Slope sideline determination method and device, construction equipment and storage medium

Abstract

The invention discloses a side slope sideline determination method and device, construction equipment and a storage medium. The method comprises the steps that equipment point cloud coordinates of the construction equipment are acquired; road point cloud coordinates and road design information of the current construction road are obtained, and the current elevation of the current construction position is determined according to the road point cloud coordinates; according to the design elevation of the current construction position, the current elevation of the current construction position and the slope gradient, the side slope side line of the current construction road is determined; and determining a working path of the working device according to the side slope sideline of the current construction road and the device point cloud coordinates, and controlling the working device to work according to the working path. According to the scheme, on one hand, the conditions that the efficiency is low and is easily influenced by human factors due to long manual consumed time are avoided, and the determination efficiency and the construction precision of the side slope side boundary are improved. And on the other hand, the intelligent degree of the construction equipment is improved, and then the construction efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of road construction, and particularly to a method and device for determining the side slope edge line, a construction equipment and a storage medium. Background Art

[0002] With the deepening of the intelligent level of modern industries, the construction industry is gradually transforming towards intelligence and digitization, and the demand for automated construction of construction machinery is increasing day by day.

[0003] Currently, in the field of road construction, traditional construction methods usually rely on manual measurement and setting out to determine the side slope edge line of the road.

[0004] However, the traditional construction methods in existing road construction not only have low efficiency, but are also easily affected by human factors, resulting in insufficient construction accuracy. Moreover, since the side slope edge line is manually set out, the vehicle cannot identify it, and the intelligent level is relatively low. Summary of the Invention

[0005] The present application provides a method and device for determining the side slope edge line, a construction equipment and a storage medium to solve the problems that in the existing technology, the traditional construction methods in road construction not only have low efficiency, but are also easily affected by human factors, resulting in insufficient construction accuracy. Moreover, since the side slope edge line is manually set out, the vehicle cannot identify it, and the intelligent level is relatively low.

[0006] In a first aspect, the present application provides a method for determining the side slope edge line, and the method includes:

[0007] Obtaining the device point cloud coordinates of the construction equipment; wherein, the device point cloud coordinates of the construction equipment include the device point cloud coordinates of the working device;

[0008] Obtaining the road point cloud coordinates and road design information of the current construction road, and determining the current elevation of the current construction position according to the road point cloud coordinates; wherein, the road design information of the current construction road includes the design elevation and side slope gradient of the current construction position;

[0009] Determining the side slope edge line of the current construction road according to the design elevation of the current construction position, the current elevation of the current construction position and the side slope gradient;

[0010] Determining the working path of the working device according to the side slope edge line of the current construction road and the device point cloud coordinates, and controlling the working device to work according to the working path.

[0011] In a second aspect, the present application provides a device for determining the side slope edge line, and the device includes:

[0012] An equipment coordinate acquisition module, configured to acquire the equipment point cloud coordinates of a construction equipment; wherein, the equipment point cloud coordinates of the construction equipment include the device point cloud coordinates of a working device;

[0013] A road information acquisition module, configured to acquire the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates; wherein, the road design information of the current construction road includes the design elevation and slope gradient of the current construction position;

[0014] A slope edge line determination module, configured to determine the slope edge line of the current construction road according to the design elevation of the current construction position, the current elevation of the current construction position, and the slope gradient;

[0015] A control module, configured to determine the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates, and control the working device to work according to the working path.

[0016] In a third aspect, the present application provides a construction equipment, characterized in that the construction equipment includes a controller and a working device; wherein, the controller is connected to the working device;

[0017] The controller is configured to execute the slope edge line determination method as described in the first aspect of the present application;

[0018] The working device is configured to work according to the working path under the control of the controller.

[0019] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the slope edge line determination method as described in the first aspect of the present application.

[0020] In a fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the slope edge line determination method as described in the first aspect of the present application.

