Steering and obstacle avoidance method and obstacle avoidance system of paver and paver

Abstract

The invention provides a steering and obstacle avoidance method of a paver and the paver. The steering and obstacle avoidance method comprises the following steps: a control unit controls an information acquisition part to extend outwards to an initial acquisition position on the side surface of a main body of the paver; the information acquisition component acquires the position information of the side boundary or the road edge of the to-be-paved area and the position information of the obstacle; the control unit is used for controlling the driving direction of the paver based on the position information of the sideline or the road edge of the paving area, and judging whether the obstacle is in an interference area influencing the information acquisition component or not based on the position information of the obstacle; the information acquisition part is moved to adjust the acquisition position of the information acquisition part so as to avoid the obstacle. According to the method, the steering accuracy of the paver is improved or automatic steering is realized, so that the material paving accuracy and high quality are ensured; and the information acquisition part can automatically avoid obstacles, so that the accuracy of the driving direction and the driving smoothness are ensured.

Description

Technical Field

[0001] This application relates to the field of road construction technology, specifically to a method for steering and obstacle avoidance of a paver, as well as an obstacle avoidance system and a paver applicable to the method. Background Technology

[0002] A paver is a device that spreads materials such as asphalt and cement onto the road surface to be paved, and then uses screed components, such as a screed, to level and initially compact the material. During paving operations, the material needs to be spread evenly laterally across the area to be paved. The operator or driving system must constantly adjust the paver's direction by observing the edge of the area or the road edge to ensure the paver's hopper is parallel to the area, preventing uneven spreading and avoiding collisions with obstacles. However, relying solely on the operator's visual observation of the equipment and the edge of the area to adjust the direction requires improved precision. Summary of the Invention

[0003] In view of this, the embodiments of this application aim to provide a method for steering and obstacle avoidance of a paver, which uses environmental information collected by an information acquisition component to participate in adjusting the direction of the paver, thereby improving the steering accuracy of the paver or achieving automatic steering, thus ensuring the accuracy and high quality of material paving; and enabling the information acquisition component to automatically avoid obstacles, avoiding collisions with obstacles, and ensuring the accuracy of the paver's travel direction and the smoothness of travel.

[0004] This application provides a method for steering and obstacle avoidance of a paver, including the following:

[0005] The control unit controls the information acquisition component to extend to the initial acquisition position on the side of the paver's main body. The information acquisition component is installed on the main body of the paver and can extend and retract to both sides in the direction of travel.

[0006] The information collection component collects the location information of the edge line or road edge of the area to be paved, as well as the location information of obstacles.

[0007] The control unit controls the travel direction of the paver based on the position information of the edge line or road edge;

[0008] Based on the location information of the obstacle, it is determined whether the obstacle is within the interference area affecting the information acquisition component. If the determination result is yes, the information acquisition component is moved to adjust its actual acquisition position in order to avoid the obstacle.

[0009] In one possible implementation, the extension position of the information acquisition component relative to the main body of the paver is set as the lateral position base point, and the ground is set as the height position base point;

[0010] The control unit controls the information acquisition component to extend to the initial acquisition position on the side of the paver's main body, including:

[0011] Obtain the paving width of the area to be paved;

[0012] Based on the lateral position base point and the paving width of the area to be paved, the initial acquisition position of the information acquisition component is determined, and the information acquisition component is driven to move to the initial acquisition position.

[0013] In one possible implementation, the information acquisition component acquires the location information of the obstacle, including: acquiring the distance S2 from the obstacle to the lateral position base point;

[0014] The control unit determines whether an obstacle is within the influence area of ​​the information acquisition component, including: obtaining the distance S1 from the actual acquisition position of the information acquisition component to the lateral position base point; comparing the magnitudes of S2 and S1, and if S1 ≥ S2, then determining that the obstacle is within the influence area, and the determination result is yes;

[0015] When the judgment result is yes, the control unit adjusts the actual acquisition position of the information acquisition component until S1 < S2.

