Modeling method and system for construction road, engineering machinery and electronic equipment

Abstract

The invention discloses a construction road modeling method and system, engineering machinery and electronic equipment, and relates to the technical field of engineering machinery. According to the method, after first boundary data of a road is obtained through calculation on the basis of the obtained pose and physical model of a target engineering machine, second boundary data of the road is obtained through prediction on the basis of obtained road boundary data, and the first boundary data is corrected for the first time on the basis of the second boundary data to obtain third boundary data; the method comprises the following steps: acquiring road boundary data, then performing secondary correction on a preset number of third boundary data based on the acquired road boundary data to obtain fourth boundary data of a road as new acquired road boundary data, and finally updating a road boundary model based on the new acquired road boundary data. Therefore, the problems that manpower and material resources are consumed in model construction, the reliability cannot be ensured, automatic updating cannot be performed during construction, and unmanned construction requirements cannot be met due to the fact that road models prepared in advance are used for road unmanned construction are solved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and more specifically, to a modeling method, system, engineering machinery and electronic equipment for a construction road. Background Art

[0002] At present, during road construction, if unmanned construction is to be carried out, a high-precision road model must be prepared in advance. On the one hand, this method requires a lot of energy and time from professional surveying and mapping personnel for the road model. At the same time, the accuracy and reliability of the data are closely related to the technical level of the surveying and mapping personnel, and professional surveying and mapping tools are also required, which are relatively expensive. On the other hand, for road construction, taking unmanned paving construction of roads as an example, there will be a certain deviation between the paving boundary and the road model boundary, because the road model used is prepared in advance and cannot be automatically updated. The fleet dispatching operator is also required to continuously adjust the boundary gap, which not only places high technical requirements on the operator, but also makes it impossible to achieve true automation in the construction. Summary of the invention

[0003] In view of this, the embodiments of the present application are committed to providing a construction road modeling method, system, engineering machinery and electronic equipment to solve the problem of using a pre-prepared road model for unmanned road construction, resulting in the model construction consuming manpower and material resources, unable to guarantee reliability, and unable to be automatically updated during construction, and unable to meet the requirements of unmanned construction.

[0004] In a first aspect, the present invention provides a construction road modeling method, comprising:

[0005] Acquire a position and a physical model of a target engineering machine, where the target engineering machine is used for road construction;

[0006] Based on the position and physical model of the target engineering machinery, first boundary data of the road is calculated;

[0007] Based on the acquired road boundary data, predict and obtain second boundary data of the road;

[0008] Based on the second boundary data, the first boundary data is corrected once to obtain third boundary data of the road;

[0009] When the third boundary data reaches a preset number, based on the acquired road boundary data, the preset number of the third boundary data are corrected twice to obtain fourth boundary data of the road as new acquired road boundary data;

[0010] The road boundary model is updated based on the newly acquired road boundary data.

[0011] In a possible implementation manner, the target engineering machinery includes a high-position target engineering machinery and a low-position target engineering machinery, and the high-position target engineering machinery enters the construction area of ​​the road earlier than the low-position target engineering machinery;

[0012] Before the low-position target engineering machinery reaches the target construction area, the first boundary data of the road is calculated based on the position and physical model of the target engineering machinery, including:

[0013] Obtaining the coordinates of the construction boundary points of the high-position target engineering machinery;

[0014] Based on the construction boundary point coordinates of the high-level target engineering machinery and the relationship between the high-level target engineering machinery and the low-level target engineering machinery, the target construction boundary point coordinates of the low-level target engineering machinery are predicted, and the target construction boundary point coordinates represent the boundary of the road;

[0015] Using the target construction boundary point coordinates of the high-level target engineering machinery and the target construction boundary point coordinates of the low-level target engineering machinery as the first boundary data;

[0016] The target construction area is an area in the construction area corresponding to the area that the high-position target engineering machinery has passed through.

[0017] In a possible implementation manner, before updating the road boundary model based on the newly acquired road boundary data, the method further includes:

[0018] The newly acquired road boundary data corresponding to the high-level object construction machine and the low-level object construction machine are mapped and aligned.