[0021] The solution of this application is to obtain the device point cloud coordinates of the construction equipment; among them, the device point cloud coordinates of the construction equipment include the device point cloud coordinates of the working device; obtain the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates; among them, the road design information of the current construction road includes the designed elevation and slope gradient of the current construction position; determine the slope edge line of the current construction road according to the designed elevation, current elevation and slope gradient of the current construction position; determine the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates, and control the working device to work according to the working path. That is, on the one hand, according to the designed elevation, current elevation and slope gradient, the slope edge line is generated, avoiding the situation that when the slope edge line is manually lofted, it takes a long time for manual work, resulting in low efficiency and being easily affected by human factors, improving the determination efficiency and construction accuracy of the slope edge line. On the other hand, after determining the slope edge line, the working path of the working device is obtained, and the working device is controlled to work according to the working path, avoiding the situation that the slope edge line manually lofted in the traditional construction method cannot be recognized by the vehicle, improving the intelligent level of the construction equipment, and thus improving the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of this application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 is a flowchart of a method for determining the slope edge line provided by this application;

[0024] Figure 2 is another flowchart of a method for determining the slope edge line provided by this application;

[0025] Figure 3 is a structural diagram of a device for determining the slope edge line provided by this application;

[0026] Figure 4a is a structural diagram of a construction equipment provided by this application;

[0027] Figure 4b is another structural diagram of a construction equipment provided by this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0029] Figure 1 is a schematic flowchart of a method for determining the slope edge line provided by this application. This method can be executed by a slope edge line determination device, and the device can be implemented in a software and / or hardware manner. In a specific embodiment, the device can be applied to the controller of construction equipment, and the construction equipment can be a bulldozer or a grader. The following embodiments will be described by taking the application of the device in the controller of construction equipment as an example. Refer to Figure 1 , the method can specifically include the following steps:

[0030] Step 101, obtain the equipment point cloud coordinates of the construction equipment.

[0031] Among them, the equipment point cloud coordinates of the construction equipment include the device point cloud coordinates of the working device.

[0032] Specifically, the construction equipment refers to the equipment working in the construction scene, such as excavators, bulldozers, and graders. The working device refers to the device used by the construction equipment to achieve construction work, such as the bucket of an excavator with a drive motor, the blade of a bulldozer with a drive motor, and the scraper of a grader with a drive motor, etc. The equipment point cloud coordinates of the construction equipment refer to the set of three-dimensional coordinate points of the construction equipment, and these coordinate points can accurately represent the position, attitude of the equipment during construction, as well as the shape and motion state of the working device. The acquisition of the equipment point cloud coordinates of the construction equipment can be through high-precision dynamic inclination sensors and positioning systems installed on the vehicle body and each working component to obtain the coordinate and attitude information of each component of the equipment in real time. It can also be through the Global Navigation Satellite Systems (GNSS) and Real-time kinematic (RTK) technology to obtain the high-precision position data of the equipment, and combine the motion model of the vehicle and the geometric relationship of the working device to calculate the point cloud coordinates of the construction equipment. The obtained equipment point cloud coordinates are displayed on the three-dimensional map in real time to guide the operation of the construction equipment and improve the construction efficiency and accuracy.

[0033] Step 102, obtain the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates.

[0034] Among them, the road design information of the current construction road includes the design elevation and slope gradient of the current construction location.

[0035] Specifically, the road point cloud coordinates refer to the set of three-dimensional spatial coordinate points on the surface of the construction road and its surrounding environment, which are used to accurately describe the terrain, shape, and spatial position of the road. The road point cloud coordinates can be obtained by a point cloud acquisition device, such as a laser sensor, etc. Road design refers to the design specifically done for road construction, including the linearity, trend, etc. of the road. Road design information refers to the design parameters of the construction road, including design elevation, slope gradient, road width, and cross-sectional shape, etc. The controller of the construction equipment implementing this embodiment receives the road design information sent by the staff through the user equipment, such as road design drawings or building information models. The cross-section of the road refers to the vertical section perpendicular to the route forward direction at each point on the road center line. The design elevation refers to the elevation value that the construction location should reach after the road design is completed. The slope gradient refers to the degree of inclination of the road slope, usually expressed in the form of the ratio of the vertical distance to the horizontal distance (1:n). The current elevation refers to the actual elevation value of the location where the construction equipment is located, which is obtained through the comparative analysis of the road point cloud coordinates and the design information. For example, the collected road point cloud coordinates are matched with the road design information to determine the corresponding position of the construction equipment in the design model, and then the actual elevation value of the location where the construction equipment is located is extracted through the elevation information in the point cloud data, so as to determine the current elevation of the current construction location.

[0036] Step 103: Determine the slope edge line of the current construction road according to the design elevation of the current construction location, the current elevation of the current construction location, and the slope gradient.

