Paving thickness detection method, paving thickness detection device, and paver

Abstract

This invention relates to the field of road construction technology, and more particularly to a method for detecting paving thickness, comprising: calibrating the position of the lower rear end of the screed relative to a lidar; acquiring a point cloud of the road surface to be paved using the lidar; and determining the paving thickness based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed relative to the lidar. By acquiring the actual point cloud of the road surface below the screed and performing linear fitting to obtain an actual fitted straight line of the road surface below the screed, and using the distance between the coordinates of the lower rear end of the screed and the actual fitted straight line as the paving thickness, the method can solve the problem of paving thickness detection deviation caused by uneven ground, thus improving the paving thickness detection accuracy of the paver.

Description

Technical Field

[0001] This invention relates to the field of road construction technology, and in particular to a method for detecting paving thickness, a device for detecting paving thickness, and a paver. Background Technology

[0002] During road construction, the thickness of the pavement is one of the key indicators for construction quality control.

[0003] Among related technologies, the methods for detecting paving thickness are mostly balanced beam multi-probe method, mechanical ruler measurement method, 3D leveling method and laser detection method.

[0004] Among the aforementioned detection methods, laser detection, compared to the multi-probe method using a balanced beam, can acquire richer road surface information through its dense point cloud. However, this method has a drawback: the point clouds output by the laser radar in real time are spaced apart from each other, making it impossible to simultaneously scan the point clouds before and after paving the same section of the road. When the road surface is uneven, the straight line fitted by the point cloud of the previous road surface will produce a large error after being extended. Summary of the Invention

[0005] This invention aims to at least solve or improve one of the technical problems existing in related technologies. To this end, this invention proposes a method for detecting paving thickness, to solve or improve the problem of inaccurate paving thickness detection caused by uneven ground in related technologies.

[0006] This invention also provides a paving thickness detection device.

[0007] This invention also provides a paver.

[0008] This invention provides a method for detecting paving thickness, comprising:

[0009] The position of the lower rear end of the calibrated ironing plate relative to the lidar;

[0010] The point cloud of the road surface to be paved is obtained using the lidar.

[0011] The paving thickness is determined based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed relative to the lidar.

[0012] According to the paving thickness detection method provided by the present invention, determining the paving thickness based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed relative to the lidar includes:

[0013] The point cloud of the road surface to be paved is recorded. After the paver advances a set distance, the recorded point cloud of the road surface to be paved is stitched to the rear according to the positioning information.

[0014] The stitched point cloud is fitted with a straight line to obtain the fitted straight line.

[0015] Determine the distance from the lower rear end of the ironing board to the fitted straight line.

[0016] According to the paving thickness detection method provided by the present invention, the step of stitching the recorded point cloud of the road surface to be paved to the subsequent data based on positioning information includes:

[0017] The current frame point cloud of the road surface to be paved is obtained using the lidar, and the historical frame point cloud of the road surface to be paved before the set distance is found based on the positioning information;

[0018] Identify the point clouds representing the same road segment in the historical frame point cloud and the current frame point cloud, and perform line fitting on each.

[0019] Based on the different results of the linear fitting of the historical frame point cloud and the current frame point cloud, the historical frame point cloud is corrected in the radar coordinate system of the current frame point cloud so that the point clouds representing the same road surface in the historical frame point cloud and the current frame point cloud completely overlap.

[0020] According to the paving thickness detection method provided by the present invention, the step of correcting the historical frame point cloud in the radar coordinate system of the current frame point cloud includes: rotating and translating the historical frame point cloud in the radar coordinate system of the current frame point cloud.

[0021] According to the paving thickness detection method provided by the present invention, the position of the lower rear end of the calibration screed relative to the lidar includes:

[0022] Make the lower rear end of the screed contact the road surface to be paved;

[0023] Install an auxiliary calibration bracket on the ironing board, and ensure that the auxiliary calibration bracket and the lower rear end of the ironing board are on the same straight line;

[0024] The point cloud of the auxiliary calibration bracket is obtained using the lidar;

[0025] Linear fitting is performed on the point cloud of the road surface to be paved and the point cloud of the auxiliary calibration support, and the intersection of the two fitted lines is obtained. The coordinates of the intersection point are the position of the lower rear end of the screed relative to the lidar.

