Paving elevation determination method and device, equipment and storage medium

Abstract

The invention discloses a paving elevation determination method, device and equipment and a storage medium. The method comprises the following steps: constructing a standard base coordinate matrix according to first initial position information and second initial position information of a first reference point and a second reference point of an ironing plate relative to a paver center point; determining real-time offset according to third real-time global position information of the mast prism reference point, third initial position information of the mast prism reference point relative to the central point of the paver and the standard base coordinate matrix; determining first real-time global position information of the first reference point according to the real-time offset, the standard base coordinate matrix and the first initial position information, and determining second real-time global position information of the second reference point according to the real-time offset, the standard base coordinate matrix and the second initial position information; and determining first elevation information of the first reference point according to the first real-time global position information, and determining second elevation information of the second reference point according to the second real-time global position information.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of paving machines, and in particular to a method, device, equipment and storage medium for determining paving elevation. Background Art

[0002] In the field of road construction and pavement construction, the quality of paving operations has a direct impact on the service life of the road, driving safety and comfort. Accurately determining the paving elevation is the core element to ensure paving quality.

[0003] However, the existing method of determining the paving elevation usually relies on manual measurement tools (such as a level), which is not only inefficient, but also easily affected by human factors, such as measurement errors and inaccurate readings.

[0004] Therefore, it is urgent to propose a new method to solve the above problems. Summary of the invention

[0005] The present invention provides a method, device, equipment and storage medium for determining paving elevation, which can improve the efficiency of determining paving elevation and reduce the determination cost.

[0006] In a first aspect, an embodiment of the present invention provides a method for determining a paving elevation, which is applied to a paving machine including a screed and a mast prism, and the method includes:

[0007] Constructing a standard base coordinate matrix according to first initial position information of a first reference point of the screed relative to the center point of the paver and second initial position information of a second reference point of the screed relative to the center point of the paver;

[0008] Acquire the third real-time global position information of the mast prism reference point, and determine the real-time offset according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paving machine, and the standard base coordinate matrix;

[0009] Determine the first real-time global position information of the first reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the first initial position information, and determine the second real-time global position information of the second reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the second initial position information;

[0010] The first elevation information of the first reference point of the ironing plate is determined according to the first real-time global position information, and the second elevation information of the second reference point of the ironing plate is determined according to the second real-time global position information.

[0011] The technical solution of the present invention is to construct a standard base coordinate matrix according to the first initial position information of the first reference point of the screed relative to the center point of the paver and the second initial position information of the second reference point of the screed relative to the center point of the paver; obtain the third real-time global position information of the mast prism reference point, and determine the real-time offset according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paver and the standard base coordinate matrix; determine the first real-time global position information of the first reference point of the screed according to the real-time offset, the standard base coordinate matrix and the first initial position information, and determine the second real-time global position information of the second reference point of the screed according to the real-time offset, the standard base coordinate matrix and the second initial position information; determine the first elevation information of the first reference point of the screed according to the first real-time global position information, and determine the second elevation information of the second reference point of the screed according to the second real-time global position information. The above technical solution first constructs a standard base coordinate matrix according to the first initial position information of the first reference point of the screed relative to the center point of the paver and the second initial position information of the second reference point of the screed relative to the center point of the paver, which provides a data basis for determining the real-time offset later. Then, the third real-time global position information of the mast prism reference point is obtained, and the real-time offset is determined according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paver, and the standard base coordinate matrix, which provides a data basis for determining the first real-time global position information of the first reference point of the screed plate and the second real-time global position information of the second reference point of the screed plate. Then, the first real-time global position information of the first reference point of the screed plate is determined according to the real-time offset, the standard base coordinate matrix and the first initial position information, and the second real-time global position information of the second reference point of the screed plate is determined according to the real-time offset, the standard base coordinate matrix and the second initial position information. The first real-time global position information and the second real-time global position information can be determined without using additional measuring equipment, which reduces the cost of the enterprise. Finally, the first elevation information of the first reference point of the screed plate is determined according to the first real-time global position information, and the second elevation information of the second reference point of the screed plate is determined according to the second real-time global position information, which realizes the automatic determination of the first elevation information and the second elevation information, saves labor costs, reduces the possibility of human errors, and improves efficiency, solving the problems of low efficiency and measurement results being easily affected by human factors in the existing paving elevation determination method.

[0012] In a second aspect, an embodiment of the present invention further provides a paving elevation determination device, which is applied to a paving machine including a screed and a mast prism, and the device includes:

[0013] A construction module, used for constructing a standard base coordinate matrix according to first initial position information of a first reference point of the screed plate relative to the center point of the paver and second initial position information of a second reference point of the screed plate relative to the center point of the paver;

[0014] An acquisition module, used for acquiring third real-time global position information of the mast prism reference point, and determining a real-time offset according to the third real-time global position information, third initial position information of the mast prism reference point relative to the center point of the paving machine, and the standard base coordinate matrix;

[0015] a first determining module, configured to determine first real-time global position information of a first reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the first initial position information, and to determine second real-time global position information of a second reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the second initial position information;

[0016] The second determination module is used to determine the first elevation information of the first reference point of the ironing plate according to the first real-time global position information, and to determine the second elevation information of the second reference point of the ironing plate according to the second real-time global position information.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0018] at least one processor; and a memory communicatively coupled to the at least one processor;

[0019] Wherein, the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can implement any of the paving elevation determination methods described in the first aspect.

[0020] In a fourth aspect, an embodiment of the present invention further provides a storage medium including computer executable instructions,

[0021] The computer executable instructions, when executed by a computer processor, implement any of the paving elevation determination methods described in the first aspect.

