A modeling method, system, engineering machinery, and electronic equipment for construction roads.

Abstract

This application discloses a modeling method, system, engineering machinery, and electronic equipment for construction roads, relating to the field of engineering machinery technology. The method calculates the first boundary data of the road based on the pose and physical model of the target engineering machinery. Then, based on the acquired road boundary data, it predicts the second boundary data. The first boundary data is then corrected once using the second boundary data to obtain the third boundary data. Subsequently, based on the acquired road boundary data, a preset number of third boundary data are corrected a second time to obtain the fourth boundary data, which serves as the new acquired road boundary data. Finally, the road boundary model is updated based on the new acquired road boundary data. This solves the problems of labor and material costs in model building and unreliability in unmanned road construction using pre-prepared road models, as well as the inability to automatically update the model during construction, thus failing to meet the requirements of unmanned construction.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and more specifically, to a modeling method, system, engineering machinery and electronic equipment for construction roads. Background Technology

[0002] Currently, unmanned road construction requires the preparation of high-precision road models in advance. This approach involves several challenges. Firstly, the creation of these models demands significant time and effort from professional surveyors. Furthermore, the accuracy and reliability of the data are highly dependent on the surveyors' skill level and require specialized surveying tools, resulting in high costs. Secondly, regarding road construction itself, taking unmanned paving as an example, deviations can occur between the paving boundaries and the road model boundaries. Because the road model is pre-prepared and cannot be automatically updated, operators must continuously adjust the boundary gaps. This not only places high demands on the operators' skills but also prevents true automation from being achieved. Summary of the Invention

[0003] In view of this, the embodiments of this application are committed to providing a modeling method, system, engineering machinery and electronic equipment for construction roads, so as to solve the problems that the model construction of unmanned road construction using a pre-prepared road model is labor and material resources-intensive, cannot guarantee reliability, and cannot be automatically updated during construction, thus failing to meet the requirements of unmanned construction.

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

[0005] The pose and physical model of the target construction machinery are obtained, and the target construction machinery is used for road construction.

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

[0007] Based on the acquired road boundary data, the second boundary data of the road is predicted.

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

[0009] When the third boundary data reaches a preset number, the preset number of third boundary data is corrected a second time based on the acquired road boundary data to obtain the fourth boundary data of the road, which is then used as the new acquired road boundary data.

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

[0011] In one possible implementation, the target construction machinery includes a high-position target construction machinery and a low-position target construction machinery, wherein the high-position target construction machinery enters the construction area of ​​the road before the low-position target construction machinery;

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

[0013] Obtain 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-position target engineering machinery and the relationship between the high-position target engineering machinery and the low-position target engineering machinery, the target construction boundary point coordinates of the low-position target engineering machinery are predicted, and the target construction boundary point coordinates represent the boundary of the road.

[0015] The coordinates of the target construction boundary point of the high-position target engineering machinery and the coordinates of the target construction boundary point of the low-position target engineering machinery are used as the first boundary data;

[0016] The target construction area is the area within the construction area that corresponds to the area already traversed by the high-position target construction machinery.

[0017] In one possible implementation, 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-position target engineering machinery and the low-position target engineering machinery are mapped and aligned.

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

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

[0021] Based on the pose and heading angle of each of the engineering machines, the target engineering machine among the engineering machines is determined.

[0022] In one possible implementation, the step of correcting the first boundary data based on the second boundary data includes:

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

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

[0025] If the difference falls within the preset threshold range, the first boundary data is used as the third boundary data;

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

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

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

[0029] 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.

[0030] In one possible implementation, the secondary correction of 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 third boundary data are corrected through curve fitting.

[0032] Secondly, the present invention provides a modeling system for construction roads, comprising:

[0033] The acquisition unit is used to acquire the pose and physical model of the target construction machinery, which is used for road construction.

[0034] The calculation unit is used to calculate the first boundary data of the road based on the pose and physical model of the target engineering machinery;

[0035] The first prediction unit is used to predict the second boundary data of the road based on the acquired road boundary data;

[0036] The first correction unit is used to correct the first boundary data based on the second boundary data to obtain the third boundary data of the road.