[0026] According to the paving thickness detection method provided by the present invention, the step of acquiring the point cloud of the road surface to be paved and the point cloud of the auxiliary calibration support through the lidar includes:

[0027] The point cloud of the road surface to be paved and the point cloud of the auxiliary calibration support are obtained by using a pass-through filter in the point cloud map of the lidar.

[0028] The paving thickness detection method provided by the present invention further includes a method for correcting the position of the lower rear end of the screed relative to the lidar, comprising:

[0029] Reflective strips are installed on the support rod of the ironing board, and the position of the lower rear end of the ironing board relative to the lidar is corrected according to the position of the reflective strips.

[0030] The paving thickness detection method provided by the present invention further includes:

[0031] Establish a dead zone threshold range for paving thickness and filter the real-time paving thickness so that no control signal is output when the paving thickness changes within the dead zone threshold range.

[0032] The present invention also provides a paving thickness detection device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the paving thickness detection method as described in any of the preceding claims.

[0033] The present invention also provides a paver, including the paving thickness detection device as described above.

[0034] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0035] According to the paving thickness detection method provided by the present invention, the actual point cloud of the road surface under the screed is obtained and a straight line is fitted to obtain the actual fitted straight line of the road surface under the screed. At the same time, the paving thickness is based on the distance between the coordinates of the lower rear end of the screed and the actual fitted straight line. This method can solve the problem of paving thickness detection deviation caused by uneven ground and improve the paving thickness detection accuracy of the paver.

[0036] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the paving thickness detection method provided in an embodiment of the present invention;

[0039] Figure 2This is a schematic diagram of the point cloud splicing principle in the paving thickness detection method provided in this embodiment of the invention;

[0040] Figure 3 This is a schematic structural diagram of the paver provided in an embodiment of the present invention;

[0041] Figure 4 This is a schematic structural diagram of the electronic device provided in the embodiments of the present invention.

[0042] Figure label:

[0043] 100. Machine body; 102. Ironing plate; 104. Auxiliary calibration bracket; 106. LiDAR; 108. Communication device; 110. Display assembly; 112. Leveling cylinder; 114. Main arm;

[0044] 118. Processor; 120. Communication interface; 122. Memory; 124. Communication bus. Detailed Implementation

[0045] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0046] Example 1

[0047] like Figure 1 As shown, this embodiment provides a method for detecting paving thickness. The paving thickness detection method provided in this embodiment is based on the paver provided in Embodiment 2 and includes:

[0048] A radar coordinate system is established with the lidar 106 as the origin, and the position of the lower rear end of the ironing plate 102 relative to the lidar 106 is calibrated.

[0049] The point cloud of the road surface to be paved is acquired by the lidar 106 (the lidar 106 scans along the road direction);

[0050] The paving thickness is determined based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed 102 relative to the lidar 106.

[0051] In this embodiment of the invention, determining the paving thickness based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed 102 relative to the lidar 106 includes:

[0052] The point cloud of the paved road surface is recorded. After the paver advances a set distance, the recorded point cloud of the road surface to be paved is stitched to the rear according to the positioning information.

[0053] Perform line fitting on the stitched point cloud and obtain the fitted line;

[0054] Determine the distance from the lower rear end of the ironing plate 102 to the fitted straight line.

[0055] During actual paving, due to the obstruction of the asphalt material and the retaining plate, the lidar 106 cannot scan the road surface to be paved below the screed 102 in real time. Therefore, it is necessary to record the points of the road surface to be paved ahead, and after the paver has moved a certain distance, the recorded historical ground point cloud is stitched together with the rear based on the positioning information.

[0056] In this embodiment of the invention, the point cloud of the road surface to be paved is stitched together with the subsequent data based on the positioning information, including:

[0057] The current frame point cloud of the road surface to be paved is obtained using the lidar 106. Then, the historical frame point cloud of the road surface to be paved is found from the point cloud storage container based on the RTK positioning information, which is located at a set distance (2-3 meters) before the road surface to be paved.

[0058] Identify the point clouds representing the same road segment in the historical frame point cloud and the current frame point cloud (i.e. Figure 3 (point clouds with larger diameters) and perform line fitting on each;

[0059] Based on the different results of straight-line fitting between historical frame point clouds and current frame point clouds, the historical frame point clouds are corrected in the radar coordinate system of the current frame point clouds to ensure that the point clouds representing the same road segment in the historical frame point clouds and the current frame point clouds completely overlap. It should be noted that the point cloud correction process can be performed locally or globally.