[0019] In a possible implementation manner, before acquiring the position and physical model of the target engineering machinery, the method further includes:

[0020] Obtain the position and heading angle of each construction machinery;

[0021] The target engineering machine among the engineering machines is determined based on the posture and heading angle of each of the engineering machines.

[0022] In a possible implementation manner, the correcting the first boundary data based on the second boundary data includes:

[0023] Calculating a difference between the first boundary data and the second boundary data;

[0024] Determining whether the difference falls within a preset threshold range;

[0025] If the difference value belongs to the preset threshold range, taking the first boundary data as the third boundary data;

[0026] If the difference does not belong to the preset threshold range, the second boundary data is used as the third boundary data.

[0027] In a possible implementation manner, before correcting the first boundary data based on the second boundary data, the method further includes:

[0028] determining whether the first boundary data belongs to a range determined based on the acquired road boundary data;

[0029] When it is determined that the first boundary data belongs to a range determined based on the acquired road boundary data, the first boundary data is deleted.

[0030] In a possible implementation manner, the performing secondary correction on the preset number of third boundary data based on the acquired road boundary data includes:

[0031] Based on the acquired road boundary data, the preset number of the third boundary data are corrected by curve fitting.

[0032] In a second aspect, the present invention provides a construction road modeling system, comprising:

[0033] A collection unit, used to obtain the position and physical model of a target engineering machinery, wherein the target engineering machinery is used for road construction;

[0034] A calculation unit, configured to calculate first boundary data of the road based on the position and physical model of the target engineering machinery;

[0035] A first prediction unit, configured to predict second boundary data of the road based on the acquired road boundary data;

[0036] a first correction unit, configured to correct the first boundary data based on the second boundary data to obtain third boundary data of the road;

[0037] A second correction unit is used for performing secondary correction on the preset number of the third boundary data based on the acquired road boundary data when the third boundary data reaches a preset number, so as to obtain fourth boundary data of the road and use the fourth boundary data as new acquired road boundary data;

[0038] The modeling unit is used to update the road boundary model based on the newly acquired road boundary data.

[0039] In a third aspect, the present invention provides an engineering machine, comprising an engineering machine body and a construction road modeling system provided in the second aspect of the present invention.

[0040] In a fourth aspect, the present invention provides an electronic device, the electronic device comprising:

[0041] processor;

[0042] a memory for storing instructions executable by the processor;

[0043] The processor is used to execute the method provided by the first aspect of the present invention.

[0044] According to the modeling method of the construction road provided by the present invention, the position and physical model of the target engineering machinery used for road construction are first obtained, and then the first boundary data of the road is calculated based on the position and physical model of the target engineering machinery, and the second boundary data of the road is predicted based on the acquired road boundary data, and then the first boundary data is corrected once based on the second boundary data to obtain the third boundary data of the road, and then when the third boundary data reaches a preset number, the preset number of third boundary data is corrected twice based on the acquired road boundary data to obtain the fourth boundary data of the road, and finally the fourth boundary data is used as the new acquired road boundary data to update the road boundary model. The real-time update of the road boundary model is realized during the construction process of the engineering machinery, thereby improving the accuracy of the road model, which is conducive to ensuring the reliable implementation of unmanned road construction, and avoiding the high cost and waste of manpower and material resources caused by manually constructing the road model. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0046] Figure 1 Shown is a flow chart of a construction road modeling method provided by an embodiment of the present invention.

[0047] Figure 2 It is a schematic diagram of predicting the target boundary point coordinates of a low-position target paver based on the boundary point coordinates of a high-position paver provided by an embodiment of the present invention.

[0048] Figure 3 The figure shows a data processing flow chart for modeling a road when a plurality of pavers are used to perform road paving construction using the construction road modeling method provided by an embodiment of the present invention.

[0049] Figure 4 Shown is a structural diagram of a construction road modeling system provided by an embodiment of the present invention.

[0050] Figure 5 Shown is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0051] Reference numerals:

[0052] 1: Positioning acquisition device; 2: Actual road boundary data; 3: Predicted road boundary data; 4: Road model; 5: Road stake number. DETAILED DESCRIPTION

[0053] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of this specification shall have the common meanings understood by persons with ordinary skills in the field to which this specification belongs. The words "first", "second" and similar words used in the embodiments of this specification do not indicate any order, quantity or importance, but are only used to avoid confusion of constituent elements.

