Intelligent paver and control method thereof

Abstract

This application relates to an intelligent paver and its control method. The method is applied to an intelligent paver, which includes a display unit and a communication unit. The method includes: interactively controlling the intelligent paver in response to touch events on the display unit and message events on the communication unit; and performing functional control on the intelligent paver based on its operating condition parameters. Specifically, one-button construction control of the intelligent paver includes: when the operating condition parameters are determined to meet a threshold, sending initial parameter setting instructions and enable signals to each subsystem of the intelligent paver; adjusting the real-time operating parameters of each subsystem based on the real-time paving data of the intelligent paver and preset paving thresholds; and sending a stop command to each subsystem when a warning signal is received, causing the intelligent paver to enter an interrupt state. This method enables automatic adjustment of construction parameters during construction, maintaining a stable paver operating state and thus ensuring the quality of paving operations.

Description

Technical Field

[0001] This application relates to the field of intelligent machinery technology, and in particular to an intelligent paver and its control method. Background Technology

[0002] As a key piece of engineering machinery in road construction, the paving machine's operation typically involves the coordinated work of multiple subsystems, including the walking system, material conveying system, material distribution system, and screed system. To ensure the stability and quality of paving operations, existing pavers generally require the startup, adjustment, and monitoring of multiple subsystems before and during construction.

[0003] In existing technologies, the start-up of pavers is typically achieved through manual, step-by-step control. Specifically, operators need to manually start multiple subsystems, such as travel, material conveying, material distribution, and screed heating, according to established experience. Once each subsystem has been started, the operator can then proceed with the formal paving operation.

[0004] In the aforementioned traditional construction control methods, during the construction operation phase, the monitoring and adjustment of key construction parameters rely on operators to adjust them based on their manual experience. This results in a lag and subjectivity in the adjustment of construction parameters, making it difficult to maintain a stable construction state for the paver and thus affecting the quality of the paving operation. Summary of the Invention

[0005] Therefore, it is necessary to address the aforementioned technical problems by providing an intelligent paver and its control method that can automatically adjust construction parameters during construction, maintain the stability of the paver's construction status, and thus ensure the quality of paving operations.

[0006] In a first aspect, this application provides a control method for an intelligent paver, applied to an intelligent paver, which includes a display unit and a communication unit; the method includes:

[0007] The intelligent paver is interactively controlled in response to touch events from the display unit and message events from the communication unit.

[0008] Based on the operating condition parameters of the intelligent paver obtained by the communication unit, the intelligent paver is functionally controlled; the functions include one-button construction; one-button construction control of the intelligent paver includes:

[0009] When the operating condition parameters are determined to meet the preset operating condition thresholds, the initial parameter setting command and enable signal are sent to each subsystem of the intelligent paver according to the preset timing sequence, so that the intelligent paver enters the operating state.

[0010] The system acquires real-time paving data of the intelligent paver based on the communication unit, and uses a PID control algorithm to adjust the real-time operating parameters of each subsystem based on the real-time paving data and the preset paving threshold.

[0011] When the communication unit receives a warning signal, it sends a stop command to each subsystem, causing the intelligent paver to enter an interrupt state.

[0012] In one embodiment, the functionality further includes automatic steering; automatic steering control of the intelligent paver includes:

[0013] The real-time position and posture data of the intelligent paver is obtained through the communication unit; the position and posture data includes positioning information, steering status data and travel speed data;

[0014] Based on real-time pose data, the lateral deviation between the current position of the intelligent paver and the preset path corresponding to the intelligent paver is determined.

[0015] Based on the lateral deviation value and real-time driving speed data, the steering angle correction amount corresponding to the intelligent paver is calculated using a PID control algorithm, and the intelligent paver is automatically steered based on the steering angle correction amount.

[0016] In one embodiment, the display unit includes a real-time prompt area, and the interactive control includes real-time prompt area control; in response to touch events of the display unit and message events of the communication unit, interactive control of the intelligent paver is performed, including:

[0017] Based on the communication unit's monitoring of bus messages, when alarm data is detected, the alarm data is stored in the target first-in-first-out queue; the alarm data is bus message data within the preset identification range.