[0060] In this embodiment of the invention, the correction of historical frame point clouds in the radar coordinate system of the current frame point cloud includes: rotating and translating the historical frame point clouds in the radar coordinate system of the current frame point cloud. By rotating and translating, the historical frame point clouds are corrected so that they completely coincide with the points representing the same road surface in the current frame point cloud, thereby improving detection accuracy.

[0061] Reference Figure 2 In this diagram, the point clouds represent the point clouds scanned by the LiDAR 106. Larger diameter point clouds represent the scan results of the same section of ground, while smaller diameter point clouds represent the distance the paver traveled between two point cloud frames. During its movement, the paver stitches the point clouds from the current frame output by the LiDAR 106 in real time. Because the LiDAR 106 experiences slight shaking during paver movement, causing slight rotation and translation of the ground point clouds in the radar coordinate system, direct stitching results in low accuracy. Therefore, it is necessary to first correct for the point cloud deformation caused by shaking between historical and current frames before stitching, thereby improving detection accuracy.

[0062] In this embodiment of the invention, calibrating the position of the lower rear end of the ironing plate 102 relative to the lidar 106 includes:

[0063] Make the lower rear end of the screed 102 contact the road surface to be paved;

[0064] Install an auxiliary calibration bracket 104 on the ironing plate 102, and make the auxiliary calibration bracket 104 and the lower rear end of the ironing plate 102 on the same straight line.

[0065] The point cloud of the auxiliary calibration support 104 is acquired by the lidar 106 (the lidar 106 scans the auxiliary calibration support 104);

[0066] Linear fitting is performed on the point cloud of the road surface to be paved and the point cloud of the auxiliary calibration support 104, and the intersection of the two fitted lines is obtained. The coordinates of the intersection point are the position of the lower rear end of the screed 102 relative to the lidar 106. That is, the position of the lower rear end of the screed 102 relative to the lidar 106 includes the coordinates of the lower rear end of the screed 102.

[0067] By setting an auxiliary calibration bracket 104 on the screed 102 with its lower rear end aligned with the screed, the point cloud of the auxiliary calibration bracket 104 can be acquired using a lidar 106. A straight line fit is then performed between the point cloud of the pavement to be paved and the point cloud of the auxiliary calibration bracket 104; the intersection of the two lines represents the position of the lower rear end of the screed 102 relative to the lidar 106. This method is simple to operate, highly accurate, and allows direct scanning of the auxiliary calibration bracket 104 using the lidar 106. After calibration, the auxiliary calibration bracket 104 can be removed, and the thickness measurement process can then commence.

[0068] In this embodiment of the invention, the point cloud of the road surface to be paved and the point cloud of the auxiliary calibration support 104 are acquired by the lidar 106, including:

[0069] In the point cloud image of the lidar 106, a pass-through filter is used to obtain the point cloud of the road surface to be paved and the point cloud of the auxiliary calibration support 104, in order to remove unreasonable point clouds and those outside the set range.

[0070] In this embodiment of the invention, the paving thickness detection method further includes a method for correcting the position of the lower rear end of the screed 102 relative to the lidar 106, comprising:

[0071] A reflective strip is installed on the support rod of the ironing board 102, and the position of the lower rear end of the ironing board relative to the lidar 106 is corrected according to the position of the reflective strip. Specifically, the following method can be used: a reflective strip is installed at the intersection of the support rod of the ironing board 102 and the laser scanning line of the lidar 106, and this point on the support rod is used as a reference point to correct the fixed coordinates of the lower rear end of the ironing board 102.

[0072] Considering the slight deformation of the rigid body formed by the paver's boom and screed 102, a reflective strip is attached to the intersection of the support rod of the screed 102 and the laser scanning line of the lidar 106. Using this point on the support rod as a reference point, the fixed coordinates of the rear end of the screed 102 can be corrected, thereby improving the detection accuracy.

[0073] In this embodiment of the invention, the paving thickness detection method further includes establishing a dead zone threshold range for paving thickness and filtering the real-time paving thickness so that no control signal is output when the change in paving thickness is within the dead zone threshold range. Since the real-time measured paving thickness may fluctuate, establishing a dead zone threshold range and filtering the real-time paving thickness ensures the stability of the control signal.

[0074] Example 2

[0075] like Figure 3 The diagram shown is a schematic of the paver provided in this embodiment. The paver provided in this embodiment includes:

[0076] The machine body 100 has an ironing board 102 on it and an auxiliary calibration bracket 104 on it. The auxiliary calibration bracket 104 and the lower rear end of the ironing board 102 are on the same straight line.