[0037] Specifically, the slope edge line refers to the boundary line at the top or bottom of the slope, which is used to clarify the construction scope and control the slope shape. Determine the coordinates of the current construction location according to the design elevation of the current construction location and the current elevation of the current construction location, determine the direction of the slope edge line according to the slope gradient, and determine the line from the current construction location to the bottom coordinate point of the construction and conduct lofting according to the coordinates of the current construction location and the direction of the slope edge line, so as to obtain the slope edge line of the current construction road.

[0038] Optionally, step 103 can be implemented through steps 1031 to 1033.

[0039] Step 1031: Determine the vertical height difference of the slope according to the design elevation of the current construction location and the current elevation of the current construction location.

[0040] Specifically, the vertical height difference of the slope refers to the difference between the design elevation and the current elevation, which is used to determine the vertical height change of the slope. After obtaining the design elevation of the current construction location and the current elevation of the current construction location, the difference between the current elevation and the design elevation is the vertical height difference of the slope.

[0041] Step 1032: Determine the horizontal distance of the slope according to the vertical height difference of the slope and the slope gradient.

[0042] Specifically, the horizontal distance of the slope refers to the horizontal distance from the bottom to the top of the slope. The horizontal distance of the slope can be determined according to the vertical height difference of the slope and the slope gradient through Formula 1.

[0043] ΔD = ΔH × n Formula 1

[0044] Where, ΔD is the horizontal distance of the slope, ΔH is the vertical height difference of the slope, and n is the ratio of the horizontal distance to the vertical distance, that is, the slope gradient is 1 / n.

[0045] Step 1033: Determine the slope edge line of the current construction road according to the vertical height difference of the slope and the horizontal distance of the slope.

[0046] Specifically, the vertical height difference of the slope is the difference between the design elevation and the current elevation, which is used to determine the vertical height change of the slope. If the current construction location is the bottom of the slope and the design elevation is the design elevation of the top of the slope, the horizontal distance of the top edge line of the slope can be determined, and extending this horizontal distance outward in the horizontal direction from the current construction location can determine the position of the top edge line of the slope. If the current construction location is the top of the slope and the design elevation is the design elevation of the bottom of the slope, the horizontal distance of the bottom edge line of the slope can be determined, and extending this horizontal distance outward in the horizontal direction from the current construction location can determine the position of the bottom edge line of the slope.

[0047] Optionally, Step 1033 can be implemented through Steps 331 to 334.

[0048] Step 331: Determine the slope width of the slope according to the vertical height difference of the slope and the horizontal distance of the slope.

[0049] Specifically, the slope width refers to the sum of the cross-sectional width and the slope width. The slope width refers to the distance from the edge point of the cross-section to the point on the slope on the same horizontal line at the same end. After obtaining the horizontal distance of the slope, determine the slope ratio according to the vertical height difference of the slope and the horizontal distance of the slope, determine the slope width according to the slope ratio and the vertical height of the slope, and add the cross-sectional width and the slope width to obtain the slope width.

[0050] Step 332: Determine the starting point coordinates of the slope according to the road point cloud coordinates of the current construction road.

[0051] Specifically, the starting point of the slope is the position where the slope meets the road body or other reference planes, such as the starting point of the slope at the road edge. Extract the coordinate information of the starting point of the slope from the model according to the road design information, align the design model with the road point cloud coordinates of the current construction road to ensure that both are in the same coordinate system, and then the coordinate of the starting point of the slope can be determined.

[0052] Step 333: Determine the top boundary point coordinates and bottom boundary point coordinates of the slope according to the starting point coordinates of the slope and the slope width.

[0053] Specifically, after obtaining the starting point coordinates of the slope and the slope width, determine the extension direction of the slope according to the road design information. For example, the extension direction of the slope can be the direction perpendicular to the road center line. Extend the distance of the slope width along the slope direction from the starting point of the slope, and then the bottom boundary point coordinates of the slope can be determined. According to the slope gradient and the bottom boundary point coordinates of the slope, the top boundary point coordinates of the slope can be determined. During the construction process, the starting point coordinates of the slope and the slope width can be updated in real time according to high-precision measurement equipment (such as GNSS / RTK), so as to calculate the slope boundary point coordinates in real time.

[0054] Step 334: Connect the top boundary point coordinates and bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road.

[0055] Specifically, after obtaining the top boundary point coordinates and bottom boundary point coordinates of the slope, connect the top boundary point coordinates and bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road. The connection method of the top boundary point coordinates and bottom boundary point coordinates can be a straight line connection, a fitting curve connection, or generating equally spaced coordinate points to generate the slope edge line point cloud.