[0054] Unless the context requires otherwise, throughout the specification, "plurality" means "at least two", and "including" is interpreted as an open, inclusive meaning, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" are intended to indicate that a particular feature, structure, material or characteristic associated with the embodiment or example is included in at least one embodiment or example of the specification. The schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0055] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0056] At present, unmanned road construction requires the use of pre-built road models. However, building road models not only requires a lot of energy and time from professional surveyors, but the accuracy of the constructed models also depends on the technical level of surveyors.

[0057] Based on this, a method has emerged that obtains three-dimensional road surface data and then constructs a road model based on the three-dimensional road surface data. However, although this method reduces the energy and time consumption of professional surveying and mapping personnel, it requires the use of a special three-dimensional scanning device to scan the entire road surface in advance to obtain the three-dimensional coordinates of the road points and the scanning reflection intensity. After the acquisition is completed, road data preprocessing and plane fitting are required. Finally, the road model and fine sand model need to be constructed using discrete element simulation methods, which is not only complicated but also time-consuming. At the same time, it cannot be guaranteed that the boundary of the generated road model is free of deviation from the road construction boundary. Therefore, it is necessary to ensure the construction quality by constantly adjusting the boundary gap during construction.

[0058] The present invention aims to solve the above-mentioned problem by acquiring data from engineering machinery used for road construction, thereby realizing real-time construction and updating of the road model during the construction process of the engineering machinery, so that the road boundary model obtained can be directly applied to unmanned construction of the road without human supervision, and the construction quality can be guaranteed.

[0059] It should be noted that the modeling method for construction roads provided by the present invention is used to construct a road boundary model of a road when construction machinery such as a paver and a roller is constructing the road, so that other construction machinery can use the generated road boundary model to perform unmanned construction on the road. For example: when a paver is under construction, a road boundary model is constructed using the data of the paver, so as to be used for unmanned construction of the road by a roller that is constructed synchronously with the paver. Of course, after the constructed road boundary model is saved, it can also be retrieved at any time for unmanned construction of the road by other road machinery.

[0060] Furthermore, the construction road modeling method provided by the present invention is executed on an electronic device, which may be a controller configured on the construction machinery, or a controller remotely connected to the construction machinery, or an intelligent terminal such as a laptop computer or a smart phone, or a server on the network side.

[0061] In addition, in order to facilitate the understanding of the construction road modeling method provided by the present invention, the method provided by the present invention is described and illustrated in detail below by taking the target engineering machinery as a paver as an example.

[0062] Based on the above, see Figure 1 , Figure 1 : is a flow chart of a construction road modeling method provided by an embodiment of the present invention. The process of the construction road modeling method provided by this embodiment may include:

[0063] S100: Acquire the position and physical model of the target engineering machinery.

[0064] The target engineering machinery is used for road construction, so after obtaining the position and physical model of the target engineering machinery, the boundary data of the road can be determined based on the position and physical model of the target engineering machinery.

[0065] Specifically, the position and posture of the target engineering machinery can be obtained by a positioning acquisition device installed on the target engineering machinery. The physical model can be constructed and saved in advance and obtained by calling.

[0066] In some possible embodiments, the positioning acquisition device may be a GPS.

[0067] In some possible embodiments, the positioning and collecting device installed on the target engineering machinery is automatically turned on after the target engineering machinery is powered on, so as to start collecting the position and posture of the target engineering machinery when the target engineering machinery is driven forward along the road sideline, and transmit the collected position and posture information to the controller in real time through the self-organizing local area network. At the same time, the controller calls the physical model of the target engineering machinery.

[0068] S110: Calculate and obtain first boundary data of the road based on the position and physical model of the target engineering machinery.

[0069] Specifically, the controller can calculate the left and right boundary data of the road, that is, the first boundary data, by acquiring the position and physical model of the target construction machinery whose construction range covers the leftmost and rightmost sides of the road.

[0070] More specifically, the first boundary data is the road boundary data obtained by actually sampling the road boundary during the construction process of the target engineering machinery.

[0071] S120 . Predict and obtain second boundary data of the road based on the acquired road boundary data.