[0016] In one possible implementation, the information acquisition component acquires the location information of the obstacle by: acquiring the distance S2 from the obstacle to the lateral position base point, and the height H2 from the obstacle to the height position base point;

[0017] The control unit determines whether an obstacle is within the influence area affecting the information acquisition component, including:

[0018] Obtain the distance S1 from the actual acquisition position of the information acquisition component to the lateral position base point, and compare the magnitudes of S2 and S1.

[0019] Obtain the height H1 from the information acquisition component to the height position base point, calculate the difference H3 between H1 and H2, and determine whether H3 is within a preset range.

[0020] If S1≥S2 and H3 is within a preset range, then the obstacle is determined to be within the influence area, and the determination result is yes;

[0021] When the judgment result is yes, the control unit adjusts the actual acquisition position of the information acquisition component until S1 < S2.

[0022] In one possible implementation, the control unit's determination of whether an obstacle is within the influence area affecting the information acquisition component further includes:

[0023] Obtain the minimum distance S3 from the information acquisition component to the lateral position base point.

[0024] Compare the sizes of S2 and S3.

[0025] When the judgment result is yes and S2≤S3, the control unit retracts the information acquisition component into the main body of the paver.

[0026] In one possible implementation, the following is also included:

[0027] The control unit issues a prompt when it retracts the information acquisition component into the main body of the paver.

[0028] In one possible implementation, the following is also included:

[0029] When the control unit adjusts the actual acquisition position of the information acquisition component until S1 < S2, the control unit obtains the distance S0 from the initial acquisition position of the information acquisition component to the horizontal position base point, and compares the sizes of S0 and S1 as well as the sizes of S0 and S2.

[0030] If S1 < S0 and S0 < S2, move the information acquisition component to the initial acquisition position.

[0031] In one possible implementation, the control unit controls the travel direction of the paver based on the position information of the edge line or road edge of the area to be paved, including:

[0032] Based on the location information of the edge line or road edge of the area to be paved, a target travel track is generated;

[0033] Obtain the current wheel rotation angle and calculate the angle α between the current wheel rotation angle and the target travel track. If α > 0, adjust the wheel direction until α = 0.

[0034] This application also provides an obstacle avoidance system for a paver, applicable to the steering and obstacle avoidance methods of the paver as described in any of the preceding claims, comprising:

[0035] The information collection component is retractably connected to the main body of the paver and is configured to collect the location information of the edge line or road edge of the area to be paved, as well as the location information of obstacles.

[0036] The control unit is configured to control the driving direction based on the position information of the edge line or road edge of the area to be paved, and to determine whether the obstacle is within the interference area affecting the information collection component based on the position information of the obstacle. If the determination result is yes, the control unit is moved to adjust the actual collection position of the collection component to avoid the obstacle.

[0037] This application also provides a paver, including the aforementioned paver obstacle avoidance system.

[0038] In the steering and obstacle avoidance method of the paver provided in this application, the information acquisition component can be concealed within the main body and can be extended to a suitable initial acquisition position to collect environmental information when needed, such as when assisted driving is activated. The control unit uses the position information of standard objects such as the edge line of the area to be paved or the road edge collected by the information acquisition component to control the driving direction of the paver in a timely and real-time manner. This can effectively improve the steering accuracy of the paver or achieve automatic steering, avoiding problems such as steering deviation caused by insufficient visual observation by the driver or steering errors caused by momentary negligence due to fatigue, thereby ensuring the accuracy and high quality of material paving.

[0039] Meanwhile, the control unit uses the collected obstacle location information to determine whether the obstacle is within the interference area affecting the information collection component. If the determination result is yes, it promptly drives the information collection component to move and adjust its position so that it can automatically avoid the obstacle, preventing the information collection component from colliding with the obstacle or being blocked by the obstacle, improving the continuity of information collection, ensuring the accuracy of the paver's travel direction and the smoothness of travel, and guaranteeing the quality of material paving for a long time. Attached Figure Description

[0040] Figure 1 The diagram shown is a schematic representation of the steering and obstacle avoidance methods of the paver in an embodiment of this application.

[0041] Figure 2 The diagram shown is a schematic representation of the control unit's obstacle detection in an embodiment of this application.

[0042] Figure 3 The diagram shown is a top view of the paver in an embodiment of this application.