[0037] The second correction unit 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, so as to obtain the fourth boundary data of the road and use it as the new acquired road boundary data.

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

[0039] Thirdly, the present invention provides an engineering machinery, including the engineering machinery body and the modeling system for construction roads provided in the second aspect of the present invention.

[0040] Fourthly, the present invention provides an electronic device, the electronic device comprising:

[0041] processor;

[0042] Memory used to store the processor's executable instructions;

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

[0044] According to the road construction modeling method provided by this invention, the pose and physical model of the target construction machinery used for road construction are first acquired. Then, based on the pose and physical model of the target construction machinery, the first boundary data of the road is calculated. Simultaneously, based on the acquired road boundary data, the second boundary data of the road is predicted. Then, based on the second boundary data, the first boundary data is corrected once to obtain the third boundary data of the road. After that, when the third boundary data reaches a preset number, based on the acquired road boundary data, the preset number of third boundary data is corrected a second time to obtain the fourth boundary data of the road. Finally, the fourth boundary data is used as the new acquired road boundary data to update the road boundary model. This achieves real-time updating of the road boundary model during construction machinery construction, thereby improving the accuracy of the road model, which is beneficial to ensuring the reliable construction of roads without human intervention, and avoids the high cost and waste of manpower and resources caused by manually constructing road models. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application 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 only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0046] Figure 1 The diagram shows a flowchart of a construction road modeling method provided by an embodiment of the present invention.

[0047] Figure 2 The diagram shown is a schematic diagram of predicting the target boundary point coordinates of a low-level target paver based on the boundary point coordinates of a high-level paver, according to an embodiment of the present invention.

[0048] Figure 3 The diagram shows the data processing flowchart for modeling a construction road using the road modeling method provided in this embodiment of the invention, when multiple pavers are used for road paving construction.

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

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

[0051] Figure label:

[0052] 1: Positioning and data acquisition device; 2: Actual road boundary data; 3: Predicted road boundary data; 4: Road model; 5: Road station number. Detailed Implementation

[0053] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

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

[0055] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0056] Currently, unmanned road construction relies on pre-built road models. However, building these models requires a significant investment of time and effort from professional surveyors, and the accuracy of the models depends heavily on the surveyors' skill level.

[0057] Based on this, a method has emerged that involves acquiring 3D road surface data and then constructing a road model based on that data. However, while this method reduces the time and effort required by professional surveyors, it necessitates using specialized 3D scanning equipment to scan the entire road surface beforehand to obtain the 3D coordinates of road points and the intensity of the reflected light. Furthermore, after data acquisition, road data preprocessing and plane fitting are required, and finally, discrete element method (DEM) simulation is used to construct both the road model and the fine sand model. This process is not only complex but also time-consuming. Additionally, it cannot guarantee that the boundaries of the generated road model will be identical to the road construction boundaries; therefore, continuous adjustment of the boundary gaps during construction is necessary to ensure construction quality.

[0058] The present invention aims to solve the above problems by using construction machinery to acquire data during road construction, thereby enabling real-time construction and updating of road models during the construction process. This allows the obtained road boundary model to be directly applied to unmanned road construction without supervision, while ensuring construction quality.

[0059] It should be noted that the road construction modeling method provided by this invention is used to construct a road boundary model when construction machinery such as pavers and rollers are working on roads. This allows other construction machinery to use the generated road boundary model for unmanned construction of the road. For example, when a paver is working, a road boundary model is constructed using the paver's data, which can then be used for unmanned construction of the road by a roller working simultaneously with the paver. Of course, the constructed road boundary model, once saved, can be retrieved at any time for unmanned construction of the road by other road construction machinery.

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

[0061] In addition, to facilitate understanding of the modeling method for construction roads provided by this invention, the following text will uniformly use a paver as the target construction machinery to elaborate and explain the method provided by this invention in detail.

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

[0063] S100: Obtain the pose and physical model of the target engineering machinery.

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

[0065] Specifically, the pose of the target construction machinery can be obtained through a positioning and acquisition device installed on the target construction machinery. The physical model can be built and saved in advance and obtained by calling it.