[0072] It is understandable that the acquired road boundary data is data that can represent the real boundary of the road. In the embodiment of the present invention, it is the fourth boundary data obtained by correcting the road boundary data actually collected through subsequent steps 130 and 140.

[0073] In some possible embodiments, considering that the road has extensibility, new boundary data, namely, second boundary data, can be predicted by selecting acquired road boundary data and performing curve fitting using the least squares method.

[0074] It should be noted that, in this embodiment, the position and posture of the target engineering machinery is obtained after each movement of a preset distance, and at the same time, based on the acquired road boundary data, the second boundary data separated by a preset distance from the latest acquired road boundary data is predicted. This ensures that the first boundary data calculated based on the position and posture of the target engineering machinery and the physical model and the predicted second boundary data correspond to the same road boundary point, and the distance between the acquired road boundary data is fixed and unchanged.

[0075] S130. Based on the second boundary data, correct the first boundary data to obtain third boundary data of the road.

[0076] Specifically, by correcting the first boundary data based on the second boundary data, the accuracy of the obtained boundary data can be improved.

[0077] In an optional embodiment, the first boundary data is corrected based on the second boundary data, including:

[0078] Calculate the difference between the first boundary data and the second boundary data;

[0079] determining whether the difference falls within a preset threshold range;

[0080] If the difference falls within the preset threshold range, the first boundary data is used as the third boundary data;

[0081] If the difference does not fall within the preset threshold range, the second boundary data is used as the third boundary data.

[0082] Specifically, considering that the second boundary data is the road boundary data predicted based on the acquired road boundary data, under normal circumstances, the deviation from the actual extension direction of the road will not be large. Therefore, by setting a reasonable threshold range, and then comparing the first boundary data calculated based on the posture of the paver and the physical model, that is, the difference between the measured data of the road boundary and the predicted data of the corresponding point of the road boundary with the threshold range, the erroneous measured data that deviates too much from the actual due to some reasons can be replaced by the predicted data.

[0083] Furthermore, in an optional embodiment, before correcting the first boundary data based on the second boundary data, the method further includes:

[0084] determining whether the first boundary data belongs to a range determined based on the acquired road boundary data;

[0085] When it is determined that the first boundary data belongs to the range determined based on the acquired road boundary data, the first boundary data is deleted.

[0086] In this embodiment, it is determined whether the first boundary data belongs to the range determined based on the acquired road boundary data, that is, whether the newly acquired first boundary data belongs to the construction area that has been determined to have been collected. If so, it can be judged as repeated first boundary data, and this first boundary data is further eliminated, thereby improving the accuracy of the acquired data.

[0087] S140. When the third boundary data reaches a preset number, based on the acquired road boundary data, perform a secondary correction on the preset number of third boundary data to obtain fourth boundary data of the road and use it as new acquired road boundary data.

[0088] Specifically, when the third boundary data reaches a preset number, by performing secondary correction on the preset number of third boundary data based on the acquired road boundary data, the accuracy of the obtained boundary data can be further improved.

[0089] In an optional embodiment, based on the acquired road boundary data, a preset number of third boundary data are subjected to secondary correction, including:

[0090] Based on the acquired road boundary data, a preset number of third boundary data are corrected by curve fitting.

[0091] Specifically, when the third boundary data reaches a preset number, the third boundary data is smoothed based on the acquired road boundary data, that is, a section of road data obtained at the current moment is smoothly spliced ​​with the road data of a section of road before the acquired section of road. The third boundary data can be corrected to make its extension direction more consistent with the road extension direction, so that the obtained fourth boundary data can more accurately represent the points on the actual road boundary.

[0092] In some possible embodiments, the third boundary data is curve smoothed by constructing a sliding window and applying least squares polynomial curve fitting.

[0093] Specifically, when the third boundary data reaches a preset number, for example, 10, starting from the latest acquired road boundary data, a fixed number of acquired road boundary data are selected to be combined with the third boundary data, and arranged in order according to the preset distance, and then the acquired road boundary data is first placed in a sliding window, and the least squares method is used to perform quadratic polynomial curve fitting to complete the road smoothing processing.