[0077] A lidar 106 is mounted on the boom 114 to obtain the position of the lower rear end of the screed 102 relative to the lidar 106, and to obtain the point cloud of the road surface to be paved.

[0078] The calculation module is installed on the body 100. The calculation module is adapted to determine the paving thickness based on the position of the lower rear end of the screed 102 relative to the lidar and the point cloud of the road surface to be paved. The position of the lower rear end of the screed 102 relative to the lidar includes the coordinates of the lower rear end of the screed 102.

[0079] The paving thickness detection device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the paving thickness detection method as described in Example 1.

[0080] See Figure 3 A screed 102 is rigidly connected to the machine body 100 via a boom 114. The screed 102 is installed at one end of the boom 114, and a leveling cylinder 112 is installed at the other end of the boom 114. The leveling cylinder 112 can control the lifting and lowering of the screed 102 to adjust the paving thickness.

[0081] The lidar 106 is rigidly connected to the boom 114. Since the boom 114 and the screed 102 are rigidly connected, and the lidar 106 and the boom 114 are also rigidly connected, this arrangement ensures that the position of the lidar 106 relative to the lower rear end of the screed 102 will not change during construction.

[0082] The paver provided in this embodiment acquires the coordinates of the lower rear end of the screed 102 and the actual point cloud of the current road surface through the LiDAR 106. The paver then calculates the paving thickness based on the position coordinates of the lower rear end of the screed 102 relative to the LiDAR 106 and the actual point cloud, using a calculation module. This solves the problem of paving thickness detection deviation caused by uneven ground. It also reduces the interference of smoke at the construction site on the LiDAR 106 detection results. Furthermore, since the LiDAR 106 is mounted on the boom 114, and the boom 114 and screed 102 are rigidly connected, the position of the lower rear end of the screed 102 relative to the LiDAR 106 remains constant during paver movement, eliminating the need to scan the already paved ground and improving the accuracy of paving thickness detection.

[0083] In this embodiment of the invention, a single-line lidar 106 can be used. When more road surface information is required, a multi-line lidar 106 can also be selected. Taking a single-line lidar 106 as an example, this lidar 106 can obtain the coordinate values ​​of the lower rear end of the screed 102, and can also obtain the actual point cloud of the current road surface.

[0084] In this embodiment of the invention, the calculation module is used to determine the paving thickness based on the coordinates of the lower rear end of the screed 102 and the actual point cloud. It can be understood that the distance from the coordinates of the lower rear end of the screed 102 to the straight line formed by stitching together the actual point cloud is the current paving thickness.

[0085] See Figure 3 In this embodiment of the invention, the paver also includes a communication device 108. Specifically, in this embodiment, the communication device 108 may include an RTK differential positioning system and a mobile station installed on the top of the machine body 100, as well as a data communication local area network and related wiring harnesses, network transmitters, etc. Through the above configuration, the communication device 108 can store the historical point cloud of the current road surface acquired by the lidar 106, and during the thickness measurement process, it can stitch the actual point cloud of the current road surface with the historical point cloud.

[0086] In this embodiment of the invention, the communication device 108 further includes a display component 110, which is adapted to display the paving thickness of the paver and other information.

[0087] In this embodiment of the invention, the display component 110 is used to display the thickness measurement calculation results and related parameters of the paver, including a vehicle-mounted display tablet, a client management system program, a mobile terminal display interface, and corresponding mobile device terminals, etc.

[0088] According to one embodiment of the present invention, a reflective strip is provided at the intersection of the support rod of the ironing plate 102 and the scanning line of the lidar 106, for correcting the position of the lower rear end of the calibrated ironing plate relative to the lidar.

[0089] By setting a reflective strip at the intersection of the support rod of the ironing plate 102 and the scanning line of the lidar 106, and since the connection between the reflective strip and the ironing plate 102 is also a rigid connection, the coordinate can be corrected during the calibration process of the lower rear end of the ironing plate 102.

[0090] According to one embodiment of the present invention, a filter is also included, which is electrically connected to the computing module and is adapted to filter the paving thickness.

[0091] Example 3

[0092] like Figure 4 As shown, the present invention also provides an electronic device, which includes: a processor 118, a communication interface 120, a memory 122, and a communication bus 124, wherein the processor 118, the communication interface 120, and the memory 122 communicate with each other through the communication bus 124. The processor 118 can call logical instructions in the memory 122 to execute the following method:

[0093] The position of the lower rear end of the calibrated ironing plate 102 relative to the lidar 106;

[0094] Point cloud data of the road surface to be paved is obtained using lidar 106;

[0095] The paving thickness is determined based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed 102 relative to the lidar 106.