[0043] Figure 4 The figure shown is a schematic diagram of the isometric angle of the paver in an embodiment of this application;

[0044] Figure 5 The diagram shown is a schematic representation of the lateral positions of the information acquisition component and the obstacle in an embodiment of this application.

[0045] Figure 6 The diagram shown is a schematic representation of the height positions of the information acquisition component and the obstacle in an embodiment of this application.

[0046] Figures 3-6 middle:

[0047] 10. Main body; 11. Control panel; 12. Information acquisition component; 20. Obstacles. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] A paver is a device that spreads materials such as asphalt and cement onto the road surface to be paved, and then uses screed components, such as screeds, to flatten and initially compact the material. During paving operations, the material needs to be spread evenly laterally across the area to be paved. The operator or driving system needs to constantly adjust the paver's direction by observing the edge of the area or the road edge to ensure the paver's hopper is parallel to the area, preventing uneven spreading and avoiding collisions with obstacles. However, relying solely on the operator's visual observation of the equipment and the edge of the area to control the direction has problems such as insufficient driving precision and fatigue from prolonged driving. For example, insufficient visual observation by the operator can lead to steering errors, causing the paver's main body or hopper to deviate from the parallelism of the area to be paved, resulting in some areas of paving going over the line or some areas not being paved properly; or, due to driver fatigue or momentary inattention, a momentary lapse in attention can lead to incorrect steering, collisions with obstacles, or misalignment of the paving.

[0050] In view of this, please refer to the appendix. Figure 1-6 This application provides a steering and obstacle avoidance method for a paver, as well as an obstacle avoidance system and a paver applicable to the method. In this method, environmental information is collected and acquired by the information acquisition component 12, and the control unit uses the environmental information as a reference to correct the driving direction in real time. This aims to improve the accuracy of the paver's driving direction and ensure the accuracy and high quality of material paving. It can also realize automatic driving or assisted driving. At the same time, it can also enable the information acquisition component 12 to automatically avoid obstacles 20, avoid collisions with or interference from obstacles 20, ensure the continuity and accuracy of information acquisition, ensure the accuracy of the paver's driving direction and the smoothness of driving, and ensure the quality of material paving for a long time.

[0051] The steering and obstacle avoidance methods for pavers provided in this application include at least the following (the order of the following steps is not limited):

[0052] S01, the control unit controls the information acquisition component to extend to the initial acquisition position on the side of the paver; wherein, the information acquisition component is set on the main body 10 of the paver and can extend and retract to both sides in the direction of travel;

[0053] For example, an information collection component 12 that can extend and retract to both sides of the main body 10 or to both sides of the travel direction is installed on the paver body 10;

[0054] Specifically, the information collection component 12 can be mounted on the main body 10 of the paver via a sliding mechanism, and the sliding direction is set to a horizontal direction perpendicular to the travel direction, so that it can move relative to the main body 10 of the paver to get closer to or away from the main body 10.

[0055] Information acquisition components 12 are installed on both sides of the paver body 10, and the control unit independently adjusts the two cameras located on both sides of the body 10;

[0056] When the driver or operator needs to activate the information collection component, such as when the paver's control unit is involved in adjusting the driving direction by activating the driver assistance system, the information collection component and control unit can be activated by inputting commands or starting the paver. The information collection component can then provide information and prompts to assist the driver in adjusting the direction, or enable automatic driving and automatic adjustment of the driving direction to free the driver from the need for driving.

[0057] The initial acquisition position can be set according to some parameters to place the information acquisition component 12 in a suitable position to ensure that it can acquire information within the effective area.

[0058] S02, the information acquisition unit 12 acquires the position information of the edge line or road edge of the area to be paved, as well as the position information of obstacles, and feeds it back to the control unit;

[0059] S03, the control unit controls the travel direction of the paver body 10 based on the position information of the edge line or road edge of the area to be paved;

[0060] Furthermore, based on the location information of the obstacle, the control unit determines whether the obstacle 20 is within the interference area of ​​the information acquisition component 12. If the determination result is yes, the acquisition component is moved and the actual acquisition position of the acquisition component is adjusted to avoid the obstacle 20.