[0022] It should be noted that the above computer instructions may be stored in whole or in part on a computer-readable storage medium, wherein the computer-readable storage medium may be packaged together with the processor of the paving elevation determination device, or may be packaged separately from the processor of the paving elevation determination device, and this application does not limit this.

[0023] The description of the second, third and fourth aspects in this application can refer to the detailed description of the first aspect; and the beneficial effects of the description of the second, third and fourth aspects can refer to the beneficial effect analysis of the first aspect, which will not be repeated here.

[0024] In this application, the name of the above-mentioned paving elevation determination device does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear with other names. As long as the functions of each device or functional module are similar to those of this application, they belong to the scope of the claims of this application and their equivalent technologies.

[0025] These and other aspects of the present application will become more apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 A flow chart of a method for determining paving elevation provided by an embodiment of the present invention;

[0028] Figure 2 A flow chart of another method for determining paving elevation provided by an embodiment of the present invention;

[0029] Figure 3 An example diagram of a base coordinate system and a global coordinate system provided by an embodiment of the present invention;

[0030] Figure 4 A schematic diagram of the structure of a paving elevation determination device provided by an embodiment of the present invention;

[0031] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0033] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0034] The terms "first" and "second" and the like in the specification and drawings of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0035] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0036] It should be mentioned before discussing exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe various operations (or steps) as sequential processes, many operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of various operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to methods, functions, procedures, subroutines, subprograms, etc. In addition, the embodiments in the present invention and the features in the embodiments can be combined with each other without conflict.

[0037] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0038] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0039] Figure 1 The flowchart of a method for determining paving elevation provided in an embodiment of the present invention is applicable to situations where the paving elevation of a paver needs to be determined. The method can be executed by a paving elevation determination device, which can be implemented in hardware / software. The device can be integrated in a paver, for example, it can be installed in a paver including a screed plate and a mast prism, and the embodiment of the present invention does not limit this. Figure 1 As shown, the method specifically comprises the following steps:

[0040] Step 110: construct a standard basis coordinate matrix according to first initial position information of a first reference point of the screed plate relative to a center point of the paver and second initial position information of a second reference point of the screed plate relative to the center point of the paver.

[0041] Among them, the screed plate refers to a flat plate-shaped component on the paver used to level and spread materials (such as asphalt, concrete, etc.), which directly contacts the paving material and spreads it evenly on the road surface. The center point of the paver refers to an important reference point of the entire paver, which is used as a reference for determining the positions of other components or points. For example, the center point of the paver can be the center position of the paver in geometric shape or the center point of the screed plate. The first reference point of the screed plate refers to a point set on the screed plate according to actual conditions or needs for determining the position and paving elevation of the screed plate, for example, the first reference point of the screed plate can be the midpoint of the left boundary of the screed plate. The second reference point of the screed plate refers to another point set on the screed plate according to actual conditions or needs for determining the position and paving elevation of the screed plate; for example, the second reference point of the screed plate can be the midpoint of the right boundary of the screed plate. The paver refers to a mechanical device used to pave road materials. The first initial position information refers to the position information of the first reference point of the screed plate relative to the center point of the paver when the paver has not yet performed paving operations. The second initial position information refers to the position information of the second reference point of the screed relative to the center point of the paver before the paver performs paving operations. The standard base coordinate matrix refers to a standardized matrix used to describe the base coordinate system established with the center point of the paver as the origin.

[0042] Specifically, the center point of the paver, the first reference point of the screed plate and the second reference point of the screed plate can be determined according to the actual situation or needs, and a base coordinate system with the center point of the paver as the origin can be determined. The base coordinate system complies with the right-hand rule, the positive direction of the x-axis of the base coordinate system is the forward direction of the paver, the y-axis of the base coordinate system is perpendicular to the x-axis and points to the right side of the paver, and the z-axis is perpendicular to the plane formed by the x-axis and the y-axis. Then, according to the design parameters of the paver, the relative position relationship between the center point of the paver and the first reference point of the screed plate and the second reference point of the screed plate is determined, so as to determine the first initial position information of the first reference point of the screed plate relative to the center point of the paver and the second initial position information of the second reference point of the screed plate relative to the center point of the paver. Then, according to the first initial position information and the second initial position information, the standard base coordinate matrix is ​​determined. For example: if the center point of the paver is O, the first reference point of the screed plate is A, and the second reference point of the screed plate is B, the first initial position information is A(x1, y1, z1), and the second initial position information is B(x2, y2, z2), then the vector is [x1, y1, z1] T ,vector is [x2, y2, z2] T , then the vector After normalization, we get the unit vector Pair Vector The unit vector obtained after normalization And determine the standard basis coordinate matrix as in,

[0043] In this embodiment, by constructing a standard base coordinate matrix, a data basis is provided for subsequently determining the real-time offset.

[0044] Step 120, obtaining the third real-time global position information of the mast prism reference point, and determining the real-time offset according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paver, and the standard base coordinate matrix.

[0045] Among them, the mast prism reference point refers to the position of the prism on the mast of the paver. The third real-time global position information refers to the position information of the mast prism reference point in the global coordinate system at the current moment (such as a coordinate system with a measuring device as the origin, the measuring device refers to a device that can accurately obtain the position information of the mast prism reference point in the global coordinate system, for example: the measuring device can be a total station). The third initial position information refers to the position information of the mast prism reference point relative to the center point of the paver before the paver starts working. The real-time offset refers to the difference or change between the real-time global position information and the initial position information of the mast prism reference point.

