Paver of screed configuration identification system and identification method

Abstract

The invention discloses a paver with an ironing plate configuration identification system and an identification method. The paver comprises a host, an ironing plate, an identification system and a control system, the identification system comprises an analysis unit and a detection unit. And the identification system extracts and converts the shape and / or color features in the detected visual information or image information into width information Wt, and compares and matches the width information Wt with the known width W of the known screed configuration so as to confirm the screed configuration P. The screed plate is adjusted and controlled in real time, the response speed and accuracy of the adjustment operation are improved, the construction efficiency and the construction quality are improved, the labor intensity of paver operators can be relieved, the time cost is greatly saved, and the intelligent degree and the product competitiveness of the paver are improved.

Description

Technical Field

[0001] The invention belongs to the field of road construction machinery, and in particular relates to a paver with a screed plate configuration identification system and an identification method. Background Art

[0002] Pavers are common road construction machinery that are widely used in engineering construction. They spread road filling materials through a screed device. In order to expand the working width, existing pavers are usually equipped with a telescopic screed to adjust the paving width through the telescopic movement of the telescopic screed. However, in conventional solutions, operators need to manually input the configuration of the screed, which is time-consuming and labor-intensive, affects work efficiency, and the accuracy of adjustment operations is not high.

[0003] Although some manufacturers have provided solutions for setting up sensor equipment on the screed to detect distance in order to achieve automatic control, the sensor equipment in the above solutions usually adopts laser sensors or rope sensors. Laser sensors are suitable for situations where there are curbstones at the work site or corresponding markers are set at the curb to reflect the sensor's detection signal, and the detection signal is easily blocked by obstacles at the site; while rope sensors have relatively poor reliability and are easily interfered with or prone to failure at the construction site, and the layout and wiring of sensor equipment are relatively complicated. Therefore, the application scenarios of the above solutions are limited. At the paver operation site with relatively complex working conditions, the detection accuracy is easily affected, the construction efficiency is not high, and it is not conducive to the realization of automated construction operations. Summary of the invention

[0004] Purpose of the invention: To solve the above technical problems, the present invention provides a paver with a screed configuration recognition system and an recognition method, which can reduce the labor intensity of operators, save time costs, and improve the intelligence level of the paver.

[0005] Technical solution: The present invention provides a paving machine with an ironing plate configuration recognition system, comprising a main machine, an ironing plate, an recognition system, and a control system. The ironing plate is fixed on the main machine's arm, and the recognition system and the control system are installed on the main machine. The recognition system extracts and converts the detected visual information or image information into width information Wt, and compares and matches it with the existing width W of the ironing plate configuration, thereby determining the configuration P of the ironing plate and transmitting it to the control system; the recognition system comprises an analysis unit and a detection unit.

[0006] Furthermore, the detection unit includes at least one visual sensor.

[0007] Furthermore, the visual sensor is a high-definition camera.

[0008] Further, the detection unit detects visual information or image information of the ironing plate; the analysis unit extracts width features from the visual information or image information, and converts the detected width features into width information Wt based on known width features.

[0009] Furthermore, the analysis unit extracts width features based on shape and / or color in the visual information or image information.

[0010] Furthermore, the width feature is a pixel value representing the width in the visual information or image information.

[0011] Furthermore, the configuration P of the ironing plate includes one or more of width, heating rod power, weight, and center of gravity.

[0012] The present invention also provides an identification method for determining a screed configuration, comprising the following steps:

[0013] (1) All existing configurations of the screed plate configuration P are represented as P1, P2, ...P n , P1, P2...P n , the corresponding widths W are expressed as W1, W2...W n ;

[0014] (2) The recognition system detects visual information or image information of the screed through a detection unit;

[0015] (3) The recognition system extracts width features based on the shape and / or color in the visual information or image information through the analysis unit;

[0016] (4) The recognition system passes through the analysis unit according to the formula W t =k×N t ×W0 / N0 converts the extracted width features into width information W t , where N t is the width pixel value corresponding to the detected width feature, W0 is the width of the known width feature, N0 is the width pixel value corresponding to the known width feature, and k is the correction coefficient;

[0017] (5) The analysis unit converts the width information W t Compare and match the existing width W of the known screed configuration P, and then select and determine the screed configuration P;

[0018] (6) The identification system transmits the determined screed configuration P to the control system.