[0061] For example, the information acquisition component 12 collects environmental information, including at least the location information of the edge of the area to be paved or the edge of the road. After receiving the information, the control unit can build a road map and determine the target driving trajectory, thereby controlling parameters such as wheel angle to make the wheels travel parallel to the target driving trajectory. At the same time, the environmental information collected by the information acquisition component 12 includes the location information of obstacles 20. For example, the information acquisition component 12 transmits the location information of all components that can be scanned or photographed within the effective acquisition area to the control unit. These components are regarded as obstacles 20. The control unit compares the location information of obstacles 20 and information acquisition component 12 to determine whether obstacles 20 are in an interference area that will affect information acquisition component 12. If the determination result is yes, the control unit drives the power component in the sliding mechanism, such as a motor or cylinder, to drive information acquisition component 12 to move and avoid obstacles 20, so that information acquisition component 12 moves to a position that is not affected, or in other words, moves information acquisition component 12 until obstacles 20 are out of the interference area. In this way, the information collection component 12 can automatically avoid obstacles 20, preventing collisions or obstructions, and ensuring the continuity and effectiveness of information collection.

[0062] As can be seen, in the paver steering and obstacle avoidance method provided in this application, the information acquisition component 12 can be installed on each side of the paver body 10, and the control unit can independently adjust the two cameras located on both sides of the body 10. The information acquisition component 12 can be concealed inside the paver body 10, and when needed, such as when the paver starts or when the driver activates assisted driving, it is controlled by the control unit to extend to a suitable initial acquisition position to collect environmental information. The control unit uses the position information of standard objects such as the edge line of the paving area or the road edge collected by the information acquisition component 12 to adjust the paver's driving direction in a timely and real-time manner, which can effectively improve the steering accuracy of the paver or achieve automatic steering, avoiding problems such as steering deviation caused by insufficient visual observation by the driver or steering errors caused by momentary negligence due to fatigue. Meanwhile, the control unit uses the collected position information of obstacle 20 to determine whether obstacle 20 is within the interference area affecting information acquisition component 12. If the determination result is yes, it promptly drives information acquisition component 12 to move and adjust its position so that it can automatically avoid obstacle 20, avoiding collision between information acquisition component 12 and obstacle 20 or being blocked by obstacle 20. After avoiding the obstacle, it can automatically restore information acquisition component 12 to a suitable acquisition position, improving the accuracy of information acquisition and ensuring the accuracy of the paver's travel direction and the smoothness of travel.

[0063] Specifically, the method also includes:

[0064] The protruding position of the information acquisition component 12 relative to the paver body 10 is set as the lateral position base point; the ground is set as the height position base point. The protruding position of the information acquisition component 12 relative to the paver body 10 refers to the location of the opening on the paver body 10 through which the information acquisition component 12 moves out of the body 10.

[0065] For example, a certain part of the paver body 10 can be set as the lateral position base point (or lateral position zero point). Typically, the information acquisition component 12 extends from the outermost outer wall of the paver body 10, so the position of the outermost outer wall of the paver body 10 can be set as the lateral position base point. A specific example is... Figure 3 As shown, the information acquisition component 12 extends from the side of the control panel 11 of the main body 10, and the position of the outer wall of the control panel 11 is set as the lateral position base point. The ground, which is also the lowest point of the paver body 10, is set as the height position base point (or the height position zero point).

[0066] The step of the control unit controlling the information acquisition component 12 to extend to the initial acquisition position on the side of the paver body 10 specifically includes:

[0067] The control unit obtains the paving width of the area to be paved; specifically, this can be input by the operator or stored in a database containing multiple paving width information for the area to be paved, which the operator can then select and confirm accordingly.

[0068] The control unit determines the initial acquisition position of the information acquisition component 12 based on the lateral position base point and the width of the area to be paved, and drives the information acquisition component 12 to move to the initial acquisition position.

[0069] Taking the information acquisition component 12 mounted on the paver body 10 via a sliding mechanism as an example, the sliding mechanism includes a guide rail and a power component such as a motor or cylinder to drive the information acquisition component 12. The control unit retrieves the initial acquisition position information of the information acquisition component 12 from a pre-stored database based on the width of the area to be paved, and then activates the power component to drive the information acquisition component 12 to the initial acquisition position. This allows the information acquisition component 12 to be positioned appropriately, resulting in a larger effective acquisition area.