[0046] Specifically, a global coordinate system with the center point of the measuring device as the origin can be determined first. The global coordinate system complies with the right-hand rule, the positive direction of the global coordinate system x-axis points to the north, the global coordinate system y-axis is perpendicular to the x-axis and points to the east, and the z-axis is perpendicular to the plane formed by the x-axis and the y-axis. Then, the third real-time global position information of the mast prism reference point is obtained through the measuring device, that is, the real-time coordinates of the point in the global coordinate system. Then, the real-time offset is determined according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paver, and the standard base coordinate matrix. Specifically, the real-time base coordinate matrix is ​​first determined according to the rotation matrix and the standard base coordinate matrix. The rotation matrix is ​​determined according to the angle information of the mast prism and the paver, and describes the rotation relationship from the standard base coordinate system to the real-time base coordinate system. Then, according to the third initial position information and the standard base coordinate matrix, the third standard position information of the mast prism reference point is determined; then, according to the real-time base coordinate matrix and the third standard position information, the third real-time base position information is determined, that is, the position information of the mast prism reference point in the real-time base coordinate system. Then, the real-time offset is determined according to the third real-time global position information and the third real-time reference position information.

[0047] In this embodiment, by determining the real-time offset, a data basis is provided for subsequently determining first real-time global position information of a first reference point of the ironing screed and second real-time global position information of a second reference point of the ironing screed.

[0048] Step 130: determine the first real-time global position information of the first reference point of the ironing plate according to the real-time offset, the standard base coordinate matrix and the first initial position information, and determine the second real-time global position information of the second reference point of the ironing plate according to the real-time offset, the standard base coordinate matrix and the second initial position information.

[0049] The first real-time global position information refers to the real-time position information of the first reference point of the screed in the global coordinate system. The second real-time global position information refers to the real-time position information of the second reference point of the screed in the global coordinate system.

[0050] Specifically, according to the product of the vector corresponding to the first initial position information (the vector whose origin of the base coordinate system points to the first reference point of the ironing plate when the paver is not working), the standard base coordinate matrix and the real-time base coordinate matrix determined above, the position vector of the first reference point of the ironing plate in the real-time base coordinate system is obtained, and then the sum of the real-time offset and the position vector of the first reference point of the ironing plate in the real-time base coordinate system is calculated to obtain the vector corresponding to the first real-time global position information (the vector whose origin of the current global coordinate system points to the first reference point of the ironing plate), and then the first real-time global position information is determined according to the vector corresponding to the first real-time global position information.

[0051] Similarly, based on the vector corresponding to the second initial position information (the vector pointing from the origin of the base coordinate system to the second reference point of the ironing plate when the paver is not working), the product of the standard base coordinate matrix and the real-time base coordinate matrix determined above, the position vector of the second reference point of the ironing plate in the real-time base coordinate system is obtained, and then the sum of the real-time offset and the position vector of the second reference point of the ironing plate in the real-time base coordinate system is calculated to obtain the vector corresponding to the second real-time global position information (the vector pointing from the origin of the current global coordinate system to the second reference point of the ironing plate), and then the second real-time global position information is determined based on the vector corresponding to the second real-time global position information.

[0052] In this embodiment, through the above steps, it is possible to determine the first real-time global position information and the second real-time global position information without using additional measurement equipment, thereby reducing the cost of the enterprise.

[0053] Step 140: Determine first elevation information of a first reference point of the screed plate according to the first real-time global position information, and determine second elevation information of a second reference point of the screed plate according to the second real-time global position information.

[0054] The first elevation information refers to the real-time vertical position (or height) information of the first reference point of the screed in the global coordinate system. The second elevation information refers to the real-time vertical position (or height) information of the second reference point of the screed in the global coordinate system.

[0055] Specifically, the z-axis coordinate value in the first real-time global position information is determined as the first elevation information of the first reference point of the ironing plate, and the z-axis coordinate value in the second real-time global position information is determined as the second elevation information of the second reference point of the ironing plate.

[0056] In this embodiment, the first elevation information and the second elevation information are automatically determined, which saves labor costs, reduces the possibility of human errors, and improves efficiency.

[0057] In the embodiment of the present invention, a standard base coordinate matrix is ​​first constructed based on the first initial position information of the first reference point of the screed relative to the center point of the paver and the second initial position information of the second reference point of the screed relative to the center point of the paver, providing a data basis for subsequently determining the real-time offset. Then, the third real-time global position information of the mast prism reference point is obtained, and the real-time offset is determined based on the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paver, and the standard base coordinate matrix, providing a data basis for subsequently determining the first real-time global position information of the first reference point of the screed and the second real-time global position information of the second reference point of the screed. Then, the first real-time global position information of the first reference point of the screed is determined based on the real-time offset, the standard base coordinate matrix, and the first initial position information, and the second real-time global position information of the second reference point of the screed is determined based on the real-time offset, the standard base coordinate matrix, and the second initial position information. The first real-time global position information and the second real-time global position information of the second reference point of the screed can be determined without using additional measuring equipment, thereby reducing the cost of the enterprise. Finally, the first elevation information of the first reference point of the ironing plate is determined according to the first real-time global position information, and the second elevation information of the second reference point of the ironing plate is determined according to the second real-time global position information, thereby realizing the automatic determination of the first elevation information and the second elevation information, saving labor costs, reducing the possibility of human errors, and improving efficiency, thereby solving the problems of low efficiency and measurement results being easily affected by human factors in existing paving elevation determination methods.

[0058] Figure 2 A flowchart of another method for determining paving elevation provided in an embodiment of the present invention, which is specific based on the above embodiment. In this embodiment, the method may also include:

[0059] Step 210: construct a standard basis coordinate matrix according to first initial position information of a first reference point of the screed plate relative to a center point of the paver and second initial position information of a second reference point of the screed plate relative to the center point of the paver.