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

[0067] In some possible embodiments, the positioning and acquisition device installed on the target construction machinery automatically activates after the machinery is powered on. This allows the device to begin acquiring the target machinery's pose as it moves forward along the roadside, and then transmits the acquired pose information to the controller in real time via a self-organizing local area network. Simultaneously, the controller accesses the physical model of the target construction machinery.

[0068] S110. Based on the pose and physical model of the target engineering machinery, the first boundary data of the road is calculated.

[0069] Specifically, the controller can calculate the left and right boundary data of the road, i.e., the first boundary data, by acquiring the pose and physical model of the target construction machinery covering the leftmost and rightmost sides of the road.

[0070] More specifically, the first boundary data refers to the road boundary data obtained by actual sampling of the road boundary during the construction of the target engineering machinery.

[0071] S120. Based on the acquired road boundary data, the second boundary data of the road is predicted.

[0072] It is understood that the acquired road boundary data is data that can characterize the actual road boundary. In this embodiment of the invention, it is the fourth boundary data obtained after correcting the actually collected road boundary data through subsequent steps 130 and 140.

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

[0074] It should be noted that in this embodiment, the pose is acquired after the target construction machinery moves a preset distance. Simultaneously, based on the acquired road boundary data, a second boundary data point at a preset distance from the latest acquired road boundary data is predicted. This ensures that the first boundary data calculated based on the target construction machinery's pose and physical model corresponds to the same road boundary point as the predicted second boundary data, and that the distance between the acquired road boundary data points remains constant.

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

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

[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] Determine whether the difference falls within the preset threshold range;

[0080] If the difference falls within the preset threshold range, the first boundary data will be used as the third boundary data.

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

[0082] Specifically, considering that the second boundary data is road boundary data predicted based on the acquired road boundary data, its deviation from the actual extension direction of the road is usually not significant. Therefore, by setting a reasonable threshold range, and then comparing the difference between the first boundary data calculated based on the paver's pose and physical model—that is, the measured data of the road boundary and the predicted data of the corresponding points of the road boundary—with this threshold range, erroneous measured data that deviates too much from reality due to certain reasons can be replaced with predicted data.

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

[0084] Determine whether the first boundary data falls within the range determined based on the acquired road boundary data;

[0085] If 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, by determining 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 be collected, if it does, it can be judged as duplicate first boundary data, and this first boundary data can be further removed, thereby improving the accuracy of the acquired data.

[0087] S140. When the third boundary data reaches a preset quantity, the preset quantity of third boundary data is corrected a second time based on the acquired road boundary data to obtain the fourth boundary data of the road, which is then used as the new acquired road boundary data.

[0088] Specifically, by performing a 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, the accuracy of the obtained boundary data can be further improved.

[0089] In an optional embodiment, based on the acquired road boundary data, a predetermined 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 through curve fitting.

[0091] Specifically, when the third boundary data reaches a preset quantity, the third boundary data is smoothed based on the acquired road boundary data. This involves smoothly splicing the road data obtained at the current moment with the road data of the road segment preceding this segment. This corrects the deviation of the third boundary data, making its extension direction more consistent with the road extension direction. Consequently, the obtained fourth boundary data more accurately represents the points on the actual road boundary.

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

[0093] Specifically, when the third boundary data reaches a preset number, such as 10, starting from the latest acquired road boundary data, a fixed number of acquired road boundary data are selected and combined with the third boundary data, and arranged in order according to a preset distance. 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 process.

[0094] More specifically, let the coordinates of the selected acquired road boundary data be (x1, y1), (x2, y2), ..., (x... n ,y n If the least squares method is used for curve fitting, then the method is as follows:

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

[0096] Can be converted into a matrix:

[0097] Combined into a matrix:

[0098] set up For M, Let N be the number of people in the group. If H is the matrix above, then the matrix above is converted to MH = T.

[0099] Therefore, we can finally obtain: H = (M) N M) ―1 M N N, which is the parameter of the curve fitted using the least squares method.

[0100] Then, based on the obtained parameters, the third boundary data can be corrected a second time to obtain the fourth boundary data.