[0070] The control unit adjusts the driving direction based on the feedback of the position information of the edge line or road edge, specifically including:

[0071] Generate the target driving trajectory based on the location information of the edge line or road edge;

[0072] Obtain the current wheel angle and calculate the angle α between the current wheel angle and the target travel track. If α > 0, adjust the wheel direction until α = 0.

[0073] Of course, when the above-mentioned steering and obstacle avoidance methods are applied to assisted driving, the assisted driving method or assisted driving system also includes the collection and acquisition of other parameters, as well as other aspects of regulation, but this application will not go into detail, but only focuses on clarifying that for the information collection component 12, it includes at least the above-mentioned contents.

[0074] The step of the information acquisition component 12 acquiring the location information of the obstacle 20 specifically includes:

[0075] Collect the distance S2 between obstacle 20 and the horizontal position base point.

[0076] The control unit determines whether obstacle 20 is within the influence area of ​​the information acquisition component 12, including:

[0077] The control unit acquires S2 and the distance S1 from the lateral position base point to the actual acquisition position of the information acquisition component 12;

[0078] The control unit compares the sizes of S1 and S2. If S1 ≥ S2, it is determined that the obstacle 20 is within the affected area, and the determination result is yes. If S1 < S2, the determination result is no.

[0079] When the judgment result is yes, the control unit adjusts the actual acquisition position of the information acquisition component 12 until S1 < S2.

[0080] Preferably, S1 can be the distance from the edge of the information collection component 12 furthest from the paver body 10 to the lateral position base point, and S2 refers to the distance from the edge of the obstacle 20 closest to the paver body 10 to the lateral position base point.

[0081] Of course, S1 can also be the distance from the center of the acquisition head of the information acquisition component 12 to the horizontal position base point. In this type of embodiment, the condition for the judgment result to be yes should be that S1 is less than S2 and the difference between S1 and S2 is less than a preset value, wherein the preset value is set according to the dimension from the edge to the center of the information acquisition component 12.

[0082] In some embodiments, the information acquisition component 12 acquires the position information of the obstacle 20, including: acquiring the distance S2 of the obstacle 20 from the lateral position base point, and the height H2 of the obstacle 20 from the height position base point;

[0083] The step of the control unit determining whether obstacle 20 is within the influence area of ​​the information acquisition component 12 includes:

[0084] Acquire the lateral distance S1 and height information H1 of the information acquisition part, that is, the dimension H1 of the distance between the information acquisition part 12 and the height position base point in the height direction;

[0085] Compare the values ​​of S2 and S1, calculate the difference H3 between H1 and H2, and determine whether H3 is within the preset range.

[0086] If S1≥S2 and H3 is within the preset range, then obstacle 20 is determined to be within the influence area, and the determination result is yes;

[0087] When the judgment result is yes, the control unit adjusts the actual acquisition position of the information acquisition component 12 until S1 < S2.

[0088] In this embodiment, the judgment condition includes the comparison of height position. If S1≥S2 but the value of H3 is not within the preset range, it means that in the height direction, the information collection component 12 and the obstacle 20 are far apart and there is no need to avoid them.

[0089] In some cases, the obstacle 20 is too close to the paver body 10. Even if the information acquisition component 12 retracts to its closest possible distance outside the body 10, it may still be unable to avoid the obstacle 20. To solve this problem, in some embodiments, the paver's steering and obstacle avoidance methods further include:

[0090] The control unit obtains the minimum distance S3 between the information acquisition component 12 and the lateral position base point; for example, the control unit obtains the minimum distance S3 between the information acquisition component 12 and the lateral position base point from the database, or the operator can input S3.

[0091] The step of the control unit determining whether obstacle 20 is within the influence area of ​​the information acquisition component 12 also includes: comparing the sizes of S2 and S3.

[0092] When the judgment result is yes and S2≤S3, the control unit will retract the information acquisition component 12 into the main body 10 of the paver.

