Asphalt pavement construction road roller automatic driving path planning method

Abstract

The invention relates to the technical field of road roller automatic driving, in particular to an asphalt pavement construction road roller automatic driving path planning method which comprises the following steps: I, data acquisition: acquiring topographic data and obstacle information of a construction site through a sensor, and constructing an environment model of the construction site; iI, path planning: performing path planning according to the environment model of the construction site by adopting an improved artificial potential field method, specifically including defining an attraction potential field and a repulsion potential field, and introducing a dynamic adjustment mechanism; iII, executing the path: according to the planned path, realizing automatic driving and collaborative operation of the road roller through an intelligent cluster technology; according to the method, in the actual application process, the environmental adaptability is high, the real-time performance is high, meanwhile, collaborative operation is optimized, and the problem that local minimum and path oscillation are prone to occurring when a standard artificial potential field method faces a complex environment is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of road roller automatic driving, and specifically to an automatic driving path planning method for asphalt pavement construction road rollers. Background Art

[0002] During the construction of asphalt pavements, the path planning and automatic driving technologies of road rollers have always been the focus of research and application. Traditional road roller path planning methods mainly rely on manual control and preset paths, and are easily affected by the complex environment and obstacles at the construction site, resulting in low construction efficiency and unstable construction quality. In recent years, with the development of intelligent and automated technologies, sensor-based environmental perception and path planning technologies have received extensive attention;

[0003] As a path planning algorithm, the artificial potential field method is widely used in the fields of robot navigation and automatic driving. This method realizes the path planning of robots or vehicles by constructing an attractive potential field and a repulsive potential field. However, the standard artificial potential field method is prone to problems such as local minima and path oscillations when facing complex environments, affecting the effectiveness and stability of path planning. Therefore, an automatic driving path planning method for asphalt pavement construction road rollers is proposed to address the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic driving path planning method for asphalt pavement construction road rollers to solve the problems that the standard artificial potential field method is prone to local minima and path oscillations when facing complex environments, affecting the effectiveness and stability of path planning.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An automatic driving path planning method for asphalt pavement construction road rollers, comprising the following steps:

[0007] Ⅰ. Data collection: Collect terrain data and obstacle information of the construction site through sensors, and construct an environmental model of the construction site;

[0008] Ⅱ. Path planning: Adopt an improved artificial potential field method to perform path planning according to the environmental model of the construction site, specifically including defining an attractive potential field and a repulsive potential field, and introducing a dynamic adjustment mechanism;

[0009] Ⅲ. Path execution: According to the planned path, realize the automatic driving and collaborative operation of the road roller through intelligent fleet technology;

[0010] Ⅳ. Construction quality evaluation: Analyze and process the data collected during the construction process, evaluate the construction quality, and optimize and improve according to the evaluation results.

[0011] As a further optimization of the present invention, wherein: the improved artificial potential field method includes: defining an attractive potential field to make the roller move in the target direction;

[0012] defining a repulsive potential field to make the roller avoid obstacles;

[0013] a dynamic adjustment mechanism to dynamically adjust the attractive potential field and the repulsive potential field according to the real-time collected environmental data.

[0014] As a further optimization of the present invention, wherein: the path planning process is divided into multiple levels, and the hierarchical control technology is used to refine the path planning layer by layer.

[0015] As a further optimization of the present invention, wherein: the intelligent fleet technology includes: multiple rollers form an intelligent fleet; the collaborative operation of multiple rollers is realized through the hierarchical control technology.

[0016] As a further optimization of the present invention, wherein: the data collection is to collect the terrain data and obstacle information of the construction site in real time through lidar, cameras and ground sensors.

[0017] As a further optimization of the present invention, wherein: the construction quality assessment includes:

[0018] collecting construction quality data, including compaction degree, flatness and uniformity; analyzing and processing the data to evaluate the construction quality; optimizing and improving according to the evaluation results.

[0019] As a further optimization of the present invention, wherein: in the path planning step, the improved artificial potential field method is used for path planning. The roller moves towards the target position, which is characterized by the energy function of the attractive potential field. The roller avoids obstacles, which is characterized by the energy function of the repulsive potential field. The specific formulas are as follows:

[0020] Suction potential field formula:

[0021]

[0022] In the formula, q represents the current position of the roller, q goal represents the target position, and k att is the coefficient of the attractive potential field. In the formula, the energy of the attractive potential field is proportional to the square of the distance between the current position of the roller and the target position;

[0023] Repulsive potential field formula:

[0024]

[0025] In the formula, q represents the current position of the roller, q obs represents the obstacle position, and krep is the coefficient of the repulsive potential field, and d0 is the influence distance of the repulsive potential field. When the roller is less than or equal to d0 away from the obstacle, the energy of the repulsive potential field increases rapidly as the distance decreases. When the roller is greater than d0 away from the obstacle, the energy of the repulsive potential field is zero.

[0026] As a further optimization of the present invention, in the path execution step, the environmental changes at the construction site are monitored in real time, and the driving path of the roller is dynamically adjusted.