[0018] Based on the first preset period, alarm data is retrieved from the target first-in-first-out queue, and the pre-stored alarm record table is updated in real time based on the retrieved alarm data;

[0019] Based on the second preset cycle, valid alarm records are read from the real-time updated alarm record table, and the real-time alert zone control is updated based on the alarm level and alarm status of the valid alarm records.

[0020] In one embodiment, the display unit further includes a quick operation area, and the interactive control further includes quick operation area control; in response to touch events of the display unit and message events of the communication unit, interactive control of the intelligent paver further includes:

[0021] When the system detects that the duration of a user's long press operation on the display unit exceeds a preset time threshold, it controls the quick operation area to enter the editing state. In the editing state, quick function icons to be deleted and a function repository containing multiple function icons to be added are displayed.

[0022] In edit mode, when a user is detected to be adding a target function icon in the function repository, the empty space index in the quick operation area is bound to the unique identifier of the target function icon, and the preset position mapping table is updated based on the bound empty space index and the unique identifier of the target function icon.

[0023] In edit mode, when a user is detected to be deleting a target shortcut icon, the unique identifier of the target shortcut icon is unbound from the location index of the target shortcut icon, and the location mapping table is updated based on the unbound unique identifier and location index of the target shortcut icon.

[0024] In one embodiment, the display unit further includes a menu operation area, and the interaction control further includes menu operation area control; the method further includes:

[0025] Real-time monitoring of the touch coordinate information of the touch screen corresponding to the display unit;

[0026] When the menu operation area is in a collapsed state, and the horizontal sliding distance of the touch coordinates within the menu operation area exceeds a preset horizontal threshold, the currently displayed function category icon in the menu operation area is switched; wherein, when the menu operation area is in a collapsed state, at least one function category icon is displayed in the menu operation area.

[0027] When the menu operation area is in a collapsed state, and a vertical swipe of the touch coordinates within the menu operation area is detected, the state of the menu operation area is switched to an expanded state. The expanded state is used to display all function icons corresponding to the function category icons currently displayed in the menu operation area.

[0028] In one embodiment, the display unit further includes a function display area, and the interactive control further includes function display area control; the method further includes:

[0029] When it is determined that the function icon pointed to by the function identifier has multiple subpages, the multiple subpages are preloaded and the preloaded target subpage is displayed in the function display area;

[0030] When the function display area displays the target subpage, and touch coordinates are detected to slide horizontally or vertically within the function display area, the currently displayed target subpage in the function display area is switched.

[0031] Secondly, this application also provides an intelligent paver, which includes a display unit, a communication unit, and a control system. The control system includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0032] The intelligent paver is interactively controlled in response to touch events from the display unit and message events from the communication unit.

[0033] Based on the operating condition parameters of the intelligent paver obtained by the communication unit, the intelligent paver is functionally controlled; the functions include one-button construction; one-button construction control of the intelligent paver includes:

[0034] When the operating condition parameters are determined to meet the preset operating condition thresholds, the initial parameter setting command and enable signal are sent to each subsystem of the intelligent paver according to the preset timing sequence, so that the intelligent paver enters the operating state.

[0035] The system acquires real-time paving data of the intelligent paver based on the communication unit, and uses a PID control algorithm to adjust the real-time operating parameters of each subsystem based on the real-time paving data and the preset paving threshold.

[0036] When the communication unit receives a warning signal, it sends a stop command to each subsystem, causing the intelligent paver to enter an interrupt state.

[0037] In one embodiment, the display unit includes:

[0038] The real-time alert area, located in the first area of ​​the display unit, is used to display alarm record data;

[0039] The engine information area, located in the second area of ​​the display unit, is used to display the key engine parameters of the intelligent paver; the key engine parameters include engine speed, water temperature, and oil pressure.

[0040] The quick operation area, located in the third area of ​​the display unit, provides users with multiple quick function icons; these icons serve as quick access points to functions.

[0041] The menu operation area, located in the fourth area of ​​the display unit, is used to display at least one function category icon based on the folded and unfolded states. Among them, the function category icon has multiple function icons, including basic function category icons, auxiliary function category icons, intelligent paving category icons, information query category icons, diagnostic alarm category icons, and adjustment and calibration category icons.