[0093] In other words, the steering and obstacle avoidance methods for the paver provided in this application include at least the following (the following steps are not limited in order):

[0094] S01, the control unit controls the information acquisition component to extend to the initial acquisition position on the side of the paver; wherein, the information acquisition component is set on the main body 10 of the paver and can extend and retract to both sides in the direction of travel;

[0095] S02, the control unit acquires the lateral position base point, the height position base point, the initial acquisition position S0 of the information acquisition component 12, and the minimum lateral distance S3;

[0096] S03, the information acquisition unit 12 acquires the position of the edge of the area to be paved or the edge of the road, acquires the position information such as the height position H2 and the lateral position S2 of the obstacle 20, and feeds the information back to the control unit;

[0097] S04, the control unit controls the travel direction of the paver body 10 based on the feedback of the edge line or road edge position information; and compares the height and lateral position information of the obstacle 20 and the information acquisition component 12 to determine whether the obstacle 20 is within the interference area affecting the information acquisition component 12.

[0098] If the judgment result is yes, the control unit moves the acquisition component and adjusts the acquisition position of the acquisition component to avoid obstacle 20.

[0099] The control unit determines whether the obstacle 20 is within the influence area of ​​the information acquisition component 12, and reacts accordingly based on the determination result. Specifically, for example... Figure 2 Shown, including:

[0100] Acquire the lateral position S1, height position H1, and minimum distance S3 of the information collection location;

[0101] Compare the sizes of S2 and S1, compare the sizes of S2 and S3, calculate the difference H3 between H1 and H2, and determine whether H3 is within the preset range.

[0102] If S1 < S2, then the judgment result is negative, and there is no need to move the information collection component 12;

[0103] If S1≥S2 but H3 is not within the preset range (e.g., H3 is greater than or less than the preset range), then the judgment result is negative.

[0104] If S1≥S2, H3 is within the preset range, and S2>S3, then it is determined that obstacle 20 is within the affected area. If the determination result is yes and it is an adjustment situation, the control unit adjusts the actual collection position of the information collection component 12 until S1<S2.

[0105] If S1≥S2, H3 is within the preset range, and S2≤S3, then it is determined that obstacle 20 is within the influence area. If the determination result is yes and it is a retraction situation, the control unit will retract the information acquisition component 12 into the main body 10 of the paver. That is, the lateral position of the information acquisition component 12 is adjusted to a negative value, driving the information acquisition component 12 to move back to a position beyond the lateral position base point and move to the original hidden position within the main body 10 of the paver.

[0106] Furthermore, the paver's steering and obstacle avoidance methods also include the following:

[0107] When the control unit adjusts the actual acquisition position of the information acquisition component 12 until S1 < S2, it compares the size of S1 with the size of the distance S0 from the initial acquisition position of the information acquisition component 12 to the horizontal position base point, and compares the sizes of S0 and S2.

[0108] If S1 < S0 and S0 < S2, move the information acquisition component 12 to the initial acquisition position.

[0109] With this setup, when the information acquisition component 12 avoids the current obstacle 20, if the lateral distance S2 of the next obstacle 20 is greater than the current S1 and also greater than S0, then the information acquisition component 12 does not need to move and will not collide with the obstacle 20. Based on this, if S1 < S0, it means that the information acquisition component 12 can move to the initial acquisition position and restore the optimal acquisition position.

[0110] Furthermore, the paver's steering and obstacle avoidance methods also include the following:

[0111] When the control unit retracts the information acquisition component 12 into the main body 10 of the paver, it issues a prompt immediately or after a preset time.

[0112] With this configuration, when the aforementioned steering and obstacle avoidance methods are applied to assisted driving, the assisted driving system can be shut down in a timely manner and the driver can be alerted when the information collection component 12 is unable to collect information, allowing the driver to intervene in time and switch to manual driving to control the driving direction, thus avoiding prolonged periods of blind driving.

[0113] The driver can reactivate the information collection unit or the driver assistance system at any time depending on subsequent road conditions.

[0114] Specifically, the information acquisition component 12 can be a lidar, camera, millimeter-wave radar, etc. Preferably, a camera can be used as the information acquisition component 12. In this way, it can not only meet the requirements of acquiring the position information of the edge line of the paving area and obstacles 20, and achieve the purpose of automatic steering and automatic obstacle avoidance, but also reduce costs.