[0056] Optionally, generate equally spaced lofting points between the top boundary point coordinates and bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road, so as to realize the automatic lofting of the slope edge line.

[0057] Specifically, after obtaining the top boundary point coordinates and bottom boundary point coordinates of the slope, calculate the distance between the top boundary point and bottom boundary point of the slope, and then determine the spacing of the lofting points according to the construction accuracy requirements. For example, generate a lofting point every 0.5 meters or 1 meter, so as to obtain the number of lofting points according to the distance between the top boundary point and bottom boundary point of the slope and the spacing of the lofting points, and generate the corresponding number of lofting points according to this interval, so as to obtain the slope edge line of the current construction road.

[0058] Optionally, use the linear interpolation method to generate equally spaced lofting points between the top boundary point coordinates and bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road.

[0059] Specifically, after obtaining the distance between the top boundary point and the bottom boundary point of the slope and the spacing of the staking points, the linear interpolation method is used to calculate the coordinates of each staking point, so as to generate equally spaced staking points and obtain the slope edge line of the current construction road.

[0060] Step 104, determine the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates, and control the working device to work according to the working path.

[0061] Specifically, one or more key feature points of the working device are selected as reference points, and their average coordinates are calculated as the current working position of the working device. For example, if the tip point of the bucket tooth of the bucket is selected as the reference point, its coordinates are the current working position. During the construction process, the device point cloud data is obtained in real time and the current working position of the working device is updated. According to the positions of multiple coordinate points in the slope edge line and the current working position of the working device, the working path of the working device is determined. For example, the positions of multiple coordinate points in the slope edge line and the current working position of the working device are connected, and the working path is generated from low to high in terms of horizontal height, so that the working device can cover the slope edge line when working along the working path, thus completing the road construction. After the working device works along the working path, due to the different position determination coordinates of the working device, overfilling or overexcavation may occur. For example, taking the center point of the bucket tooth of the bucket as the reference point, after it works along the slope edge line, the distance between the center point of the bucket tooth and the point on the bucket tooth farthest from the center line of the road is the overfilling or overexcavation parameter, that is, the distance exceeding the slope edge line. The current working position and the working path are displayed on the operation interface of the construction equipment or the construction management system to provide real-time guidance for construction personnel or automated equipment.

[0062] Exemplarily, determine the current working position of the blade of the bulldozer, take the slope edge line as the working path, accurately control the bulldozing height and position, and display the deviation between the current position of the blade and the design elevation in real time to ensure the construction quality. Or determine the current working position of the scraper of the grader, take the slope edge line as the working path, accurately control the scraping height and position, and display the deviation between the current position of the scraper and the design elevation in real time to improve the construction efficiency and quality.

[0063] The solution of this application is to obtain the device point cloud coordinates of the construction equipment; among them, the device point cloud coordinates of the construction equipment include the device point cloud coordinates of the working device; obtain the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates; among them, the road design information of the current construction road includes the designed elevation and slope gradient of the current construction position; determine the slope edge line of the current construction road according to the designed elevation, current elevation of the current construction position and slope gradient; determine the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates, and control the working device to work according to the working path. That is, in the solution of this application, on the one hand, according to the designed elevation, current elevation and slope gradient, the slope edge line is generated, avoiding the situation that when the slope edge line is manually lofted, the manual time consumption is long, resulting in low efficiency and being easily affected by human factors, and improving the determination efficiency and construction accuracy of the slope edge line. On the other hand, after determining the slope edge line, the working path of the working device is obtained, and the working device is controlled to work according to the working path, avoiding the situation that the slope edge line manually lofted in the traditional construction method cannot be recognized by the vehicle, improving the intelligent level of the construction equipment, and thus improving the construction efficiency.

[0064] Figure 2 It is another flow schematic diagram of the slope edge line determination method provided by this application. In this embodiment, on the basis of the embodiments and various optional implementation solutions shown in Figure 1 the steps of determining the working path of the working device and the steps after determining the working path are described in detail. As shown in Figure 2 the method may include the following steps:

[0065] Step 201, obtain the device point cloud coordinates of the construction equipment.

[0066] Step 202, obtain the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates.

[0067] Step 203, determine the slope edge line of the current construction road according to the designed elevation of the current construction position, the current elevation of the current construction position and the slope gradient.

[0068] Step 204, determine the current working position of the working device according to the device point cloud coordinates.