[0019] Furthermore, the comparison and matching method is specifically as follows: determining W t In W1±e, W2±e...W n ±e, which of the known width configuration ranges, if Wn -e≤W t ≤W n +e, then the width information W is considered t With W n Matching, the recognition system determines that the specific configuration of the ironing plate is P n , and the rest of the configurations can be deduced by analogy. The e is the recognition error of Wt, e>0.

[0020] Furthermore, the width ranges described by W1±e, W2±e...Wn±e do not overlap with each other.

[0021] Beneficial effects: Compared with the prior art, the technical solution of the present invention has the following significant advantages: The present invention provides a paver with a screed configuration recognition system and an identification method, which collects visual information or image information to extract width features and then selects and determines the screed configuration P, and performs real-time adjustment and control of the screed, thereby improving the response speed and accuracy of the adjustment operation, which is beneficial to improving construction efficiency and construction quality, while reducing the labor intensity of operators, greatly saving time costs, and is beneficial to improving the intelligence level of the paver and product competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A paving machine equipped with an identification system for the screed of the present invention;

[0023] Figure 2 A schematic diagram of the working of the paver identification system of the screed plate configuration identification system of the present invention;

[0024] Figure 3 Extract the conversion width information W for the recognition system of the present invention t Schematic diagram of

[0025] Figure 4 Schematic diagram of different screed configurations for a paving machine according to the screed configuration identification system of the present invention. DETAILED DESCRIPTION

[0026] The technical solution of the present invention is further described in detail below through specific embodiments. However, it is necessary to point out that the following embodiments are only used to describe the content of the invention and do not constitute a limitation on the protection scope of the present invention.

[0027] To make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the scope of the present invention.

[0028] like Figure 1-4As shown, the paving machine with a screed plate equipped with a recognition system of the present invention comprises a host 1, a screed plate 2, a recognition system 3, and a control system 4. The screed plate 2 is fixed on the arm of the host 1, and the recognition system 3 and the control system 4 are installed on the host 1. The recognition system 3 extracts and converts the detected visual information or image information into width information W t , and compares and matches with the existing width W of the screed plate 2, thereby determining the configuration P of the screed plate 2 and transmitting it to the control system 4; wherein the recognition system 3 includes an analysis unit 31 and a detection unit 32; the configuration P of the screed plate 2 includes one or more of width, heating rod power, weight, and center of gravity.

[0029] The detection unit 32 includes at least one or more visual sensors 321. The visual sensor 321 is a high-definition camera.

[0030] The detection unit 32 detects visual information or image information of the screed 2; the analysis unit 31 extracts width features according to the shape and / or color in the visual information or image information, and converts the detected width features into width information W based on the known width features. t . The width feature is the pixel value representing the width in the visual information or image information.

[0031] In this embodiment, the method for determining the configuration of the screed plate includes the following steps:

[0032] (1) Denote all configurations of the known screed configuration P as P1, P2, ...P n , P1, P2...P n The corresponding widths W are represented as W1, W2...W n ;like Figure 4 As shown in the specific example, the ironing plate has four configurations P1 to P4. The width of the ironing plate, the number of temperature sensors, the power of the heating rod, etc. corresponding to the four configurations are all known quantities. If the vibration and tamping are of standard configuration, the weight and center of gravity are also known quantities.

[0033] (2) The recognition system detects visual information or image information of the ironing plate through a visual sensor of a detection unit.

[0034] (3) The recognition system extracts a width feature based on the shape and / or color in the visual information or image information through an analysis unit; the width feature is a pixel value representing the width in the visual information or image information.

[0035] (4) The recognition system converts the extracted width feature into width information W through the analysis unit according to the following formula: t ,

[0036] W t =k×Nt ×W0 / N0

[0037] Among them, N t is the width pixel value corresponding to the detected width feature, W0 is the width of the known width feature, N0 is the width pixel value corresponding to the known width feature, and k is the correction coefficient.

[0038] The width information W t This can be the maximum width of the current screed configuration, e.g. Figure 3 (a) shows the width information W t It can also be the width of a certain section of the current screed configuration, such as Figure 3 (b) as shown.

[0039] by Figure 3 (a) as an example, assuming that the maximum width of the current screed configuration is detected, and the corresponding width pixel value N t =2998, the width of the basic section W0 = 2500mm, the width pixel value corresponding to the basic section N0 = 1000, the correction coefficient k = 1, then the maximum width W of the current screed configuration t :

[0040] W t =1×2998×2500 / 1000mm=7495mm.