[0060] Further, step 210 may specifically include: determining the horizontal direction basis vector according to the first initial position information and the second initial position information; determining the forward direction basis vector according to the preset vertical direction basis vector and the horizontal direction basis vector; constructing a basis coordinate matrix according to the horizontal direction basis vector, the preset vertical direction basis vector and the forward direction basis vector; and normalizing the basis coordinate matrix to obtain a standard basis coordinate matrix.

[0061] The horizontal basis vector refers to the vector along the positive direction of the y-axis in the base coordinate system established with the center point of the paver as the origin. The preset vertical basis vector refers to the vector along the positive direction of the z-axis in the base coordinate system established with the center point of the paver as the origin, which is set in advance according to actual conditions or needs. For example, the preset vertical basis vector can be [0, 0, 1] T The forward direction basis vector refers to a vector along the positive direction of the x-axis in the base coordinate system established with the center point of the paver as the origin. In this embodiment, the forward direction basis vector is consistent with the driving direction of the paver and is used to describe the forward direction of the paver on the horizontal plane. The base coordinate matrix refers to a matrix used to describe the base coordinate system established with the center point of the paver as the origin.

[0062] For example, if the first initial position information is (a, b, c) and the second initial position information is (d, e, f), the vertical direction basis vector is preset is [0, 0, 1] T , then the horizontal basis vector is [eb, da, 0] T , the basis vector in the forward direction is The basis coordinate matrix is Then After normalization, the standard basis coordinate matrix is ​​obtained as follows: in

[0063]

[0064] In this embodiment, through the above steps, the accuracy of the constructed standard basis coordinate matrix is ​​improved, and the standardized standard basis coordinate matrix can reduce subsequent calculation errors and improve the accuracy of the determined position information.

[0065] Step 211: Obtain the pitch angle of the mast prism and the roll angle and heading angle of the paving machine.

[0066] Among them, the mast prism refers to the prism installed on the mast of the paver. The pitch angle refers to the inclination angle of the mast prism relative to the horizontal plane. The heading angle refers to the angle of the paver relative to a reference direction (such as true north or magnetic north). In this embodiment, the heading angle refers to the angle of the paver relative to the true north direction. The roll angle refers to the angle of the paver rotating around its longitudinal axis (the axis along the forward direction of the paver).

[0067] Specifically, the pitch angle of the mast prism can be obtained through a pitch angle sensor (such as a magnetic encoder sensor), the roll angle of the paver can be obtained through a roll angle sensor (such as a fiber optic gyroscope), and the heading angle of the paver can be obtained through a heading angle sensor (such as a geomagnetic sensor).

[0068] In this embodiment, by obtaining the pitch angle of the mast prism and the roll angle and heading angle of the paving machine, a data basis is provided for subsequently determining the rotation matrix.

[0069] Step 212: Determine a rotation matrix according to the pitch angle, the roll angle, and the heading angle.

[0070] The rotation matrix is ​​determined based on the angle information of the mast prism and the paver, and is used to describe the coordinate rotation relationship caused by the attitude changes (such as pitch, roll, and heading changes) of the paver during operation.

[0071] Specifically, the coordinate transformation mode (such as external rotation mode and internal rotation mode) can be determined according to actual conditions or needs, and then the initial rotation matrix (such as external rotation matrix and internal rotation matrix) can be determined in the correspondence table between the rotation mode and the initial rotation matrix according to the determined rotation mode, and then the rotation matrix is ​​determined according to the pitch angle, roll angle, heading angle and the initial rotation matrix.

[0072] For example, if the pitch angle is 30 degrees, the roll angle is 45 degrees, and the heading angle is 60 degrees, the coordinate transformation mode is the external rotation mode, and the initial rotation matrix is ​​the external rotation matrix R, ψ is the heading angle, θ is the pitch angle, is the roll angle, then the rotation matrix

[0073] It should be noted that the corresponding relationship table between the rotation mode and the initial rotation matrix is ​​determined in advance according to actual conditions or requirements.

[0074] In this embodiment, by determining the rotation matrix, a data basis is provided for subsequently determining the real-time base coordinate matrix.

[0075] Step 213: Acquire the third real-time global position information of the mast prism reference point, and determine the real-time base coordinate matrix according to the rotation matrix and the standard base coordinate matrix.

[0076] The real-time base coordinate matrix refers to the base coordinate matrix obtained after the posture change of the paver during the actual working process (reflected by the rotation matrix), which reflects the current coordinate reference state of the paver in real time.

[0077] Specifically, a global coordinate system with the center point of the measuring device as the origin can be determined first, and then the third real-time global position information of the mast prism reference point, that is, the real-time coordinates of the point in the global coordinate system, can be obtained through the measuring device. At the same time, the real-time base coordinate matrix can be determined according to the product of the rotation matrix and the standard base coordinate matrix.

[0078] In this embodiment, by determining the real-time base coordinate matrix, a data basis is provided for subsequently determining the real-time base position information of each base point.

[0079] Step 214: Determine the third real-time reference position information of the mast prism reference point according to the real-time base coordinate matrix and the third initial position information.

[0080] The third real-time reference position information refers to the position information of the mast prism reference point in the real-time base coordinate system.

[0081] Specifically, the third initial position information can be first determined based on the relative position relationship between the center point of the paver and the mast prism reference point, and then the vector corresponding to the third initial position information (the vector whose origin of the base coordinate system when the paver is not working points to the mast prism reference point) and the standard base coordinate matrix are multiplied to obtain the vector corresponding to the third standard position information of the mast prism reference point (the standardized vector whose origin of the base coordinate system when the paver is not working points to the mast prism reference point). Finally, the product of the real-time base coordinate matrix and the vector corresponding to the third standard position information is calculated to obtain the vector corresponding to the third real-time reference position information (the vector whose origin of the base coordinate system of the current paver points to the mast prism reference point), and then the third real-time reference position information is determined based on the vector corresponding to the third real-time reference position information.