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

[0102] In this embodiment, taking a paver as an example, during the paver's movement, the acquired road boundary data that can accurately represent the road boundary can be continuously determined through the above steps, thereby realizing the accurate construction and real-time updating of the road boundary model, facilitating the real-time use of the roller during unmanned paving construction, and ensuring the reliability of paving construction.

[0103] Understandably, taking pavers as an example, during the construction process, two or more pavers are often needed to work together to ensure that the paving covers the entire width of the road. When multiple pavers are used together, the first paver usually starts paving 10-20 meters from either side of the road boundary, and then the second paver starts paving from the starting point, overlapping the paving boundary of the first paver. In other words, multiple pavers work in a echelon formation.

[0104] Based on this, for roads constructed using multiple construction machines, including high-level construction machines that enter the road construction area first and low-level construction machines that enter the road construction area later, the following applies.

[0105] Understandably, during construction, along the road's extension direction, elevated construction machinery always travels a certain distance ahead of lower-level machinery. Therefore, for road sections where elevated machinery works before lower-level machinery, since the lower-level machinery hasn't yet reached that section, the boundary data for one side of the road covered by the elevated machinery's work area can only be calculated using the posture and physical model of the elevated machinery. This lack of boundary data for the other side of the road means that the road boundary model can only be constructed after the lower-level machinery has reached that area. This will consequently affect the construction progress of other unmanned construction machinery working based on that road boundary model.

[0106] Based on this, in an optional embodiment, the target construction machinery includes a high-position target construction machinery and a low-position target construction machinery, wherein the high-position target construction machinery enters the road construction area before the low-position target construction machinery; at the same time, the target construction area is defined as the area in the construction area that corresponds to the area already passed by the high-position target construction machinery.

[0107] This allows for the calculation of the first boundary data of the road based on the pose and physical model of the target construction machinery before it reaches the target construction area, including:

[0108] Obtain the coordinates of the construction boundary points of the high-position target construction 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] The coordinates of the target construction boundary point represent the road boundary.

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

[0112] It should be noted that, based on the foregoing, when multiple construction machines operate in a tiered manner, the higher-positioned construction machines enter the construction area before the lower-positioned ones. Therefore, in road construction, the area within the construction area represented by the target construction area that corresponds to the area already traversed by the higher-positioned target construction machines refers to the area along the road width direction, located on the side of the area already worked by the higher-positioned target construction machines, awaiting construction by the lower-positioned target construction machines.

[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, namely the construction boundary point coordinates (x0, y0) and (x1, y1).

[0114] Furthermore, such as Figure 2 As shown, the required road width can be calculated from the screed width and overlap width of the two pavers, which is denoted as L, and is the road width predicted based on the relationship between the two pavers.

[0115] Let the equation of the line be y = kx + b. Substituting the two known points, we can find the answer:

[0116]

[0117] Let the coordinates of the target construction boundary point of the low-level paver be (x2, y2) as predicted, then we can obtain:

[0118]

[0119] This can then be converted to:

[0120]

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

[0122] Furthermore, after predicting the target construction boundary point coordinates of the low-level paver based on the construction boundary point coordinates of the high-level paver, the target construction boundary point coordinates are used as the first boundary data and processed as described in steps 130-140 above. This yields the acquired road boundary data on the road boundary side covered by the low-level paver's construction range, which is used to construct and update the road boundary model. Thus, the road boundary model can be updated before the low-level paver reaches the target construction area.

[0123] Understandably, the closer the acquired road boundary data is to the actual road boundary data, the more accurate the constructed road boundary model will be. Compared to the target boundary point coordinates of the low-position target engineering machinery predicted based on the boundary point coordinates of the high-position target engineering machinery, the first boundary data determined based on the pose and physical model of the low-position target engineering machinery after it enters the target construction area—that is, the measured data of the road boundary—is more closely related to the actual road boundary. Therefore, the real-time update of the road boundary model using the construction road modeling method provided in the above embodiment also includes replacing the fourth boundary data obtained by processing the measured road boundary data obtained after the low-position target engineering machinery enters the target construction area (steps 130-140) with the fourth boundary data obtained by processing the first boundary data predicted from the construction boundary point coordinates of the high-position target engineering machinery (steps 130-140).