[0042] The function display area, located in the fifth area of ​​the display unit, is used to display subpages of function icons corresponding to the menu operation area or shortcut operation area.

[0043] The intelligent paver control method of this invention achieves human-machine interaction control of the intelligent paver by responding to touch events generated by the display unit and message events received by the communication unit. This allows operation commands to be linked with the intelligent paver's operating information, thereby improving the real-time performance and consistency of the intelligent paver's interactive control. Simultaneously, based on the intelligent paver's operating condition parameters obtained by the communication unit, corresponding functions are controlled, enabling automatic adjustment of construction parameters during construction to maintain a stable paver operating state. This ensures that function control matches the equipment's current operating state, avoiding misoperations caused by information lag or inconsistent states. This improves the control accuracy and operational reliability of the intelligent paver during construction, ensuring the quality of paving operations. The intelligent paver and its control method of this invention improve operational efficiency and user experience, reduce misoperations and learning costs, achieve deep integration of intelligent paving functions and one-click operation, form a standardized and iterable technology platform supporting the application of a full range of products, and possess excellent reliability, environmental adaptability, and maintainability. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a flowchart illustrating the intelligent paver control method in one embodiment;

[0046] Figure 2 This is a flowchart illustrating the one-click construction function control process in one embodiment;

[0047] Figure 3 This is a flowchart illustrating the initialization and self-test control process of the control system in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] With the development of paver technology and the integration of intelligent paving technology, traditional pavers have significant shortcomings in terms of operating systems, human-machine interaction, and functional integration. While existing paver products have achieved integration and modularization at the hardware level, there is still considerable room for improvement in the coordination of the operating, software, and functional layers, especially in the integration of intelligent paving functions and user experience, where a systematic and platform-based solution has yet to be formed. Existing intelligent pavers generally use large touchscreen displays as the core of human-machine interaction, with some equipped with dual screens or dedicated intelligent construction displays, covering basic operations, fault diagnosis, parameter settings, etc. However, existing intelligent pavers remain relatively weak in the deep integration of intelligent paving functions, the flattened design of the interaction structure, and the formulation of standardized specifications. Specifically, existing intelligent pavers have the following drawbacks: fragmented functions and complex operation levels, requiring users to frequently flip through pages to find functions; lack of systematic integration of intelligent paving functions, resulting in a lack of a unified function tree structure and operation logic; lack of unified UI (User Interface) design and interaction specifications, leading to inconsistent experiences between different models and functions; mismatch between hardware performance and software functionality, such as the need for improvement in brightness, touch response, and communication reliability; and lack of support for customization and quick operation, failing to adapt to users' personalized needs.

[0050] Therefore, the present invention provides an intelligent paver, which includes a display unit, a communication unit and a control system. The control system includes a memory and a processor. The memory stores a computer program and the processor executes the computer program.

[0051] Optionally, the control system's processor uses the RK3568J chip with an ARM Cortex-A55 architecture and integrates an NPU (Neural Processing Unit) unit with a computing power of no less than 1 TOPS (TeraOperations Per Second) for lightweight AI inference tasks. The display unit includes a 10.1-inch LCD touchscreen with a maximum brightness of no less than 1200 cd / m², a resolution of 1280x800, and supports multi-touch and glove operation. The touchscreen surface is fully laminated for anti-fog, anti-glare, and anti-fingerprint treatment. The communication unit includes at least two independent CAN 2.0B (Controller Area Network 2.0B) bus interfaces (CAN1 primary, CAN2 backup), supporting packet loss-free operation under 70% bus load; it integrates WiFi 5.0 (2.4GHz) and Bluetooth 4.0 modules; the high-end version additionally integrates a 4G LTE (CAT1) module and supports BeiDou / GPS dual-mode positioning.