[0082] In this embodiment, by determining the third real-time reference position information of the mast prism reference point, a data basis is provided for subsequently determining the real-time offset.

[0083] Further, step 214 may specifically include: determining third standard position information of the mast prism reference point according to the third initial position information and the standard base coordinate matrix; and determining third real-time reference position information according to the real-time base coordinate matrix and the third standard position information.

[0084] The third standard position information refers to the position information of the mast prism reference point in the base coordinate system corresponding to the standardized base coordinate matrix.

[0085] For example, if the third initial position information is (2, 3, 1), the standard basis coordinate matrix is The real-time basis coordinate matrix is Then the vector corresponding to the third initial position information is [2, 3, 1], and the vector corresponding to the third standard position information is The third initial position information is (2, 3, 1), and the vector corresponding to the third real-time reference position information is The third real-time reference position information is

[0086] In this embodiment, the accuracy of the determined third real-time reference position information is improved.

[0087] Step 215: Determine a real-time offset according to the third real-time global position information and the third real-time reference position information.

[0088] For example, Figure 3 As shown, the mast prism reference point is A, the first reference point of the screed is B, the second reference point of the screed is C, the origin of the base coordinate system is P, the x-axis of the base coordinate system is V_N, the y-axis is V_E, the z-axis is V_Z, the origin of the global coordinate system is Q, the x-axis of the global coordinate system is X(N), that is, the due north direction, the y-axis is Y(E), that is, the due east direction, and the z-axis is Z. If the third real-time global position information is (1, 2, 3) and the third real-time reference position information is (2, 4, 5), then the vector corresponding to the third real-time global position information is The vector corresponding to the third real-time reference position information is: The real-time offset is

[0089] In this embodiment, by determining the real-time offset, a data basis is provided for subsequently determining the first real-time global position information and the second real-time global position information.

[0090] Step 216: determine the first real-time global position information of the first reference point of the ironing plate according to the real-time offset, the standard base coordinate matrix and the first initial position information, and determine the second real-time global position information of the second reference point of the ironing plate according to the real-time offset, the standard base coordinate matrix and the second initial position information.

[0091] Further, step 216 may specifically include: determining first real-time reference position information of a first reference point of the ironing plate according to the real-time base coordinate matrix and the first initial position information; determining first real-time global position information according to the first real-time reference position information and the real-time offset; determining second real-time reference position information of a second reference point of the ironing plate according to the real-time base coordinate matrix and the second initial position information; determining second real-time global position information according to the second real-time reference position information and the real-time offset.

[0092] The first real-time reference position information refers to the position information of the first reference point of the screed plate in the real-time base coordinate system, and the second real-time reference position information refers to the position information of the second reference point of the screed plate in the real-time base coordinate system.

[0093] Specifically, the product of the vector corresponding to the first initial position information (the vector whose origin of the base coordinate system of the non-working paver points to the first reference point of the screed plate) and the standard base coordinate matrix can be calculated first to obtain the vector corresponding to the first standard position information of the first reference point of the screed plate (the vector whose origin of the base coordinate system of the non-working paver points to the first reference point of the screed plate after standardization), and then the first standard position information is determined according to the vector corresponding to the first standard position information. Then, the product of the real-time base coordinate matrix and the vector corresponding to the first standard position information is calculated to obtain the vector corresponding to the first real-time reference position information (the vector whose origin of the base coordinate system of the current paver points to the first reference point of the screed plate), and then the first real-time reference position information is determined according to the vector corresponding to the first real-time reference position information. Finally, the sum of the real-time offset and the vector corresponding to the first real-time reference position information is calculated to obtain the vector corresponding to the first real-time global position information (the vector whose origin of the current global coordinate system points to the first reference point of the screed plate), and then the first real-time global position information is determined according to the vector corresponding to the first real-time global position information.

[0094] Similarly, the product of the vector corresponding to the second initial position information (the vector whose origin of the base coordinate system of the non-working paver points to the second reference point of the screed plate) and the standard base coordinate matrix can be calculated first to obtain the vector corresponding to the second standard position information of the second reference point of the screed plate (the vector whose origin of the base coordinate system of the non-working paver points to the second reference point of the screed plate after standardization), and then the second standard position information is determined according to the vector corresponding to the second standard position information. Then, the product of the real-time base coordinate matrix and the vector corresponding to the second standard position information is calculated to obtain the vector corresponding to the second real-time reference position information (the vector whose origin of the base coordinate system of the current paver points to the second reference point of the screed plate), and then the second real-time reference position information is determined according to the vector corresponding to the second real-time reference position information. Finally, the sum of the real-time offset and the vector corresponding to the second real-time reference position information is calculated to obtain the vector corresponding to the second real-time global position information (the vector whose origin of the current global coordinate system points to the second reference point of the screed plate), and then the second real-time global position information is determined according to the vector corresponding to the second real-time global position information.

[0095] In this embodiment, through the above steps, not only is it not necessary to use additional measuring equipment to determine the first real-time global position information and the second real-time global position information, thereby reducing the cost of the enterprise, but also the accuracy of the determined first real-time global position information and the second real-time global position information is improved.

[0096] Step 217: Determine first elevation information of a first reference point of the screed plate according to the first real-time global position information, and determine second elevation information of a second reference point of the screed plate according to the second real-time global position information.

[0097] Furthermore, after determining the first elevation information and the second elevation information, it also includes: calculating the difference between the first elevation information and the first preset elevation information to obtain a first elevation difference; calculating the difference between the second elevation information and the second preset elevation information to obtain a second elevation difference; and adjusting the paving elevation of the ironing plate according to the first elevation difference and the second elevation difference.