[0094] More specifically, assume that the coordinate points corresponding to the selected acquired road boundary data are (x1, y1), (x2, y2)...(x n ,y n ), then the method of curve fitting using the least squares method is:

[0095] Let the curve equation be: y = ax 2 +bx+c, the first point is y1=ax1 2 +bx1+c, similarly: y n =ax n 2 +bx n +c.

[0096] Can be converted to a matrix:

[0097] Combined into a matrix:

[0098] set up For M, For N, If H is H, the above matrix is ​​converted to MH=T.

[0099] Then we can finally get: H=(M N M) ―1 M N N, which can be used to obtain the parameters of the curve fitted by the least squares method

[0100] Then, according to the obtained parameters, the third boundary data can be corrected twice to obtain the fourth boundary data.

[0101] S150: Update the road boundary model based on the newly acquired road boundary data.

[0102] In this embodiment, taking the paver as an example, during the movement of the paver, the acquired road boundary data that can accurately characterize the road boundary can be continuously determined through the above steps, thereby realizing the accurate construction of the road boundary model and real-time updating, which is convenient for the real-time call of the roller during unmanned compaction construction and ensures the reliability of the compaction construction.

[0103] It is understandable that, still taking the paver as an example, during the construction process of the paver, two or more pavers are often required to work together to ensure that the paving covers the entire width of the road. When multiple pavers are used for construction, the first paver usually starts from the side close to any boundary of the road and paves for 10-20 meters, and then the second paver starts paving from the starting point and makes the paving boundary overlap with the boundary paved by the first paver, that is, multiple pavers use echelon operation.

[0104] Based on this, for roads that are constructed using multiple construction machines, there are high-position construction machines that enter the road construction area first and low-position construction machines that enter the road construction area later.

[0105] It is understandable that during the construction process, along the extension direction of the road, the high-level construction machinery always precedes the low-level construction machinery by a certain distance. Therefore, for the road section constructed by the high-level construction machinery before the low-level construction machinery, because the low-level construction machinery has not yet traveled to the road section, only the boundary data of one side of the road covered by the construction range of the high-level construction machinery can be calculated through the posture and physical model of the high-level construction machinery. That is, due to the lack of boundary data on the other side of the road, the road boundary model can only be constructed after the low-level construction machinery travels to the area, which will affect the construction progress of other construction machinery that perform unmanned construction based on the road boundary model.

[0106] Based on this, in an optional embodiment, the target engineering machinery includes high-level target engineering machinery and low-level target engineering machinery, and the high-level target engineering machinery enters the construction area of ​​the road earlier than the low-level target engineering machinery; at the same time, the target construction area is defined as the area in the construction area that corresponds to the area that the high-level target engineering machinery has passed.

[0107] Thus, before the low-position target engineering machinery reaches the target construction area, the first boundary data of the road is calculated based on the position and physical model of the target engineering machinery, including:

[0108] Obtain the coordinates of the construction boundary points of high-level target engineering machinery;

[0109] Based on the coordinates of the construction boundary points of the high-level target engineering machinery and the relationship between the high-level target engineering machinery and the low-level target engineering machinery, the coordinates of the target construction boundary points of the low-level target engineering machinery are predicted.

[0110] Among them, the coordinates of the target construction boundary point represent the boundary of the road.

[0111] The target construction boundary point coordinates of the high-level target engineering machinery and the target construction boundary point coordinates of the low-level target engineering machinery are used as the first boundary data.

[0112] It should be noted that, based on the above content, when multiple construction machines adopt the echelon operation mode for construction, the high-level construction machines enter the construction area before the low-level construction machines. Therefore, in road construction, the area in the construction area represented by the target construction area corresponding to the area that the high-level target construction machine has passed through refers to the area in the construction area, along the road width direction, located on the side of the area that the high-level target construction machine has constructed, and waiting to be constructed by the low-level target construction machine.

[0113] Specifically, taking a road paved by two pavers as an example, before the lower paver enters the target construction area, the coordinates of the two construction boundary points 0 and 1 of the higher paver can be obtained, that is, the construction boundary point coordinates (x0, y0) and (x1, y1).

[0114] Furthermore, if Figure 2 As shown, based on the screed width and overlap width of the two pavers, it is possible to calculate the fixed distance that needs to be extended outward from the straight line formed along point 0 and point 1, which is set as L, that is, the road width predicted based on the relationship between the two pavers.