[0027] As a further optimization of the present invention, the construction quality assessment includes historical data storage and trend analysis functions.

[0028] As a further optimization of the present invention, it includes: a data acquisition module for collecting terrain data and obstacle information at the construction site; a path planning module for performing path planning using an improved artificial potential field method; a path execution module for realizing the automatic driving and cooperative operation of the roller through intelligent fleet technology; a construction quality assessment module for analyzing and processing the data collected during the construction process to evaluate the construction quality.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. In the present invention, by setting an improved artificial potential field method and defining a dynamic adjustment mechanism, the roller can adapt to the complex terrain and obstacles at the construction site, improve the success rate and efficiency of path planning. At the same time, the multi-sensor data fusion technology is adopted to collect and process the environmental data at the construction site in real time, ensuring the real-time and accuracy of path planning and execution, being able to quickly respond to the dynamic changes at the construction site, and introducing intelligent fleet technology and using a hierarchical control method to realize the cooperative operation of multiple rollers, significantly improving the construction efficiency and the ability to handle the complexity of path planning, and thus effectively solving the problems of local minima and path oscillation that easily occur in the standard artificial potential field method when facing complex environments.

[0031] 2. In the present invention, through the construction quality assessment module, the data collected during the construction process is analyzed and processed, the construction quality is monitored and evaluated in real time, and the historical data storage and trend analysis functions are provided to ensure the construction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a flowchart of a method for automatic driving path planning of a roller for asphalt pavement construction according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0033] Please refer to Figure 1 , the present invention provides a technical solution:

[0034] A method for automatic driving path planning of a roller in asphalt pavement construction, Ⅰ. Data collection: Collect the terrain data and obstacle information of the construction site through sensors, and construct an environmental model of the construction site;

[0035] Ⅱ. Path planning: Adopt an improved artificial potential field method to conduct path planning according to the environmental model of the construction site, specifically including defining an attractive potential field and a repulsive potential field, and introducing a dynamic adjustment mechanism;

[0036] Ⅲ. Path execution: According to the planned path, realize the automatic driving and collaborative operation of the roller through intelligent fleet technology;

[0037] Ⅳ. Construction quality assessment: Analyze and process the data collected during the construction process, evaluate the construction quality, and optimize and improve according to the evaluation results.

[0038] As a further implementation technical solution of this scheme, the improved artificial potential field method includes: defining an attractive potential field to make the roller move in the target direction;

[0039] Defining a repulsive potential field to make the roller avoid obstacles;

[0040] A dynamic adjustment mechanism, according to the real-time collected environmental data, dynamically adjusts the attractive potential field and the repulsive potential field. The path planning process is divided into multiple levels, and the hierarchical control technology is used to refine the path planning layer by layer, with higher real-time performance;

[0041] As a further implementation technical solution of this scheme, the intelligent fleet technology includes: multiple rollers form an intelligent fleet; realize the collaborative operation of multiple rollers through hierarchical control technology, effectively solving the problem that when multiple rollers perform collaborative operation, the complexity of path planning increases significantly, and traditional algorithms are difficult to achieve multi-machine collaborative path planning, resulting in low construction efficiency;

[0042] As a further implementation technical solution of this scheme, data collection collects the terrain data and obstacle information of the construction site in real time through lidar, cameras and ground sensors. Through the above settings, more information can be collected;

[0043] As a further implementation technical solution of this scheme, the construction quality assessment includes:

[0044] Collect construction quality data, including compaction degree, flatness and uniformity; analyze and process the data to evaluate the construction quality; optimize and improve according to the evaluation results. Through the above settings, the construction quality is further improved;

[0045] As a further technical solution for the implementation of this solution, in the path planning step, an improved artificial potential field method is used for path planning. The roller moves towards the target position, which is characterized by the energy function of the attractive potential field. The roller avoids obstacles, which is characterized by the energy function of the repulsive potential field. The specific formulas are as follows:

[0046] Formula for the attractive potential field:

[0047]

[0048] In the formula, q represents the current position of the roller, and q goal represents the target position, and k att is the coefficient of the attractive potential field. In the formula, the energy of the attractive potential field is proportional to the square of the distance between the current position of the roller and the target position;

[0049] Formula for the repulsive potential field:

[0050]

[0051] In the formula, q represents the current position of the roller, and q obs represents the position of the obstacle, and k rep is the coefficient of the repulsive potential field, and d0 is the influence distance of the repulsive potential field. When the distance between the roller and the obstacle is less than or equal to d0, the energy of the repulsive potential field increases rapidly as the distance decreases. When the distance between the roller and the obstacle is greater than d0, the energy of the repulsive potential field is zero. By combining the energy functions of the attractive potential field and the repulsive potential field, the formula realizes the effective planning of the roller path, enabling it to move towards the target position and avoid obstacles at the construction site, ensuring the safety and efficiency of the construction process;

[0052] As a further technical solution for the implementation of this solution, in the path execution step, the environmental changes at the construction site are monitored in real time, and the driving path of the roller is dynamically adjusted, further improving the accuracy of the autonomous driving path;