[0052] The intelligent paver also includes a human-machine interface (HMI) unit, which features three customizable physical buttons with a lifespan of at least 100,000 presses. This HMI unit can also integrate a linear vibration motor (LRA) and a mono speaker. The LRA provides tactile feedback for touch operations, and the mono speaker can generate a sound pressure level of at least 80dB at a distance of 30cm. The intelligent paver uses a single six-pin rotary aviation socket as its power and communication interface. Its pin definitions include: Pin 1 - shield, Pin 2 - positive power, Pin 3 - ground, Pin 4 - CAN_H, Pin 5 - CAN_L, Pin 6 - reserved. It also provides a USB Type-C interface, supporting USB 2.0 protocol, program upgrades, and data export. The power input supports a wide voltage range of 8-36V and has reverse polarity protection. Furthermore, the intelligent paver has an overall protection rating of IP67; its operating temperature range covers -30℃ to 80℃ (without battery) or -20℃ to 60℃ (with battery); and its outer shell is made of engineering plastic with a flame retardant rating of UL94-V0 and is coated with rubber.

[0053] Furthermore, the functional layer of the intelligent paver in this invention integrates functions into a tree structure according to six categories (basic functions, auxiliary functions, intelligent paving, information query, diagnostic alarm, and adjustment calibration), supporting intelligent paving functions such as one-click construction, automatic steering, automatic extension and retraction, and construction memory and recovery. Optionally, this invention organizes the overall functions of the intelligent paver into six primary functional trunks (basic functions, auxiliary functions, intelligent paving, information query, diagnostic alarm, and adjustment calibration), with multiple secondary and even tertiary functional branches derived from each trunk, totaling no less than 50 functional blocks; among them, "intelligent paving" is an independent primary trunk, integrating multiple functions including one-click construction, automatic steering, automatic extension and retraction, automatic hopper, material truck docking, synchronous transfer, and task creation.

[0054] This invention is developed based on the RK3568J platform, supports Linux systems and QT development environments, and integrates a 10.1-inch high-brightness touch screen, dual CAN bus communication, a multimodal interaction module, and an NPU computing unit, constructing a four-layer architecture that coordinates the hardware, control, software, and functional layers. It proposes a human-machine collaborative control strategy with a function tree as the framework and a six-zone interactive interface as the carrier, achieving deep integration and streamlined operation of six major functions: basic functions, auxiliary functions, intelligent paving, information query, diagnostic alarm, and adjustment calibration. This invention overcomes the technical limitations of traditional pavers, such as complex human-machine interaction layers and dispersed intelligent functions, significantly improving operational efficiency and construction quality. It supports user customization and standardized promotion across the entire product series, and features high reliability, strong environmental adaptability, and good maintainability.

[0055] In an exemplary embodiment, the display unit includes: a real-time prompt area, located in the first area of ​​the display unit, for displaying alarm record data; an engine information area, located in the second area of ​​the display unit, for displaying key engine parameters of the intelligent paver; the key engine parameters include engine speed, water temperature, and oil pressure; a quick operation area, located in the third area of ​​the display unit, for providing users with multiple quick function icons; the quick function icons are quick access points to functions; a menu operation area, located in the fourth area of ​​the display unit, for displaying at least one function category icon based on folded and unfolded states; wherein, the function category icon corresponds to multiple function icons, including basic function category icons, auxiliary function category icons, intelligent paving category icons, information query category icons, diagnostic alarm category icons, and adjustment calibration category icons; and a function display area, located in the fifth area of ​​the display unit, for displaying subpages of the function icons corresponding to the menu operation area or quick operation area.

[0056] For example, the display unit is logically and physically divided into six functional areas, and their interaction logic is defined. The six functional areas include a real-time prompt area, an engine information area, a quick operation area, a menu operation area, a function display area, and a system status area. The real-time prompt area is located in the first area of ​​the display unit, which is the upper left side of the display unit. It is used to dynamically display alarm record data, including alarm classification and alarm level information. This real-time prompt area also allows users to click to expand details and long-press to view handling suggestions, and can export historical alarm record data via an external USB flash drive. The engine information area is located in the second area of ​​the display unit, which is the middle left side of the display unit. It displays key engine parameters of the intelligent paver, including engine speed, water temperature, and oil pressure. The engine information area also displays relevant alarm icons and is compatible with traditional diesel engines, pure electric systems, and hybrid systems. The quick operation area is located in the third area of ​​the display unit, which is the lower left side of the display unit. It provides users with multiple quick function icons, offering up to 11 icons. These icons can be customized by the user, and users can edit quick menu combinations by dragging and clicking the plus and minus signs. The menu operation area is located in the fourth area of ​​the display unit, which is the bottom of the display unit. This menu operation area has two forms: collapsed and expanded. In the collapsed state, it displays six main categories in the form of function category icons: basic function category icons, auxiliary function category icons, intelligent paving category icons, information query category icons, diagnostic alarm category icons, and adjustment calibration category icons. Users can switch categories by swiping left and right. In the expanded state, it displays all function entries under the current function category icon in a grid layout, supporting vertical scrolling and clicking to enter. The function display area is located in the fifth area of ​​the display unit, which is the central right side of the display unit. This is the main content display area, used to render the function interface selected by the user from the menu or shortcuts. Users can switch between sub-pages of the same function by swiping left and right. The system status area is located on the upper right side of the display unit, displaying basic information such as time, battery voltage, and communication status. Users can quickly access the system settings menu by swiping down to adjust brightness, volume, language, etc.