[0041] (5) The analysis unit converts the width information W t The screed configuration P is confirmed by comparing and matching with the known width W of the known screed configuration P.

[0042] like Figure 4 As shown in the specific example, assuming that W t The recognition error is less than 10mm, and the maximum widths corresponding to P1 to P4 are 5000mm, 6000mm, 6500mm, and 7500mm. The comparison and matching method is: determine W t Within the known width configuration range of 5000±10mm, 6000±10mm, 6500±10mm, 7500±10mm.

[0043] Step (4) Confirmed W t =7495mm, meeting 7500-10mm≤W t ≤7500+10mm, the width information W t Matching with 7500 mm, the identification system determines that the specific configuration of the ironing plate is P4; the rest of the configurations can be deduced similarly.

[0044] In this example, a retractable ironing plate is selected, but this method can also be used for a mechanical ironing plate.

[0045] (6) The identification system transmits the confirmed screed configuration P4 (including screed width, number of temperature sensors, heating rod power, weight, center of gravity, etc.) to the control system; the control system maximizes the use of the obtained information.

[0046] The above is only a preferred embodiment of the present invention. It should be noted that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as preferred specific embodiments and examples of the invention within the scope of protection of the present invention, and play an important role in fully disclosing the technical solution, understanding and reproducing the invention, and supporting and interpreting the claims.

Claims

1. A paving machine with a screed plate equipped with an identification system, comprising a main machine (1), a screed plate (2), an identification system (3), and a control system (4), wherein the screed plate (2) is fixed on a large arm of the main machine (1), and the identification system (3) and the control system (4) are installed on the main machine (1), characterized in that: The recognition system (3) extracts and converts the detected visual information or image information into width information W t and compares and matches it with the existing width W of the screed plate (2), thereby determining the configuration P of the screed plate (2) and transmitting it to the control system (4); the recognition system (3) comprises an analysis unit (31) and a detection unit (32).

2. A paving machine with a screed configuration identification system according to claim 1, characterized in that: The detection unit (32) includes at least one visual sensor (321).

3. A paving machine with a screed configuration identification system according to claim 2, characterized in that: The visual sensor (321) is a high-definition camera.

4. The paving machine of the screed configuration identification system according to claim 1, characterized in that: The detection unit (32) detects visual information or image information of the ironing board (2); the analysis unit (31) extracts width features from the visual information or image information, and converts the detected width features into width information W based on known width features. t .

5. The paving machine of the screed configuration identification system according to claim 4, characterized in that: The analysis unit (31) extracts width features based on shape and / or color in visual information or image information.

6. A paving machine with a screed configuration identification system according to claim 5, characterized in that: The width feature is a pixel value representing the width in the visual information or image information.

7. The paving machine with a screed configuration identification system according to claim 1, characterized in that: The configuration P of the ironing plate (2) includes one or more of width, heating rod power, weight, and center of gravity.

8. A method for determining the configuration of the screed plate according to claim 1, characterized in that: The steps include: (1) All existing configurations of the configuration P of the ironing plate (2) are represented as P1, P2, ... P n , P1, P2...P n , the corresponding widths W are expressed as W1, W2...W n ; (2) the recognition system (3) detects visual information or image information of the ironing board (2) through the detection unit (32); (3) The recognition system (3) extracts the width feature based on the shape and / or color in the visual information or image information through the analysis unit (31); (4) The recognition system (3) passes through the analysis unit (31) and according to the formula W t =k×N t ×W0 / N0 converts the extracted width features into width information W t , where N t is the width pixel value corresponding to the detected width feature, W0 is the width of the known width feature, N0 is the width pixel value corresponding to the known width feature, and k is the correction coefficient; (5) The analysis unit (31) converts the width information W t Compare and match the existing width W of the known configuration P of the screed plate (2), and then select and determine the screed plate configuration P; (6) The recognition system (3) transmits the determined screed configuration P to the control system (4).

9. A method for identifying screed configuration according to claim 8, characterized in that: The comparison and matching method is specifically as follows: t In W1±e, W2±e...W n ±e, which of the known width configuration ranges, if W n -e≤W t ≤W n +e, then the width information W is considered t With W n Matching, the recognition system determines that the specific configuration of the ironing plate is P n , the rest of the configurations can be deduced by analogy; the e is the recognition error of Wt, e>0.

10. A method for identifying screed configuration according to claim 9, characterized in that: W1±e, W2±e...W n The width ranges described by ±e do not overlap with each other.

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