[0069] Specifically, according to the device point cloud coordinates, the position where the working device is currently located can be determined in real time, which is the current working position of the working device.

[0070] Step 205, determine the to-be-worked position of the working device according to the slope edge line of the current construction road.

[0071] Specifically, the to-be-worked position of the working device is the position that the working device is about to reach during the construction process. Based on the slope edge line of the current construction road and the current working position of the working device, the position that the working device needs to reach at the next moment can be determined, which is the to-be-worked position of the working device.

[0072] Step 206, determine the working path of the working device according to the current working position and the to-be-worked position of the working device, and control the working device to work according to the working path.

[0073] Specifically, the working path can be the path between the current working position and the to-be-worked position, which is used to guide the movement of the working device. According to the current working position and the to-be-worked position of the working device, the movement route of the working device can be determined, which is the working path. Send the control instruction to the working device to drive the working device to move along the path. Exemplarily, send the control instruction to the scraper of a motor grader with a drive motor, and the motor drives the scraper to work according to the working path to complete the corresponding construction work.

[0074] Optionally, display the slope edge line and the working path at the display device of the construction equipment.

[0075] Specifically, the display device is an operable interface on the construction equipment, such as a touch screen, a display, or an augmented reality device, etc., which is used to display construction-related information. Under the control of the controller of this embodiment, the display device displays the slope edge line and the working path through a graphical interface to help the operator or the automation system to perform precise construction.

[0076] The solution of this application can accurately determine the current working position and the to-be-worked position of the working device, provide precise guidance for the construction equipment, improve the construction efficiency and quality. It can also determine the working path according to the current working position and the to-be-worked position of the working device, control the working device to move along the path, and achieve precise construction, thereby further improving the intelligence of the construction equipment. Display the slope edge line and the working path on the display device of the construction equipment, provide intuitive construction guidance and real-time feedback for the staff, and improve the construction efficiency and accuracy.

[0077] Figure 3 It is a structural schematic diagram of a slope edge line determination device provided by this application. This device is applicable to execute the slope edge line determination method provided by this application. As Figure 3 shown, this device may specifically include:

[0078] An equipment coordinate acquisition module 301, configured to acquire the equipment point cloud coordinates of the construction equipment; wherein, the equipment point cloud coordinates of the construction equipment include the device point cloud coordinates of the working device.

[0079] The road information acquisition module 302 is used to acquire the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates; wherein, the road design information of the current construction road includes the design elevation and slope gradient of the current construction position.

[0080] The slope edge line determination module 303 is used to determine the slope edge line of the current construction road according to the design elevation of the current construction position, the current elevation of the current construction position, and the slope gradient.

[0081] The control module 304 is used to determine the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates, and control the working device to work according to the working path.

[0082] In one embodiment, the slope edge line determination module 303 is specifically used for: determining the vertical height difference of the slope according to the design elevation of the current construction position and the current elevation of the current construction position; determining the horizontal distance of the slope according to the vertical height difference of the slope and the slope gradient; and determining the slope edge line of the current construction road according to the vertical height difference of the slope and the horizontal distance of the slope.

[0083] In one embodiment, in terms of determining the slope edge line of the current construction road according to the vertical height difference of the slope and the horizontal distance of the slope, the slope edge line determination module 303 is specifically used for: determining the slope width of the slope according to the vertical height difference of the slope and the horizontal distance of the slope; determining the starting point coordinates of the slope according to the road point cloud coordinates of the current construction road; determining the top boundary point coordinates and bottom boundary point coordinates of the slope according to the starting point coordinates of the slope and the slope width; and connecting the top boundary point coordinates and bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road.

[0084] In one embodiment, in the invention of connecting the top boundary point coordinates and bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road, the slope edge line determination module 303 is specifically used for: generating equally spaced lofting points between the top boundary point coordinates and bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road, so as to realize the automatic lofting of the slope edge line.

[0085] In one embodiment, in terms of generating equally spaced lofting points between the top boundary point coordinates and bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road, the slope edge line determination module 303 is specifically used for: generating equally spaced lofting points between the top boundary point coordinates and bottom boundary point coordinates of the slope by using the linear interpolation method to obtain the slope edge line of the current construction road.

[0086] In one embodiment, the control module 304 is specifically configured to determine the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates: determine the current working position of the working device according to the device point cloud coordinates; determine the to-be-worked position of the working device according to the slope edge line of the current construction road; and determine the working path of the working device according to the current working position and the to-be-worked position of the working device.