[0057] like Figure 1 As shown, the present invention also provides a control method for an intelligent paver. Taking the application of this method to the control system of the aforementioned intelligent paver as an example, the intelligent paver includes a display unit and a communication unit; the method includes the following steps 102 to 104.

[0058] Step 102: In response to touch events from the display unit and message events from the communication unit, interactive control of the intelligent paver is performed.

[0059] Touch events represent the user's operational intent input via the touchscreen of the display unit; message events refer to CAN message events, which represent changes in the operating status of each subsystem of the intelligent paver and feedback on control results. Optionally, the control system coordinates the relationship between user operations and the operating status of the intelligent paver based on the integrated processing of touch events and CAN message events, so as to realize interactive control of function interface switching, function interface settings, and function interface parameter settings.

[0060] Step 104: Based on the operating condition parameters of the intelligent paver obtained by the communication unit, perform functional control on the intelligent paver.

[0061] Operating parameters include screed temperature, hopper material level, engine status, and hydraulic system status. The functions of the intelligent paver include one-button construction, automatic steering, automatic extension and retraction, automatic hopper, material truck docking, synchronous transfer, task assembly, and many other functions.

[0062] Taking the one-click construction function control of intelligent pavers as an example... Figure 2 This is a flowchart illustrating the one-click construction function control. Step 104 includes steps 1042 to 1048.

[0063] Step 1042: When it is determined that the operating condition parameters meet the preset state threshold, the initial parameter setting command and enable signal are sent to each subsystem of the intelligent paver according to the preset timing sequence, so that the intelligent paver enters the operating state.

[0064] Step 1044: Obtain real-time paving data of the intelligent paver based on the communication unit, and adjust the real-time operating parameters of each subsystem based on the real-time paving data and the preset paving threshold using a PID control algorithm.

[0065] Step 1046: When the communication unit receives the warning signal, it sends a stop command to each subsystem, causing the intelligent paver to enter an interrupt state.

[0066] For example, upon receiving a user's start command, the system enters a condition verification state; and periodically queries operating parameters such as screed temperature, hopper material level height, engine status, and hydraulic system status via the CAN bus.

[0067] If all operating parameters meet the preset conditions, the system enters the sequential start-up state. According to the preset timing and delay, enable signals and initial parameter setting instructions are sent sequentially to each subsystem of the intelligent paver, such as the traveling system, material conveying system, material distribution system, and automatic leveling system. Meeting the preset operating parameters means that the operating parameters reach preset threshold values. For example, if the threshold value corresponding to the screed temperature is set to 120℃, the screed temperature meets the preset condition when it exceeds 120℃; similarly, if the threshold value corresponding to the hopper material level height is set to 50%, the hopper material level height meets the preset condition when it exceeds 50%.

[0068] Once all subsystems of the intelligent paver are started, it enters the operation monitoring state. In this state, real-time paving data is continuously collected and compared with preset paving thresholds. A PID (Proportional-Integral-Derivative) control algorithm is used to dynamically adjust the real-time operating parameters of each subsystem via the CAN bus. This real-time paving data includes paving speed, thickness, and smoothness. Simultaneously, the communication unit monitors the alarm bus in real time. If a high-level alarm occurs or user intervention occurs, the intelligent paver enters an interrupt state, performing speed reduction or shutdown according to a preset safety strategy, and recording the reason for the interruption.