[0115] Assume the equation of the line is: y = kx + b, substitute the two known points to get:

[0116]

[0117] Assuming the predicted coordinates of the target construction boundary point of the low-level paver are (x2, y2), we can get:

[0118]

[0119] It can be converted to:

[0120]

[0121] Therefore, the coordinates (x2, y2) of the target construction boundary point of the low-level paver can be finally obtained.

[0122] Furthermore, after the target construction boundary point coordinates of the low-position paver are predicted based on the construction boundary point coordinates of the high-position paver, the target construction boundary point coordinates are used as the first boundary data for processing as in steps 130-140 above, and the acquired road boundary data on the road boundary side covered by the construction range of the low-position paver for constructing and updating the road boundary model can be obtained, thereby realizing the update of the road boundary model before the low-position paver reaches the target construction area.

[0123] It is understandable that the closer the acquired road boundary data is to the actual road boundary data, the more accurate the constructed road boundary model is. Compared with the target boundary point coordinates of the low-level target engineering machinery obtained based on the boundary point coordinates of the high-level target engineering machinery, after the low-level target engineering machinery enters the target construction area, the first boundary data determined based on the posture and physical model of the low-level target engineering machinery, that is, the measured data of the road boundary is closer to the actual road boundary. Therefore, the modeling method of the construction road provided in the above embodiment is used to update the road boundary model in real time, and also includes the process of replacing the fourth boundary data obtained by processing the measured data of the road boundary obtained after the low-level target engineering machinery enters the target construction area through steps 130-140, and the fourth boundary data obtained by processing the first boundary data obtained by predicting the construction boundary point coordinates of the high-level target engineering machinery through steps 130-140.

[0124] Furthermore, in order to further improve the accuracy of the constructed road boundary model, in an optional embodiment, before updating the road boundary model based on the newly acquired road boundary data, the method further includes:

[0125] The newly acquired road boundary data corresponding to the high-level object construction machine and the low-level object construction machine are mapped and aligned.

[0126] In this embodiment, according to the traveling direction of the target engineering machinery, by aligning the road starting points collected by different target engineering machinery and each newly acquired road boundary data, the extracted road boundary points are mapped and aligned, and Figure 2 The synchronous setting of the road stake number information as shown can make the finally generated road boundary model more accurate, which is convenient for improving the construction quality of unmanned road construction based on the road boundary model.

[0127] It can be understood that for a road that is constructed by multiple construction machines, in the process of building a road boundary model based on the construction of the construction machinery, in order to obtain the first boundary data of the road, it is first necessary to determine the construction area including the construction machinery on both sides of the road boundary, that is, the target construction machinery mentioned in the embodiment of the present invention.

[0128] Based on this, in an optional embodiment, before acquiring the position and physical model of the target engineering machinery, the following steps are further included:

[0129] Obtain the position and heading angle of each construction machinery;

[0130] A target construction machine among the construction machines is determined based on the posture and heading angle of each construction machine.

[0131] Specifically, taking the case of using construction machinery A and construction machinery B for road construction as an example, according to the posture and heading angle of the construction machinery, the construction machinery whose construction areas include the left and right boundaries of the road can be identified based on the vector cross multiplication method:

[0132] Assume the coordinates of construction machinery A are Coordinates of construction machinery B After the construction machine A extends a preset distance, for example 1m, in the heading direction, the vector

[0133] Then the vector vector

[0134] and

[0135] in, They represent the unit vectors of the x, y, and z axes respectively. By calculating the cross product of the two vectors, when the result is greater than 0, it means that construction machinery B is on the left of construction machinery A; when the result is less than 0, it means that construction machinery B is on the right of paver A.

[0136] Figure 3 The data processing flow chart of modeling a road when a plurality of pavers are used to perform road paving construction using the modeling method of a construction road provided by an embodiment of the present invention. Figure 3 It can be seen that the construction road modeling method provided by the embodiment of the present invention can realize the fusion of data collected by multiple devices for the scenario where multiple construction machines are working at the same time, so as to generate an accurate road boundary model. In addition, the road boundary model can also be constructed before the low-level target construction machinery enters the target construction area, so as to facilitate the guidance of unmanned construction of subsequent construction machinery, thereby improving the efficiency of road construction.

