCD cameras, TV cameras, or digital cameras, etc.

[0099] Controller 300 is communicatively connected to temperature sensor 100 and vision sensor 200, respectively. Controller 300 is used to execute the braking mode control method described above.

[0100] The braking execution module 400 is connected to the controller 300 via communication. The controller 300 controls the braking execution module 400 to execute the braking mode of the road machinery.

[0101] After the temperature sensor 100 detects the temperature information of the construction road surface, it sends the temperature information to the controller 300. The vision sensor 200 captures the image information of the construction road surface and sends the image information to the controller 300. The controller 300 determines the road surface color based on the image information, and then determines the braking mode of the road machinery based on the road surface color and / or the temperature information of the road surface. The controller then controls the braking execution module 40-0 according to the braking mode, so that the braking execution module 40-0 executes the braking mode of the road machinery. The braking modes include a rapid braking mode and a flexible braking mode. In the flexible braking mode, the braking acceleration is less than or equal to a first preset acceleration A1. In the rapid braking mode, the braking acceleration is greater than or equal to a second preset acceleration A2, where the second preset acceleration A2 is greater than the first preset acceleration A1.

[0102] This application provides a braking mode control system in which road machinery is equipped with two or more braking modes. The system determines the working conditions of the road machinery based on the construction road surface image and the construction road surface temperature, and then determines the appropriate braking mode based on the working conditions. This not only improves the quality of the construction surface, but also increases work efficiency.

[0103] Specifically, such as Figure 9 As shown, the controller 300 includes a road surface color recognition module 301 and a braking mode determination module 302. The road surface color recognition module 301 is communicatively connected to both the vision sensor 200 and the braking mode determination module 302. The road surface color recognition module 301 receives image information of the construction road surface captured by the vision sensor 200, recognizes the road surface color, and transmits this color to the braking mode determination module 302. The braking mode determination module 302 is communicatively connected to both the road surface color recognition module 301 and the temperature sensor 100. The braking mode determination module 302 receives the road surface color recognized by the road surface color recognition module 301 and / or the temperature information of the construction road surface detected by the temperature sensor 100, and determines the braking mode based on the road surface color and / or temperature information.

[0104] Specifically, such as Figure 10 As shown, when the braking execution module 400 executes the braking mode of the controller 300, it can output speed control information to the engine 401; it can also output control signals to the electric proportional release valve 402 of the hydraulic braking system; and it can also output control signals to the electric proportional plunger pump 403 of the engine.

[0105] As a third aspect of this application, this application also provides a road machinery including the aforementioned braking mode control system.

[0106] Specifically, road machinery can be road rollers.

[0107] Exemplary electronic devices

[0108] Below, for reference Figure 11 This describes an electronic device according to embodiments of the present application. Figure 11 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application.

[0109] like Figure 11 As shown, the electronic device 600 includes one or more processors 601 and memory 602.

[0110] The processor 601 may be a central processing unit (CPU) or other form of processing unit with data processing and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0111] The memory 601 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer-readable storage medium, and the processor 601 may run the program information to implement the braking mode control methods of the various embodiments of this application described above or other desired functions.

[0112] In one example, the electronic device 600 may also include an input device 603 and an output device 604, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0113] The input device 603 may include, for example, a keyboard, a mouse, etc.

[0114] The output device 604 can output various information to the outside. The output device 604 may include, for example, a display, a communication network, and remote output devices connected thereto.

[0115] Of course, for the sake of simplicity, Figure 11 Only some of the components of the electronic device 600 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 600 may include any other suitable components depending on the specific application.

[0116] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program information that, when run by a processor, causes the processor to perform the steps in the braking mode control methods according to various embodiments of this application as described in this specification.

[0117] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0118] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program information thereon, which, when run by a processor, causes the processor to execute the steps in the braking mode control method according to various embodiments of this application.

[0119] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0120] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0121] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0122] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. Such disassembly and / or recombination should be considered as equivalent to the present application.