[0098] Among them, the first preset elevation information refers to the ideal height value that the first reference point of the screed plate should reach, which is preset according to the actual situation. The second preset elevation information refers to the ideal height value that the second reference point of the screed plate should reach, which is preset according to the actual situation. The first elevation difference refers to the difference obtained by subtracting the first elevation information from the first preset elevation information, and this difference reflects the degree of deviation between the actual elevation of the first reference point of the screed plate and the preset elevation. The second elevation difference refers to the difference obtained by subtracting the second preset elevation information from the second elevation information, and reflects the deviation between the actual elevation of the second reference point of the screed plate and the preset elevation. The paving elevation of the screed plate refers to the height at which the screed plate is located during the paving operation.

[0099] Specifically, after obtaining the first elevation information and the second elevation information, the first preset elevation information and the second preset elevation information can be obtained through the database storing the working requirements of the paving machine, and then the difference between the first elevation information and the first preset elevation information is calculated to obtain the first elevation difference, and the difference between the second elevation information and the second preset elevation information is calculated to obtain the second elevation difference. Afterwards, the paving elevation of the ironing plate can be adjusted according to the calculated first elevation difference and second elevation difference. Specifically, when the first elevation difference and the second elevation difference are zero, there is no need to adjust the paving elevation of the ironing plate. When the first elevation difference is greater than zero, it means that the first reference point of the ironing plate is higher than the preset elevation, and the height of the first reference point of the ironing plate is lowered; when the first elevation difference is less than zero, it means that the first reference point of the ironing plate is lower than the preset elevation, and the height of the first reference point of the ironing plate is raised. Similarly, for the second elevation difference, the raising and lowering operation of the height of the second reference point of the ironing plate is determined according to its positive or negative.

[0100] In this embodiment, the above steps improve the paving accuracy, and the height of the screed plate is effectively adjusted to a level that meets the design requirements, which helps to ensure the uniformity of the thickness of the paving material and the flatness of the paved road surface. In addition, by calculating the elevation difference and adjusting it in time, rework can be avoided or reduced, thereby improving the overall construction quality.

[0101] Therefore, the technical solution of the present invention first constructs a standard base coordinate matrix according to the first initial position information of the first reference point of the ironing plate relative to the center point of the paver and the second initial position information of the second reference point of the ironing plate relative to the center point of the paver, which provides a data basis for determining the real-time offset later. Then, the pitch angle of the mast prism and the roll angle and heading angle of the paver are obtained, and the rotation matrix is ​​determined according to the pitch angle, roll angle and heading angle. The third real-time global position information of the mast prism reference point is obtained, and the real-time base coordinate matrix is ​​determined according to the rotation matrix and the standard base coordinate matrix. The third real-time base coordinate matrix and the third initial position information are used to determine the third real-time base coordinate position information of the mast prism reference point. The real-time offset is determined according to the third real-time global position information and the third real-time base coordinate position information. The first real-time global position information of the first reference point of the ironing plate is determined according to the real-time offset, the standard base coordinate matrix and the first initial position information, and the second real-time global position information of the second reference point of the ironing plate is determined according to the real-time offset, the standard base coordinate matrix and the second initial position information. No additional measuring equipment is used to determine the first real-time global position information and the second real-time global position information, thereby reducing the cost of the enterprise. Finally, the first elevation information of the first reference point of the ironing plate is determined according to the first real-time global position information, and the second elevation information of the second reference point of the ironing plate is determined according to the second real-time global position information, thereby realizing the automatic determination of the first elevation information and the second elevation information, saving labor costs, reducing the possibility of human errors, and improving efficiency, thereby solving the problems of low efficiency and measurement results being easily affected by human factors in existing paving elevation determination methods.

[0102] In addition, the horizontal direction basis vector is determined according to the first initial position information and the second initial position information; the forward direction basis vector is determined according to the preset vertical direction basis vector and the horizontal direction basis vector; the basis coordinate matrix is ​​constructed according to the horizontal direction basis vector, the preset vertical direction basis vector and the forward direction basis vector; the basis coordinate matrix is ​​standardized to obtain a standard basis coordinate matrix. This process not only improves the accuracy of the constructed standard basis coordinate matrix, but also the matrix after the standardization process can reduce the subsequent calculation error, thereby improving the accuracy of the determined position information. Then, according to the third initial position information and the standard basis coordinate matrix, the third standard position information of the mast prism reference point is determined; according to the real-time basis coordinate matrix and the third standard position information, the third real-time reference position information is determined, thereby improving the accuracy of the determined third real-time reference position information.

[0103] Furthermore, the first real-time reference position information of the first reference point of the screed is determined according to the real-time base coordinate matrix and the first initial position information; the first real-time global position information is determined according to the first real-time reference position information and the real-time offset; the second real-time reference position information of the second reference point of the screed is determined according to the real-time base coordinate matrix and the second initial position information; the second real-time global position information is determined according to the second real-time reference position information and the real-time offset. This process does not require the use of additional measuring equipment to determine the first real-time global position information and the second real-time global position information, which reduces enterprise costs while improving the accuracy of the determined first real-time global position information and the second real-time global position information.

[0104] Furthermore, after determining the first elevation information and the second elevation information, the difference between the first elevation information and the first preset elevation information is calculated to obtain the first elevation difference; the difference between the second elevation information and the second preset elevation information is calculated to obtain the second elevation difference; the paving elevation of the screed plate is adjusted according to the first elevation difference and the second elevation difference, thereby improving the paving accuracy, and thereby effectively adjusting the height of the screed plate to a level that meets the design requirements, which helps to ensure the uniformity of the thickness of the paving material, thereby ensuring the flatness of the paved road surface. Furthermore, by calculating the elevation difference and adjusting it in a timely manner, rework can be avoided or reduced, thereby improving the overall construction quality.