[0115] Embodiments of this application also provide a paver obstacle avoidance system, such as... Figure 3-6 As shown, this paver obstacle avoidance system is applicable to the steering and obstacle avoidance methods of any of the above-mentioned pavers. The paver obstacle avoidance system includes an information acquisition component 12 and a control unit. The information acquisition component 12 is retractably connected to the paver's main body 10 and is configured to acquire the position information of the edge line or road edge of the area to be paved, as well as the position information of obstacles. The control unit is configured to adjust the driving direction based on the position information of the edge line or road edge, and compare the position information of the obstacle with the position information of the information acquisition component to determine whether the obstacle is within the interference area affecting the information acquisition component. If the determination result is yes, the control unit moves to adjust the actual acquisition position of the acquisition component to avoid the obstacle.

[0116] The control unit is configured to perform the program operations executed by the control unit in the above embodiments, and the control unit stores the operation program performed by the control unit in the above-described paver steering and obstacle avoidance methods.

[0117] With this configuration, the obstacle avoidance system can perform the steering and obstacle avoidance methods described in any of the above embodiments and has the aforementioned beneficial effects. Further details will not be elaborated here.

[0118] Specifically, the paver body 10 is equipped with a control panel 11, which includes a support and a control panel or display screen mounted on it. An information acquisition component 12 is telescopically connected to the support of the control panel 11 via a sliding mechanism. The support of the control panel 11 has a cavity for accommodating the sliding mechanism and the information acquisition component 12. The sliding mechanism includes a guide rail fixed inside the control panel 11, a slider connected to the guide rail, a connecting rod connected to the slider, and a power component for driving the slider. The guide rail is arranged along the width direction of the paver body 10. The information acquisition component 12 can extend from the side of the control panel 11 to outside the body 10 or retract into the body 10 via displacement through the sliding mechanism.

[0119] The control unit is configured to adjust the driving direction based on the environmental information fed back by the information acquisition unit 12, and to adjust the extension position of the information acquisition unit 12 to avoid the obstacle 20.

[0120] Specifically, the information collection component 12 is configured to collect the location information of the edge line or road edge of the area to be paved, and to collect the location information of the obstacle 20, such as the horizontal and vertical position of the obstacle 20.

[0121] The control unit is configured to adjust the driving direction based on the position information of the edge line or road edge, and compare the position information of the obstacle 20 with the position information of the information acquisition unit 12 to determine whether the obstacle 20 is in the interference area affecting the information acquisition unit 12. If the determination result is yes, the acquisition unit is moved to adjust the actual acquisition position of the acquisition unit to avoid the obstacle 20.

[0122] The control unit determines whether the obstacle 20 is within the interference area affecting the information acquisition component 12 by comparing the lateral position S2 of the obstacle 20 with the lateral position S1 of the information acquisition component 12, and the lateral position H2 of the obstacle 20 with the lateral position H1 of the information acquisition component 12. If the determination result is yes, the acquisition component is moved to adjust the actual acquisition position of the acquisition component until S1 is less than S2.

[0123] On the paver, the control unit is configured to perform the program operations executed by the control unit in the above embodiments. The control unit stores the operation programs performed by the control unit in the above-described paver steering and obstacle avoidance methods. Further details will not be provided here.

[0124] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0125] The components and devices described in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the accompanying drawings. As those skilled in the art will recognize, these components and devices can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the words “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0126] It should also be noted that the components in the apparatus, equipment, and methods of this application are disassembled and / or reassembled. These disassemblies and / or reassemblies should be considered as equivalent solutions of this application.

[0127] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0128] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

[0129] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for steering and obstacle avoidance of a paver, characterized in that, Includes the following: The control unit controls the information acquisition component to extend to the initial acquisition position on the side of the paver's main body. The information acquisition component is installed on the main body of the paver and can extend and retract to both sides in the direction of travel. The information collection component collects the location information of the edge line or road edge of the area to be paved, as well as the location information of obstacles. The control unit controls the travel direction of the paver based on the position information of the edge line or road edge of the area to be paved; Based on the location information of the obstacle, it is determined whether the obstacle is within the interference area affecting the information acquisition component. If the determination result is yes, the information acquisition component is moved to adjust its actual acquisition position in order to avoid the obstacle.