[0053] As a further technical solution for the implementation of this solution, the construction quality assessment includes historical data storage and trend analysis functions, which can provide historical data storage and trend analysis functions to ensure the construction effect;

[0054] As a further technical solution for the implementation of this solution, it includes: a data acquisition module for collecting topographic data and obstacle information at the construction site; a path planning module for performing path planning using an improved artificial potential field method; a path execution module for achieving autonomous driving and collaborative operation of the roller through intelligent fleet technology; a construction quality evaluation module for analyzing and processing the data collected during the construction process and evaluating the construction quality. Through the system set above and combined with the automatic driving path planning method for the asphalt pavement construction roller, it can effectively solve the problems of local minimum and path oscillation that easily occur in the standard artificial potential field method when facing complex environments.

[0055] In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above examples is only used to help understand the method and its core idea of the present invention. The above is only the preferred implementation manner of the present invention. It should be noted that due to the limited nature of written expression and objectively existing infinite specific structures, for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements, embellishments or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, embellishments, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, should all be regarded as the protection scope of the present invention.

Claims

1. A method for automatic driving path planning for an asphalt pavement construction roller, characterized in that: The following steps are involved: Ⅰ. Data collection: Collect terrain data and obstacle information at the construction site through sensors to build an environmental model of the construction site; Ⅱ. Path planning: Using the improved artificial potential field method, path planning is performed according to the environmental model of the construction site, including defining the attractive potential field and the repulsive potential field, and introducing a dynamic adjustment mechanism; III. Path execution: Based on the planned path, the intelligent fleet technology is used to realize automatic driving and collaborative operation of the rollers; IV. Construction quality assessment: Analyze and process the data collected during the construction process, evaluate the construction quality, and optimize and improve based on the evaluation results.

2. The method for automatic driving path planning for an asphalt pavement construction roller according to claim 1, characterized in that: The improved artificial potential field method comprises: defining an attractive potential field to move the roller toward a target direction; Define a repulsive potential field to make the roller avoid obstacles; Dynamic adjustment mechanism, dynamically adjusts the attractive potential field and repulsive potential field according to the environmental data collected in real time.

3. The method for automatic driving path planning for an asphalt pavement construction roller according to claim 1, characterized in that: The path planning process is divided into multiple levels, and the hierarchical control technology is used to refine the path planning layer by layer.

4. The method for automatic driving path planning for an asphalt pavement construction roller according to claim 1, characterized in that: The intelligent machine group technology includes: multiple rollers form an intelligent machine group; and the coordinated operation of the multiple rollers is achieved through the hierarchical control technology.

5. The method for automatic driving path planning for an asphalt pavement construction roller according to claim 1, characterized in that: The data collection collects the terrain data and obstacle information of the construction site in real time through laser radar, camera and ground sensor.

6. The method for automatic driving path planning for an asphalt pavement construction roller according to claim 1, characterized in that: The construction quality assessment includes: Collect construction quality data, including compaction, flatness and uniformity; analyze and process the data to evaluate construction quality; and make optimizations and improvements based on the evaluation results.

7. The method for automatic driving path planning for an asphalt pavement construction roller according to claim 1, characterized in that: In the path planning step, the improved artificial potential field method is used for path planning. The roller moves toward the target position, which is characterized by the energy function of the attractive potential field. The roller avoids obstacles, which is characterized by the energy function of the repulsive potential field. The specific formula is as follows: Suction potential field formula: In the formula, q represents the current position of the roller, q goal represents the target position, k att is the coefficient of the attractive potential field, where the energy of the attractive potential field is proportional to the square of the distance between the current position of the roller and the target position; Repulsive potential field formula: In the formula, q represents the current position of the roller, q obs represents the obstacle position, k rep is the coefficient of the repulsive potential field, d0 is the influence distance of the repulsive potential field. When the distance between the roller and the obstacle is less than or equal to d0, the energy of the repulsive potential field increases rapidly as the distance decreases. When the distance between the roller and the obstacle is greater than d0, the energy of the repulsive potential field is zero.

8. The method for automatic driving path planning for an asphalt pavement construction roller according to claim 1, characterized in that: In the path execution step, environmental changes at the construction site are monitored in real time, and the driving path of the roller is dynamically adjusted.

9. The method for automatic driving path planning for an asphalt pavement construction roller according to claim 1, characterized in that: The construction quality assessment includes historical data storage and trend analysis functions.

10. The method for automatic driving path planning for an asphalt pavement construction roller according to claim 1, characterized in that: The method for automatic driving path planning of an asphalt pavement construction roller also includes a system for realizing automatic driving path planning of an asphalt pavement construction roller. The automatic driving path planning system for an asphalt pavement construction roller includes: a data acquisition module, used to collect terrain data and obstacle information of a construction site; a path planning module, used to perform path planning using an improved artificial potential field method; a path execution module, used to realize automatic driving and collaborative operation of the roller through intelligent machine cluster technology; and a construction quality assessment module, used to analyze and process data collected during the construction process and assess the construction quality.

Images