[0069] The control process for the one-click construction function is a typical sequential control process:

[0070] (1) Status S301: Idle: Function not started. The display unit of the intelligent paver displays the "Start" button.

[0071] (2) State S302: Condition Validation (CHECKING): After the user presses the "Start" button, the control system enters this state. It sends query messages to the relevant controllers in sequence and waits for a reply.

[0072] Send a 0x401 message to query the ironing plate temperature.

[0073] Send a 0x402 message to query the material level height.

[0074] ...waiting for all necessary parameters to be replied...

[0075] The built-in rule engine checks whether all parameters are within the allowable range (e.g., ironing plate temperature > 120℃ and material height > 50%). If all conditions are met, the system jumps to state S303; if any condition is not met, the system jumps back to state S301 and displays which condition was not met.

[0076] (3) Status S303: Sequential Start-up (STARTING): When all conditions are met, the subsystems of the intelligent paver are started sequentially.

[0077] Step 1: Send a 0x411 message (data field: Enable=1, Set_Speed=3 m / min) to the walking controller.

[0078] Step 2: After waiting for 500ms, send a 0x412 message (data field: Enable=1, RPM=800) to the material feeder controller.

[0079] Step 3: After waiting for 300ms, send the 0x413 message to the material distribution controller.

[0080] After each step is executed, a CAN message is used to confirm whether the subsystem has been successfully enabled. Once all steps are successful, the system transitions to state S304.

[0081] (4) State S304: RUNNING: The system enters a stable operating state. In this state:

[0082] Monitoring: The data refresh timer continuously requests and monitors key parameters (such as actual paving thickness).

[0083] Adjustment: The monitored actual thickness is compared with the target thickness, and the difference is input to a discrete PID controller (PID_Thickness). This controller calculates the output every 200ms and sends it to the leveling controller via a 0x414 message to fine-tune the ironing plate's elevation angle.

[0084] Listen: Continuously listen to the Alarm_Map_Table to check for alarms of level 3 or above.

[0085] (5) State S305: Interrupted: This state is entered when a high-level alarm is detected in state S304 or when the user presses the "Stop" button.

[0086] The system immediately sends a 0x41F (emergency stop) or 0x41E (smooth stop) broadcast message to notify all subsystems to stop.

[0087] The system records the reason for intervention and all current parameters, and saves them to NVS (Non-Volatile Storage).

[0088] After all subsystems confirm that they have stopped, return to state S301.

[0089] In this embodiment, the construction parameters can be automatically adjusted during the construction process to maintain the stability of the paver's construction status, thereby ensuring the quality of the paving operation.

[0090] In an exemplary embodiment, the function further includes automatic steering; automatic steering control of the intelligent paver includes: acquiring real-time pose data of the intelligent paver through a communication unit; the pose data includes positioning information, steering status data, and travel speed data; determining the lateral deviation value between the current position of the intelligent paver and the preset path corresponding to the intelligent paver based on the real-time pose data; calculating the steering angle correction amount corresponding to the intelligent paver using a PID control algorithm based on the lateral deviation value and the real-time travel speed data, and controlling the intelligent paver to perform automatic steering based on the steering angle correction amount.

[0091] Positioning information refers to the GNSS (Global Navigation Satellite System) positioning data of the intelligent paver, while steering status data refers to the data from the steering rod angle sensor.

[0092] For example, GNSS (Global Navigation Satellite System) positioning data, steering column angle sensor data, and travel speed data are received and fused in real time. Based on the received and fused data, the lateral deviation between the current position of the intelligent paver and the preset path is calculated. Using a fuzzy PID control algorithm, with the determined lateral deviation and the travel speed data of the intelligent paver as inputs, the angle correction amount of the steering system is calculated and sent to the steering controller via CAN message to achieve high-precision automatic correction driving.

[0093] In this embodiment, by fusing the positioning information, steering status data, and driving speed data of the intelligent paver, a comprehensive perception of the intelligent paver's driving status can be formed. Based on this, by calculating the lateral deviation between the intelligent paver's current position and the preset path corresponding to the intelligent paver, and using the lateral deviation and real-time driving speed data as inputs into the fuzzy PID control algorithm, the steering angle correction can be adaptively generated according to different deviation levels and driving conditions, making the steering control process smoother and more robust. At the same time, the steering angle correction is sent to the corresponding controller via CAN message to realize closed-loop automatic correction control, effectively reducing the magnitude of the intelligent paver's deviation from the preset path and improving the path tracking accuracy, driving stability, and control reliability during automatic driving.