[0137] A construction road modeling system provided in an embodiment of the present invention is introduced below. The construction road modeling system described below can be considered as a module architecture for implementing a construction road modeling method provided in an embodiment of the present invention; the content described below can be cross-referenced with the above.

[0138] See also Figure 4 , Figure 4 : is a structural block diagram of a construction road modeling system provided by an embodiment of the present invention, and the system may include:

[0139] The acquisition unit 10 is used to obtain the position and physical model of the target engineering machinery, where the target engineering machinery is used for road construction;

[0140] A calculation unit 20, configured to calculate first boundary data of the road based on the position and physical model of the target engineering machinery;

[0141] A first prediction unit 30 is used to predict second boundary data of the road based on the acquired road boundary data;

[0142] A first correction unit 40 is used to correct the first boundary data based on the second boundary data to obtain third boundary data of the road;

[0143] The second correction unit 50 is used to perform secondary correction on the preset number of third boundary data based on the acquired road boundary data when the third boundary data reaches a preset number, to obtain fourth boundary data of the road and use it as new acquired road boundary data;

[0144] The modeling unit 60 is configured to update the road boundary model based on the newly acquired road boundary data.

[0145] Optionally, the target engineering machinery includes a high-position target engineering machinery and a low-position target engineering machinery, and the high-position target engineering machinery enters the construction area of ​​the road earlier than the low-position target engineering machinery;

[0146] Before the low-position target engineering machinery reaches the target construction area, the calculation unit 20 is further used to:

[0147] Obtain the coordinates of the construction boundary points of high-level target engineering machinery;

[0148] Based on the construction boundary point coordinates of the high-level target engineering machinery and the relationship between the high-level target engineering machinery and the low-level target engineering machinery, the target construction boundary point coordinates of the low-level target engineering machinery are predicted, and the target construction boundary point coordinates represent the boundary of the road;

[0149] The target construction boundary point coordinates of the high-level target engineering machinery and the target construction boundary point coordinates of the low-level target engineering machinery are used as first boundary data;

[0150] The target construction area is an area in the construction area that corresponds to an area that the high-position target engineering machinery has passed through.

[0151] Optionally, the modeling unit 60 is further used to: map and align the newly acquired road boundary data corresponding to the high-level target engineering machinery and the low-level target engineering machinery.

[0152] Optionally, the acquisition unit 10 is further used for:

[0153] Obtain the position and heading angle of each construction machinery;

[0154] A target construction machine among the construction machines is determined based on the posture and heading angle of each construction machine.

[0155] Optionally, the first correction unit 40 is specifically configured to:

[0156] Calculate the difference between the first boundary data and the second boundary data;

[0157] determining whether the difference falls within a preset threshold range;

[0158] If the difference falls within the preset threshold range, the first boundary data is used as the third boundary data;

[0159] If the difference does not fall within the preset threshold range, the second boundary data is used as the third boundary data.

[0160] Optionally, the first correction unit 40 is further configured to:

[0161] determining whether the first boundary data belongs to a range determined based on the acquired road boundary data;

[0162] When it is determined that the first boundary data belongs to the range determined based on the acquired road boundary data, the first boundary data is deleted.

[0163] Optionally, the second correction unit 50 is specifically configured to:

[0164] Based on the acquired road boundary data, a preset number of third boundary data are corrected by curve fitting.

[0165] Optionally, an embodiment of the present invention further provides an engineering machine, comprising an engineering machine body and a construction road modeling system as provided in any of the aforementioned embodiments.

[0166] Specifically, the engineering machinery may be a paver, a road roller, or the like.

[0167] Below, reference Figure 5 To describe the electronic device provided by the embodiment of the present application, the electronic device provided by the embodiment may include: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400;

[0168] In the embodiment of the present invention, the number of the processor 100, the communication interface 200, the memory 300, and the communication bus 400 is at least one, and the processor 100, the communication interface 200, and the memory 300 communicate with each other through the communication bus 400; obviously, Figure 5 The communication connections shown for the processor 100, the communication interface 200, the memory 300, and the communication bus 400 are merely optional;

[0169] Optionally, the communication interface 200 may be an interface of a communication module, such as an interface of a GSM module; the processor 100 may be a central processing unit CPU, or an application specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0170] The memory 300 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0171] The processor 100 is specifically used to execute the application program in the memory to implement the steps of the above-mentioned construction road modeling method.