[0087] In one embodiment, the device further includes a display module for displaying the slope edge line and the working path at the display device of the construction equipment.

[0088] The device of the present application obtains the equipment point cloud coordinates of the construction equipment; wherein, the equipment point cloud coordinates of the construction equipment include the device point cloud coordinates of the working device; obtains the road point cloud coordinates and road design information of the current construction road, and determines the current elevation of the current construction position according to the road point cloud coordinates; wherein, the road design information of the current construction road includes the designed elevation and slope gradient of the current construction position; determines the slope edge line of the current construction road according to the designed elevation, the current elevation of the current construction position and the slope gradient; determines the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates, and controls the working device to work according to the working path. That is, in the solution of the present application, on the one hand, the slope edge line is generated according to the designed elevation, the current elevation and the slope gradient, avoiding the situation where the artificial lofting of the slope edge line takes a long time, resulting in low efficiency and being easily affected by human factors, and improving the determination efficiency and construction accuracy of the slope edge line. On the other hand, after determining the slope edge line, the working path of the working device is obtained, and the working device is controlled to work according to the working path, avoiding the situation where the slope edge line lofted manually in the traditional construction method cannot be recognized by the vehicle, improving the intelligent level of the construction equipment, and further improving the construction efficiency.

[0089] Figure 4a It is a structural schematic diagram of a construction equipment 40 provided by the present application. As Figure 4a shown, the construction equipment 40 includes a controller 400 and a working device 401. Among them, the controller 400 is connected to the working device 401.

[0090] The controller 400 is configured to execute the slope edge line determination method of any embodiment of the present application.

[0091] The working device 401 is configured to work according to the working path under the control of the controller 400.

[0092] Specifically, the controller 400 sends control instructions to the actuator in the working device 401, such as a motor, so that the working device 401 works according to the working path. The working device 401 drives the actuator according to the control instructions to realize the movement of the working device 401, thereby completing the construction work.

[0093] Optionally, Figure 4b is another schematic structural diagram of the construction equipment 40 provided by the present application. As Figure 4b shown, the construction equipment 40 further includes a display device 402. Among them, the display device 402 is connected to the controller 400.

[0094] The display device 402 is used to display the slope edge line and the working path under the control of the controller 400.

[0095] Specifically, the main function of the display device 402 is to present the key information in the construction process to the staff in a graphical or data form, helping them better control the construction equipment 40 and ensuring the construction accuracy and efficiency.

[0096] For the specific working process and the beneficial effects that can be achieved of the construction equipment in this embodiment and various optional implementation manners, reference can be made to the corresponding processes and beneficial effects in the foregoing method embodiment, which will not be elaborated here.

[0097] The present application also provides a computer-readable medium, on which a computer program is stored. When the program is executed by a processor, it implements the slope edge line determination method provided in any one of the foregoing embodiments.

[0098] The present application also provides a computer-readable medium. The computer-readable medium may be included in the device described in the foregoing embodiment; or it may exist alone without being assembled into the device. The foregoing computer-readable medium carries one or more programs. When the foregoing one or more programs are executed by one of the devices, the device is caused to perform the following operations:

[0099] Obtain the device point cloud coordinates of the construction equipment; among them, the device point cloud coordinates of the construction equipment include the device point cloud coordinates of the working device; obtain the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates; the road design information of the current construction road includes the design elevation and slope of the current construction position; determine the slope edge line of the current construction road according to the design elevation, the current elevation of the current construction position, and the slope; determine the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates, and control the working device to work according to the working path.

[0100] According to the technical solution of the present application, obtain the equipment point cloud coordinates of the construction equipment; wherein, the equipment point cloud coordinates of the construction equipment include the device point cloud coordinates of the working device; obtain the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates; wherein, the road design information of the current construction road includes the design elevation and slope gradient of the current construction position; determine the slope side line of the current construction road according to the design elevation, current elevation and slope gradient of the current construction position; determine the working path of the working device according to the slope side line of the current construction road and the device point cloud coordinates, and control the working device to work according to the working path. That is, in the solution of the present application, on the one hand, according to the design elevation, current elevation and slope gradient, the slope side line is generated, avoiding the situation that when the slope side line is manually lofted, the long time-consuming by manual labor leads to low efficiency and is easily affected by human factors, improving the determination efficiency and construction accuracy of the slope side line. On the other hand, after determining the slope side line, the working path of the working device is obtained, and the working device is controlled to work according to the working path, avoiding the situation that the slope side line manually lofted in the traditional construction method cannot be recognized by the vehicle, improving the intelligence level of the construction equipment, and thus improving the construction efficiency.