[0124] Furthermore, to further improve the accuracy of the constructed road boundary model, in an optional embodiment, before updating the road boundary model based on the new acquired road boundary data, the following steps are also included:

[0125] The newly acquired road boundary data corresponding to the high-position target engineering machinery and the low-position target engineering machinery will be mapped and aligned.

[0126] In this embodiment, based on the travel direction of the target construction machinery, the extracted road boundary points are mapped and aligned by aligning the road starting points collected from different target construction machinery and the newly acquired road boundary data, as shown in the example. Figure 2 The synchronous setting of road station information shown can make the final generated road boundary model more accurate, which can help improve the construction quality of unmanned road construction based on the road boundary model.

[0127] It is understandable that, for roads constructed using multiple construction machines, in order to obtain the first boundary data of the road in the process of building a road boundary model based on the construction of construction machines, it is first necessary to determine the construction machines that include the boundaries of both sides of the road in the construction area, which is the target construction machine described in the embodiments of this invention.

[0128] Based on this, in an optional embodiment, before obtaining the pose and physical model of the target engineering machinery, the method further includes:

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

[0130] Based on the position and heading angle of each piece of engineering machinery, the target engineering machinery is determined.

[0131] Specifically, taking road construction using engineering machinery A and engineering machinery B as an example, based on the pose and heading angle of the engineering machinery, the engineering machinery that includes the left and right boundaries of the road in the construction area can be identified using the vector cross multiplication method:

[0132] Let the coordinates of the construction machinery A be... Coordinates of construction machinery B After extending the engineering machinery A along the heading angle direction by a preset distance, for example, 1m, the vector is obtained.

[0133] Then vector vector

[0134] and

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

[0136] Figure 3 This is a data processing flowchart illustrating the road modeling method provided in this embodiment of the invention, used when multiple pavers are used for road paving construction. Figure 3 As can be seen, the road construction modeling method provided in this embodiment of the invention can achieve the fusion of data collected by multiple devices in scenarios where multiple construction machines are working simultaneously, thereby generating an accurate road boundary model. Furthermore, the road boundary model can be constructed before the target construction machine enters the target construction area, which facilitates the unmanned construction of subsequent construction machines and improves road construction efficiency.

[0137] The following describes a modeling system for construction roads provided by an embodiment of the present invention. The modeling system for construction roads described below can be considered as a modular architecture for implementing a modeling method for construction roads provided by an embodiment of the present invention; the following description can be referred to in conjunction with the above.

[0138] See Figure 4 , Figure 4 This is a structural block diagram of a construction road modeling system provided in an embodiment of the present invention. The system may include:

[0139] The acquisition unit 10 is used to acquire the pose and physical model of the target construction machinery, which is used for road construction.

[0140] The computing unit 20 is used to calculate the first boundary data of the road based on the pose and physical model of the target engineering machinery.

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

[0142] The first correction unit 40 is used to correct the first boundary data based on the second boundary data to obtain the 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 the fourth boundary data of the road, and use it as the new acquired road boundary data.

[0144] Modeling unit 60 is used to update the road boundary model based on the new acquired road boundary data.

[0145] Optionally, the target construction machinery includes high-position target construction machinery and low-position target construction machinery, with the high-position target construction machinery entering the road construction area before the low-position target construction machinery;

[0146] Before the low-level target construction machinery reaches the target construction area, the calculation unit 20 is also used for:

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

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

[0149] The coordinates of the target construction boundary points of the high-position target engineering machinery and the target construction boundary points of the low-position target engineering machinery are used as the first boundary data.

[0150] The target construction area is the area within the construction area that corresponds to the area already traversed by the high-position target construction machinery.

[0151] Optionally, modeling unit 60 is also used to map and align the new acquired road boundary data corresponding to the high-position target engineering machinery and the low-position target engineering machinery.

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

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

[0154] Based on the position and heading angle of each piece of engineering machinery, the target engineering machinery is determined.