[0105] Figure 4 A structural schematic diagram of a paving elevation determination device provided in an embodiment of the present invention. The device and the paving elevation determination methods of the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiments of the paving elevation determination device, reference can be made to the embodiments of the above-mentioned paving elevation determination methods.

[0106] like Figure 4 As shown, the device comprises:

[0107] A construction module 410, configured to construct a standard base coordinate matrix according to first initial position information of a first reference point of the screed relative to the center point of the paver and second initial position information of a second reference point of the screed relative to the center point of the paver;

[0108] An acquisition module 420 is used to acquire third real-time global position information of the mast prism reference point, and determine a real-time offset according to the third real-time global position information, third initial position information of the mast prism reference point relative to the center point of the paving machine, and the standard base coordinate matrix;

[0109] A first determining module 430 is configured to determine first real-time global position information of a first reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the first initial position information, and to determine second real-time global position information of a second reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the second initial position information;

[0110] The second determination module 440 is configured to determine first elevation information of a first reference point of the screed plate according to the first real-time global position information, and determine second elevation information of a second reference point of the screed plate according to the second real-time global position information.

[0111] Based on the above embodiment, the construction module 410 is specifically used for:

[0112] Determine a horizontal basis vector according to the first initial position information and the second initial position information;

[0113] Determine a forward direction basis vector according to a preset vertical direction basis vector and the horizontal direction basis vector;

[0114] Constructing a basis coordinate matrix according to the horizontal direction basis vector, the preset vertical direction basis vector and the forward direction basis vector;

[0115] The basis coordinate matrix is ​​standardized to obtain the standard basis coordinate matrix.

[0116] On the basis of the above embodiment, the real-time offset is determined according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paving machine and the standard base coordinate matrix, including:

[0117] Determine a real-time base coordinate matrix according to a rotation matrix and the standard base coordinate matrix, wherein the rotation matrix is ​​determined according to angle information of the mast prism and the paving machine;

[0118] Determine the third real-time reference position information of the mast prism reference point according to the real-time base coordinate matrix and the third initial position information;

[0119] The real-time offset is determined according to the third real-time global position information and the third real-time reference position information.

[0120] On the basis of the above embodiment, determining the third real-time reference position information of the mast prism reference point according to the real-time base coordinate matrix and the third initial position information includes:

[0121] Determine the third standard position information of the mast prism reference point according to the third initial position information and the standard base coordinate matrix;

[0122] The third real-time reference position information is determined according to the real-time base coordinate matrix and the third standard position information.

[0123] On the basis of the above embodiment, determining the first real-time global position information of the first reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the first initial position information includes:

[0124] Determine first real-time reference position information of a first reference point of the screed plate according to the real-time base coordinate matrix and the first initial position information;

[0125] Determining the first real-time global position information according to the first real-time reference position information and the real-time offset;

[0126] Accordingly, determining the second real-time global position information of the second reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the second initial position information includes:

[0127] Determining second real-time reference position information of a second reference point of the screed plate according to the real-time base coordinate matrix and the second initial position information;

[0128] The second real-time global position information is determined according to the second real-time reference position information and the real-time offset.

[0129] Based on the above embodiment, the device further includes:

[0130] The third determination module is used to obtain the pitch angle of the mast prism and the roll angle and heading angle of the paver before calculating the product of the rotation matrix and the standard basis coordinate matrix to obtain the real-time basis coordinate matrix; and determine the rotation matrix according to the pitch angle, the roll angle and the heading angle.

[0131] Based on the above embodiment, the device further includes:

[0132] An adjustment module is used to calculate the difference between the first elevation information and the first preset elevation information after determining the first elevation information and the second elevation information to obtain a first elevation difference; calculate the difference between the second elevation information and the second preset elevation information to obtain a second elevation difference; and adjust the paving elevation of the ironing plate according to the first elevation difference and the second elevation difference.

[0133] The paving elevation determination device provided in the embodiment of the present invention can execute the paving elevation determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0134] It is worth noting that in the above-mentioned embodiment of the paving elevation determination device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0135] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 5 A block diagram of an exemplary electronic device 5 suitable for implementing embodiments of the present invention is shown. Figure 5 The electronic device 5 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0136] like Figure 5 As shown, the electronic device 5 is in the form of a general purpose computing electronic device. The components of the electronic device 5 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0137] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0138] The electronic device 5 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 5, including volatile and non-volatile media, removable and non-removable media.

[0139] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 5 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0140] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0141] The electronic device 5 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the electronic device 5, and / or any device that enables the electronic device 5 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the electronic device 5 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. Figure 5 As shown, the network adapter 20 communicates with other modules of the electronic device 5 via the bus 18. It should be understood that although Figure 5 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 5, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0142] The processing unit 16 executes various functional applications and page displays by running the program stored in the system memory 28, for example, implementing the paving elevation determination method provided in the embodiment of the present invention, which is applied to a paving machine including a screed and a mast prism, and includes:

[0143] Constructing a standard base coordinate matrix according to first initial position information of a first reference point of the screed relative to the center point of the paver and second initial position information of a second reference point of the screed relative to the center point of the paver;

[0144] Acquire the third real-time global position information of the mast prism reference point, and determine the real-time offset according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paving machine, and the standard base coordinate matrix;

[0145] Determine the first real-time global position information of the first reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the first initial position information, and determine the second real-time global position information of the second reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the second initial position information;

[0146] The first elevation information of the first reference point of the ironing plate is determined according to the first real-time global position information, and the second elevation information of the second reference point of the ironing plate is determined according to the second real-time global position information.

[0147] Of course, those skilled in the art will appreciate that the processor may also implement the technical solution of the paving elevation determination method provided in any embodiment of the present invention.