[0101] The embodiment of the present application also provides a computer program product, including a computer program, which when executed by a processor, implements the slope side line determination method provided in any embodiment of the present application.

[0102] In the process of implementing the computer program product, the computer program code for performing the operations of the present application can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent 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 can 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 can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0103] It should be understood that the various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present application can be achieved, and no limitation is made herein.

[0104] The above specific embodiments do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A method for determining a slope edge line, characterized in that: The method comprises: Acquire equipment point cloud coordinates of the construction equipment; wherein the equipment point cloud coordinates of the construction equipment include equipment point cloud coordinates of the working device; Acquire the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates; wherein the road design information of the current construction road includes the design elevation and slope gradient of the current construction position; Determining the side slope edge line of the current construction road according to the design elevation of the current construction position, the current elevation of the current construction position and the side slope gradient; The working path of the working device is determined according to the slope edge line of the current construction road and the device point cloud coordinates, and the working device is controlled to work according to the working path.

2. The method according to claim 1, characterized in that The step of determining the slope edge line of the current construction road according to the design elevation of the current construction position, the current elevation of the current construction position and the slope gradient comprises: Determine the vertical height difference of the slope according to the design elevation of the current construction position and the current elevation of the current construction position; Determine the horizontal distance of the slope according to the vertical height difference of the slope and the slope gradient; The side slope edge line of the current construction road is determined according to the side slope vertical height difference and the side slope horizontal distance.

3. The method according to claim 2, characterized in that Determining the slope edge line of the current construction road according to the vertical height difference of the slope and the horizontal distance of the slope includes: Determining the slope width of the slope according to the vertical height difference of the slope and the horizontal distance of the slope; Determine the starting point coordinates of the slope according to the road point cloud coordinates of the current construction road; Determine the top boundary point coordinates and the bottom boundary point coordinates of the slope according to the starting point coordinates of the slope and the width of the slope; The top boundary point coordinates and the bottom boundary point coordinates of the slope are connected to obtain the slope edge line of the current construction road.

4. The method according to claim 3, characterized in that The step of connecting the top boundary point coordinates and the bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road includes: Equally spaced stakeout points are generated between the top boundary point coordinates and the bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road, so as to realize automatic stakeout of the slope edge line.

5. The method according to claim 4, characterized in that The step of generating equally spaced stakeout points between the top boundary point coordinates and the bottom boundary point coordinates of the slope to obtain the slope edge line of the current construction road includes: A linear difference method is used between the coordinates of the top boundary point and the bottom boundary point of the slope to generate equally spaced stakeout points, thereby obtaining the slope edge line of the current construction road.

6. The method according to claim 1, characterized in that The determining the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates includes: Determining the current working position of the working device according to the device point cloud coordinates; Determining the waiting working position of the working device according to the slope edge line of the current construction road; The working path of the working device is determined according to the current working position of the working device and the waiting working position of the working device.

7. The method according to claim 1, characterized in that The method further comprises: The slope edge line and the working path are displayed on a display device of the construction equipment.

8. A device for determining a slope edge line, characterized in that: The device comprises: An equipment coordinate acquisition module, used to acquire equipment point cloud coordinates of construction equipment; wherein the equipment point cloud coordinates of the construction equipment include equipment point cloud coordinates of a working device; A road information acquisition module, used to acquire the road point cloud coordinates and road design information of the current construction road, and determine the current elevation of the current construction position according to the road point cloud coordinates; wherein the road design information of the current construction road includes the design elevation and slope gradient of the current construction position; A side slope edge determination module, used to determine the side slope edge of the current construction road according to the design elevation of the current construction position, the current elevation of the current construction position and the slope gradient; The control module is used to determine the working path of the working device according to the slope edge line of the current construction road and the device point cloud coordinates, and control the working device to work according to the working path.

9. A construction equipment, characterized in that: The construction equipment includes a controller and a working device; wherein the controller is connected to the working device; The controller is used to execute the slope edge line determination method according to any one of claims 1 to 7; The working device is used to work according to the working path under the control of the controller.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the slope edge line determination method as claimed in any one of claims 1 to 7 is implemented.

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