[0155] Optionally, the first correction unit 40 is specifically used for:

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

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

[0158] If the difference falls within the preset threshold range, the first boundary data will be used as the third boundary data.

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

[0160] Optionally, the first correction unit 40 is also used for:

[0161] Determine whether the first boundary data falls within the range determined based on the acquired road boundary data;

[0162] If 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 used for:

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

[0165] Optionally, embodiments of the present invention also provide an engineering machinery, including the engineering machinery body and a modeling system for construction roads as provided in any of the foregoing embodiments.

[0166] Specifically, the construction machinery can be pavers, road rollers, etc.

[0167] Below, for reference Figure 5 The electronic device provided in the embodiments of this application can be described as follows: 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 this embodiment of the invention, the number of processor 100, communication interface 200, memory 300, and communication bus 400 is at least one, and the processor 100, communication interface 200, and memory 300 communicate with each other through communication bus 400; obviously, Figure 5 The communication connections shown for the processor 100, communication interface 200, memory 300, and communication bus 400 are optional.

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

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

[0171] Specifically, the processor 100 is used to execute the application program in the memory to implement the steps of the above-mentioned method for modeling construction roads.

[0172] 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.

[0173] 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.

[0174] 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. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0175] 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 accorded 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 this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

[0177] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for modeling construction roads, characterized in that, include: The pose and physical model of the target construction machinery are obtained, and the target construction machinery is used for road construction. Based on the pose and physical model of the target engineering machinery, the first boundary data of the road is calculated; Based on the acquired road boundary data, the second boundary data of the road is predicted. Based on the second boundary data, the first boundary data is corrected once to obtain the third boundary data of the road; When the third boundary data reaches a preset number, the preset number of third boundary data is corrected a second time based on the acquired road boundary data to obtain the fourth boundary data of the road, which is then used as the 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 construction machinery includes high-position target construction machinery and low-position target construction machinery, wherein the high-position target construction machinery enters the construction area of ​​the road before the low-position target construction machinery; Before the low-position target construction machinery reaches the target construction area, the first boundary data of the road is calculated based on the pose and physical model of the target construction machinery, including: Obtain the coordinates of the construction boundary points of the high-position target engineering machinery; Based on the construction boundary point coordinates of the high-position target engineering machinery and the relationship between the high-position target engineering machinery and the low-position target engineering machinery, the target construction boundary point coordinates of the low-position target engineering machinery are predicted, and the target construction boundary point coordinates represent the boundary of the road. The coordinates of the target construction boundary point of the high-position target engineering machinery and the coordinates of the target construction boundary point of the low-position target engineering machinery are used as the first boundary data; The target construction area is the area within the construction area that corresponds to the area already traversed by the high-position target construction machinery.

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 process also includes: The newly acquired road boundary data corresponding to the high-position target engineering machinery and the low-position target engineering machinery are mapped and aligned.

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

5. The method according to claim 1, characterized in that, The step of correcting the first boundary data based on the second boundary data includes: Calculate the difference between the first boundary data and the second boundary data; Determine whether the difference falls within a preset threshold range; If the difference falls within the preset threshold range, the first boundary data is used as the third boundary data; If the difference does not fall within 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 performing a correction on the first boundary data based on the second boundary data, the method further includes: Determine whether the first boundary data belongs to the range determined based on the acquired road boundary data; 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.

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

8. A modeling system for construction roads, characterized in that, include: The acquisition unit is used to acquire the pose and physical model of the target construction machinery, which is used for road construction. The calculation unit is used to calculate the first boundary data of the road based on the pose and physical model of the target engineering machinery; The first prediction unit is used to predict the second boundary data of the road based on the acquired road boundary data; The first correction unit is used to correct the first boundary data based on the second boundary data to obtain the third boundary data of the road. The second correction unit 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, so as to obtain the fourth boundary data of the road and use it as the 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 machinery, characterized in that, It includes the engineering machinery body and the modeling system for the construction road as described in claim 8.

10. An electronic device, characterized in that, The electronic device includes: processor; Memory used to store the processor's executable instructions; The processor is configured to perform the method described in any one of claims 1 to 7.

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