2. The method for steering and obstacle avoidance of a paver as described in claim 1, characterized in that, It also includes setting the extension position of the information collection component relative to the main body of the paver as the lateral position base point, and setting the ground as the height position base point; The control unit controls the information acquisition component to extend to the initial acquisition position on the side of the paver's main body, including: Obtain the paving width of the area to be paved; Based on the lateral position base point and the paving width of the area to be paved, the initial acquisition position of the information acquisition component is determined, and the information acquisition component is driven to move to the initial acquisition position.

3. The method for steering and obstacle avoidance of a paver as described in claim 1, characterized in that, The information acquisition component acquires the location information of the obstacle, including: acquiring the distance S2 from the obstacle to the lateral position base point; The control unit determines whether an obstacle is within the influence area of ​​the information acquisition component, including: obtaining the distance S1 from the actual acquisition position of the information acquisition component to the lateral position base point; Compare the sizes of S1 and S2. If S1 ≥ S2, then it is determined that the obstacle is within the influence area, and the determination result is yes. When the judgment result is yes, the control unit adjusts the actual acquisition position of the information acquisition component until S1 < S2.

4. The method for steering and obstacle avoidance of a paver as described in claim 1, characterized in that, The information acquisition component acquires the location information of the obstacle, including: the distance S2 from the obstacle to the lateral position base point, and the height H2 from the obstacle to the height position base point; The control unit determines whether an obstacle is within the influence area affecting the information acquisition component, including: Obtain the distance S1 from the actual acquisition position of the information acquisition component to the lateral position base point, and compare the magnitudes of S2 and S1. Obtain the height H1 from the information acquisition component to the height position base point, calculate the difference H3 between H1 and H2, and determine whether H3 is within a preset range. If S1≥S2 and H3 is within a preset range, then the obstacle is determined to be within the influence area, and the determination result is yes; When the judgment result is yes, the control unit adjusts the actual acquisition position of the information acquisition component until S1 < S2.

5. The method for steering and obstacle avoidance of a paver as described in claim 3 or 4, characterized in that, The control unit further includes determining whether an obstacle is within the area of ​​influence affecting the information acquisition component. Obtain the minimum distance S3 from the information acquisition component to the lateral position base point. Compare the sizes of S2 and S3. When the judgment result is yes and S2≤S3, the control unit retracts the information acquisition component into the main body of the paver.

6. The method for steering and obstacle avoidance of a paver as described in claim 5, characterized in that, Also includes the following: The control unit issues a prompt when it retracts the information acquisition component into the main body of the paver.

7. The method for steering and obstacle avoidance of a paver as described in claim 5, characterized in that, Also includes the following: When the control unit adjusts the actual acquisition position of the information acquisition component until S1 < S2, the control unit obtains the distance S0 from the initial acquisition position of the information acquisition component to the horizontal position base point, and compares the sizes of S0 and S1 as well as the sizes of S0 and S2. If S1 < S0 and S0 < S2, move the information acquisition component to the initial acquisition position.

8. The method for steering and obstacle avoidance of a paver as described in claim 1, characterized in that, The control unit controls the travel direction of the paver based on the position information of the edge line or road edge of the area to be paved, including: generating a target travel track based on the position information of the edge line or road edge of the area to be paved; obtaining the current wheel angle and calculating the angle α between the current wheel angle and the target travel track; if α > 0, adjusting the wheel direction until α = 0.

9. A paver obstacle avoidance system, characterized in that, A steering and obstacle avoidance method applicable to the paver according to any one of claims 1-8, comprising: The information collection component is retractably connected to the main body of the paver and is configured to collect the location information of the edge line or road edge of the area to be paved, as well as the location information of obstacles. The control unit is configured to control the driving direction based on the position information of the edge line or road edge of the area to be paved, and to determine whether the obstacle is within the interference area affecting the information collection component based on the position information of the obstacle. If the determination result is yes, the control unit is moved to adjust the actual collection position of the collection component to avoid the obstacle.

10. A paver, characterized in that, Includes the paver obstacle avoidance system as described in claim 9.

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