[0096] Furthermore, the logical instructions in the aforementioned memory 122 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to related technologies, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0097] This invention discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions, and when the computer program instructions are executed by a computer, the computer can execute the paving thickness detection method provided in the above-described method embodiments, such as including:

[0098] The position of the lower rear end of the calibrated ironing plate 102 relative to the lidar 106;

[0099] Point cloud data of the road surface to be paved is obtained using lidar 106;

[0100] The paving thickness is determined based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed 102 relative to the lidar 106.

[0101] On the other hand, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by processor 118, implements the paving thickness detection method provided in the above embodiments, including, for example:

[0102] The position of the lower rear end of the calibrated ironing plate 102 relative to the lidar 106;

[0103] Point cloud data of the road surface to be paved is obtained using lidar 106;

[0104] The paving thickness is determined based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed 102 relative to the lidar 106.

[0105] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of software products. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A paving thickness detection method characterized by, include: The position of the lower rear end of the calibrated ironing plate relative to the lidar; The point cloud of the road surface to be paved is obtained using the lidar. The paving thickness is determined based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed relative to the lidar. The position of the lower rear end of the calibration ironing plate relative to the lidar includes: Make the lower rear end of the screed contact the road surface to be paved; Install an auxiliary calibration bracket on the ironing board, and ensure that the auxiliary calibration bracket and the lower rear end of the ironing board are on the same straight line; The point cloud of the auxiliary calibration bracket is obtained using the lidar; Linear fitting is performed on the point cloud of the road surface to be paved and the point cloud of the auxiliary calibration support, and the intersection of the two fitted lines is obtained. The coordinates of the intersection point are the position of the lower rear end of the screed relative to the lidar.

2. The paving thickness detection method according to claim 1, characterized by, The process of determining the paving thickness based on the point cloud of the road surface to be paved and the position of the lower rear end of the screed relative to the lidar includes: The point cloud of the road surface to be paved is recorded. After the paver advances a set distance, the recorded point cloud of the road surface to be paved is stitched to the rear according to the positioning information. The stitched point cloud is fitted with a straight line to obtain the fitted straight line. Determine the distance from the lower rear end of the ironing board to the fitted straight line.

3. The paving thickness detection method according to claim 2, characterized by, The step of stitching the recorded point cloud of the road surface to be paved to the subsequent data based on the positioning information includes: The current frame point cloud of the road surface to be paved is obtained using the lidar, and the historical frame point cloud of the road surface to be paved before the set distance is found based on the positioning information; Identify the point clouds representing the same road segment in the historical frame point cloud and the current frame point cloud, and perform line fitting on each. Based on the different results of the linear fitting between the historical frame point cloud and the current frame point cloud, the historical frame point cloud is corrected in the radar coordinate system of the current frame point cloud so that the point clouds representing the same road surface in the historical frame point cloud and the current frame point cloud completely overlap.

4. The paving thickness detection method according to claim 3, characterized by, The step of correcting the historical frame point cloud in the radar coordinate system of the current frame point cloud includes rotating and translating the historical frame point cloud in the radar coordinate system of the current frame point cloud.

5. The paving thickness detection method according to claim 1, characterized by, The acquisition of point clouds of the road surface to be paved and the point clouds of the auxiliary calibration support through the lidar includes: The point cloud of the road surface to be paved and the point cloud of the auxiliary calibration support are obtained by using a pass-through filter in the point cloud map of the lidar.

6. The paving thickness detection method according to any one of claims 1 to 5, characterized by, It also includes a method for correcting the position of the lower rear end of the ironing plate relative to the lidar, including: Reflective strips are installed on the support rod of the ironing board, and the position of the lower rear end of the ironing board relative to the lidar is corrected according to the position of the reflective strips.

7. The paving thickness detection method according to any one of claims 1 to 5, characterized by, Also includes: Establish a dead zone threshold range for paving thickness and filter the real-time paving thickness so that no control signal is output when the paving thickness changes within the dead zone threshold range.

8. A paving thickness detection device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the paving thickness detection method as described in any one of claims 1 to 7.

9. A paving machine characterized by, Includes the paving thickness detection device as described in claim 8.

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