[0123] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0124] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Any modifications or equivalent substitutions made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A braking mode control method for road machinery, characterized in that, include: Acquire image and temperature information of the construction road surface; The road surface color of the construction road surface is determined based on the image information; The braking mode of the road machinery is determined based on the road surface color and / or the temperature information; The braking modes include a rapid braking mode and a flexible braking mode. The braking acceleration in the flexible braking mode is less than or equal to a first preset acceleration, and the braking acceleration in the rapid braking mode is greater than or equal to a second preset acceleration, wherein the second preset acceleration is greater than the first preset acceleration. After determining the braking mode of the road machinery based on the road surface color and / or the temperature information, the control method further includes: When it is determined that the temperature of the construction road surface at the previous detection time is greater than the first preset temperature based on the temperature information of the construction road surface at the previous detection time, it is determined whether the temperature of the construction road surface has dropped below the first preset temperature based on the temperature information of the construction road surface, and whether the difference between the temperature of the construction road surface and the first preset temperature is greater than a preset value. When the temperature of the construction road surface drops below the first preset temperature, and the difference between the temperature of the construction road surface and the first preset temperature is greater than a preset value, image information of the road surface being constructed by the road machinery and temperature information of the construction road surface are acquired.

2. The braking mode control method according to claim 1, characterized in that, Determining the braking mode of the road machinery based on the road surface color and / or the temperature information includes: Determine whether the road surface color is a preset color based on the road surface color; When the road surface color is a preset color, the braking mode of the road machinery is determined to be the flexible braking mode.

3. The braking mode control method according to claim 2, characterized in that, The step of determining the braking mode of the road machinery based on the road surface color and / or the temperature information further includes: When the road surface color is a color other than a preset color, it is determined whether the temperature of the construction road surface is greater than a first preset temperature based on the temperature information of the construction road surface; and When the temperature of the road surface under construction is greater than the first preset temperature, the braking mode of the road machinery is determined to be the flexible braking mode.

4. The braking mode control method according to claim 2 or 3, characterized in that, After determining that the braking mode of the road machinery is a flexible braking mode, the braking mode control method further includes: The distance between the obstacle and the road machinery is determined based on the image information of the construction road surface; Determine whether the distance between the obstacle and the road machinery is less than a preset limit distance; and When the distance is less than the preset limit distance, the braking mode of the road machinery is determined to be the rapid braking mode.

5. The braking mode control method according to claim 3, characterized in that, The step of determining the braking mode of the road machinery based on the road surface color and / or the temperature information further includes: When the road surface color is a color other than a preset color, and the temperature of the construction road surface is less than or equal to a first preset temperature, the braking mode of the road machinery is determined to be the rapid braking mode.

6. The braking mode control method according to claim 3, characterized in that, The step of determining the braking mode of the road machinery based on the road surface color and / or the temperature information further includes: When the road surface color is a color other than a preset color, the temperature of the construction road surface is less than or equal to a first preset temperature, and the construction road surface is determined to be a water-stabilized road surface based on the image information of the construction road surface, the braking mode of the road machinery is determined to be the rapid braking mode.

7. The braking mode control method according to claim 6, characterized in that, The braking mode further includes: a normal braking mode, wherein the braking acceleration in the normal braking mode is greater than the first preset acceleration and less than the second preset acceleration; The step of determining the braking mode of the road machinery based on the road surface color and / or the temperature information further includes: When the road surface color is a color other than a preset color, the temperature of the construction road surface is less than or equal to a first preset temperature, and the construction road surface is determined to be a non-water-stabilized road surface based on the image information of the construction road surface, the braking mode of the road machinery is determined to be the normal braking mode.

8. A braking mode control system for implementing the braking mode control method as described in any one of claims 1-7, characterized in that, include: Temperature sensors are used to acquire temperature information of the road surface under construction. A vision sensor is used to acquire image information of the road surface under construction. A controller, which is communicatively connected to both the temperature sensor and the vision sensor. as well as A braking execution module is provided, which is communicatively connected to the controller. The controller controls the braking execution module to execute the braking mode of the road machinery.

9. A road construction machine, characterized in that, include: The braking mode control system according to claim 8.

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