[0148] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for determining the paving elevation provided by an embodiment of the present invention is implemented. The method is applied to a paving machine including a screed and a mast prism, and includes:

[0149] Constructing a standard base coordinate matrix according to first initial position information of a first reference point of the screed relative to the center point of the paver and second initial position information of a second reference point of the screed relative to the center point of the paver;

[0150] Acquire the third real-time global position information of the mast prism reference point, and determine the real-time offset according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paving machine, and the standard base coordinate matrix;

[0151] Determine the first real-time global position information of the first reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the first initial position information, and determine the second real-time global position information of the second reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the second initial position information;

[0152] The first elevation information of the first reference point of the ironing plate is determined according to the first real-time global position information, and the second elevation information of the second reference point of the ironing plate is determined according to the second real-time global position information.

[0153] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0154] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0155] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0156] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0157] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0158] In addition, the acquisition, storage, use, and processing of data in the technical solution of the present invention are in compliance with the relevant provisions of national laws and regulations.

[0159] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining paving elevation, characterized in that: Applied to a paving machine comprising a screed and a mast prism, the method comprises: Constructing a standard base coordinate matrix according to first initial position information of a first reference point of the screed relative to the center point of the paver and second initial position information of a second reference point of the screed relative to the center point of the paver; Acquire the third real-time global position information of the mast prism reference point, and determine the real-time offset according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paving machine, and the standard base coordinate matrix; Determine the first real-time global position information of the first reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the first initial position information, and determine the second real-time global position information of the second reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the second initial position information; The first elevation information of the first reference point of the ironing plate is determined according to the first real-time global position information, and the second elevation information of the second reference point of the ironing plate is determined according to the second real-time global position information.

2. The method for determining paving elevation according to claim 1, characterized in that: Constructing a standard base coordinate matrix according to first initial position information of a first reference point of the screed relative to the center point of the paver and second initial position information of a second reference point of the screed relative to the center point of the paver, including: Determine a horizontal basis vector according to the first initial position information and the second initial position information; Determine a forward direction basis vector according to a preset vertical direction basis vector and the horizontal direction basis vector; Constructing a basis coordinate matrix according to the horizontal direction basis vector, the preset vertical direction basis vector and the forward direction basis vector; The basis coordinate matrix is ​​standardized to obtain the standard basis coordinate matrix.

3. The method for determining paving elevation according to claim 1, characterized in that: Determining a real-time offset according to the third real-time global position information, the third initial position information of the mast prism reference point relative to the center point of the paving machine, and the standard base coordinate matrix includes: Determine a real-time base coordinate matrix according to a rotation matrix and the standard base coordinate matrix, wherein the rotation matrix is ​​determined according to angle information of the mast prism and the paving machine; Determine the third real-time reference position information of the mast prism reference point according to the real-time base coordinate matrix and the third initial position information; The real-time offset is determined according to the third real-time global position information and the third real-time reference position information.

4. The method for determining paving elevation according to claim 3, characterized in that: Determining the third real-time reference position information of the mast prism reference point according to the real-time base coordinate matrix and the third initial position information includes: Determine the third standard position information of the mast prism reference point according to the third initial position information and the standard base coordinate matrix; The third real-time reference position information is determined according to the real-time base coordinate matrix and the third standard position information.

5. The method for determining paving elevation according to claim 3, characterized in that: Determining first real-time global position information of a first reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the first initial position information includes: Determine first real-time reference position information of a first reference point of the screed plate according to the real-time base coordinate matrix and the first initial position information; Determining the first real-time global position information according to the first real-time reference position information and the real-time offset; Accordingly, determining the second real-time global position information of the second reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the second initial position information includes: Determining second real-time reference position information of a second reference point of the screed plate according to the real-time base coordinate matrix and the second initial position information; The second real-time global position information is determined according to the second real-time reference position information and the real-time offset.

6. The method for determining paving elevation according to claim 3, characterized in that: Before calculating the product of the rotation matrix and the standard basis coordinate matrix to obtain the real-time basis coordinate matrix, the following steps are also included: Obtaining the pitch angle of the mast prism and the roll angle and heading angle of the paving machine; The rotation matrix is ​​determined according to the pitch angle, the roll angle, and the heading angle.

7. The method for determining paving elevation according to claim 1, characterized in that: After determining the first elevation information and the second elevation information, the method further includes: Calculating the difference between the first elevation information and the first preset elevation information to obtain a first elevation difference; Calculating a difference between the second elevation information and the second preset elevation information to obtain a second elevation difference; The paving elevation of the screed plate is adjusted according to the first elevation difference and the second elevation difference.

8. A paving elevation determination device, characterized in that: Applied to a paving machine comprising a screed and a mast prism, the device comprises: A construction module, used for constructing a standard base coordinate matrix according to first initial position information of a first reference point of the screed plate relative to the center point of the paver and second initial position information of a second reference point of the screed plate relative to the center point of the paver; An acquisition module, used for acquiring third real-time global position information of the mast prism reference point, and determining a real-time offset according to the third real-time global position information, third initial position information of the mast prism reference point relative to the center point of the paving machine, and the standard base coordinate matrix; a first determining module, configured to determine first real-time global position information of a first reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the first initial position information, and to determine second real-time global position information of a second reference point of the screed plate according to the real-time offset, the standard base coordinate matrix and the second initial position information; The second determination module is used to determine the first elevation information of the first reference point of the ironing plate according to the first real-time global position information, and to determine the second elevation information of the second reference point of the ironing plate according to the second real-time global position information.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the paving elevation determination method described in any one of claims 1-7.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions, when executed by a computer processor, implement the paving elevation determination method described in any one of claims 1-7.

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