[0172] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0173] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0174] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0175] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0176] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly explain the technical solutions and cannot be used to limit the scope of protection of the present application.

[0177] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A construction road modeling method, characterized in that: include: Acquire a position and a physical model of a target engineering machine, where the target engineering machine is used for road construction; Based on the position and physical model of the target engineering machinery, first boundary data of the road is calculated; Based on the acquired road boundary data, predict and obtain second boundary data of the road; Based on the second boundary data, the first boundary data is corrected once to obtain third boundary data of the road; When the third boundary data reaches a preset number, based on the acquired road boundary data, the preset number of the third boundary data are corrected twice to obtain fourth boundary data of the road as new acquired road boundary data; The road boundary model is updated based on the newly acquired road boundary data.

2. The method according to claim 1, characterized in that The target engineering machinery includes a high-position target engineering machinery and a low-position target engineering machinery, and the high-position target engineering machinery enters the construction area of ​​the road earlier than the low-position target engineering machinery; Before the low-position target engineering machinery reaches the target construction area, the first boundary data of the road is calculated based on the position and physical model of the target engineering machinery, including: Obtaining the coordinates of the construction boundary points of the high-position target engineering machinery; Based on the construction boundary point coordinates of the high-level target engineering machinery and the relationship between the high-level target engineering machinery and the low-level target engineering machinery, the target construction boundary point coordinates of the low-level target engineering machinery are predicted, and the target construction boundary point coordinates represent the boundary of the road; Using the target construction boundary point coordinates of the high-level target engineering machinery and the target construction boundary point coordinates of the low-level target engineering machinery as the first boundary data; The target construction area is an area in the construction area that corresponds to an area that the high-position target engineering machinery has passed through.

3. The method according to claim 2, characterized in that Before updating the road boundary model based on the newly acquired road boundary data, the method further includes: The newly acquired road boundary data corresponding to the high-level object construction machine and the low-level object construction machine are mapped and aligned.

4. The method according to claim 1, characterized in that Before obtaining the position and physical model of the target engineering machinery, the method further includes: Obtain the position and heading angle of each construction machinery; The target engineering machine among the engineering machines is determined based on the posture and heading angle of each of the engineering machines.

5. The method according to claim 1, characterized in that The correcting the first boundary data based on the second boundary data includes: Calculating a difference between the first boundary data and the second boundary data; Determining whether the difference falls within a preset threshold range; If the difference value belongs to the preset threshold range, taking the first boundary data as the third boundary data; If the difference does not belong to the preset threshold range, the second boundary data is used as the third boundary data.

6. The method according to claim 1, characterized in that Before correcting the first boundary data based on the second boundary data, the method further includes: determining whether the first boundary data belongs to a range determined based on the acquired road boundary data; When it is determined that the first boundary data belongs to a range determined based on the acquired road boundary data, the first boundary data is deleted.

7. The method according to claim 1, characterized in that The performing secondary correction on the preset number of the third boundary data based on the acquired road boundary data comprises: Based on the acquired road boundary data, the preset number of the third boundary data are corrected by curve fitting.

8. A construction road modeling system, characterized in that: include: A collection unit, used to obtain the position and physical model of a target engineering machinery, wherein the target engineering machinery is used for road construction; A calculation unit, configured to calculate first boundary data of the road based on the position and physical model of the target engineering machinery; A first prediction unit, configured to predict second boundary data of the road based on the acquired road boundary data; a first correction unit, configured to correct the first boundary data based on the second boundary data to obtain third boundary data of the road; A second correction unit is used for performing secondary correction on the preset number of the third boundary data based on the acquired road boundary data when the third boundary data reaches a preset number, so as to obtain fourth boundary data of the road and use the fourth boundary data as new acquired road boundary data; The modeling unit is used to update the road boundary model based on the newly acquired road boundary data.

9. An engineering machine, characterized in that: The invention comprises an engineering machine body and a construction road modeling system as claimed in claim 8.

10. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is used to execute the method according to any one of claims 1 to 7.

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