[0094] In an exemplary embodiment, the display unit includes a real-time prompt area, and the interactive control includes real-time prompt area control. In response to touch events on the display unit and message events on the communication unit, interactive control of the intelligent paver is performed, including: monitoring bus messages on the communication unit; when alarm data is detected, storing the alarm data in a target first-in-first-out queue; the alarm data is bus message data within a preset identifier range; retrieving alarm data from the target first-in-first-out queue based on a first preset period, and updating a pre-stored alarm record table in real time based on the retrieved alarm data; reading valid alarm records from the real-time updated alarm record table based on a second preset period, and updating the real-time prompt area control based on the alarm level and alarm status of the valid alarm records.

[0095] The target first-in-first-out queue is a first-in-first-out (FIFO) queue named CAN_Rx_Queue. The alarm data is bus message data within the preset identification range, which means the identifier (ID) is in the range of 0x100 to 0x2FF. The first preset period is 10ms and the second preset period is 100ms.

[0096] Optionally, the processor of the control system includes multiple threads, such as a CAN message receiving thread, an alarm processing thread, and an interface rendering thread. The CAN message receiving thread can listen for messages on the bus based on the communication unit. When it receives a message with an identifier (ID) in the range of 0x100 to 0x2FF, it pushes the message into a first-in-first-out (FIFO) queue named CAN_Rx_Queue. The alarm processing thread retrieves messages from CAN_Rx_Queue every 10ms. Internally, this thread maintains an alarm record table (Alarm_Map_Table), which stores the category, level, description, timestamp, and current status (active / inactive) of each alarm, indexed by the alarm ID. The alarm processing thread updates the status of the corresponding alarm ID in the Alarm_Map_Table based on the alarm status bits in the message data field. The interface rendering thread reads the Alarm_Map_Table every 100ms and updates the real-time alert area interface according to the alarm level and status. When the user long-presses (Touch Event: Long Press) a certain alarm record in the alarm record table on the real-time alert area interface, the control system queries the built-in knowledge base to display a detailed explanation of the alarm record and the recommended action.

[0097] Furthermore, when the control system detects that a USB Type-C interface is connected to a USB flash drive (by detecting an interrupt generated by the USB controller), an export icon will be displayed on the display unit. After the user clicks the export icon, the system will encrypt the history of Alarm_Map_Table (stored in the SQLite database) in CSV (Comma-Separated Values) format and write it to the USB flash drive.

[0098] In this embodiment, bus messages are continuously monitored, and bus message data that meets the preset identifier range is cached in the target first-in-first-out queue. This achieves orderly reception and decoupled processing of alarm-related messages, avoiding the loss of alarm data in the event of a sudden message outbreak. Alarm data is retrieved from the target first-in-first-out queue based on a first preset period, and the pre-stored alarm record table is updated in real time based on the retrieved alarm data, which improves the standardization and maintainability of alarm data management. Valid alarm records are read from the real-time updated alarm record table based on a second preset period, and the real-time alert zone control is updated based on the alarm level and alarm status of the valid alarm records, which helps users quickly understand the meaning of the alarm and take corresponding measures. Overall, this embodiment improves the real-time performance, reliability, and operation and maintenance management efficiency of the intelligent paver alarm data processing.

[0099] In an exemplary embodiment, the display unit further includes a quick operation area, and the interactive control further includes quick operation area control; in response to touch events of the display unit and message events of the communication unit, the interactive control of the intelligent paver further includes: when it is detected that the duration of a user's long press operation on the display unit exceeds a preset time threshold, controlling the quick operation area to enter an editing state; wherein, the editing state displays quick function icons to be deleted and a function repository including multiple function icons to be added; in the editing state, when it is detected that the user performs an add operation on a target function icon to be added in the function repository, the empty space index in the quick operation area is bound to the unique identifier of the target function icon to be added, and the preset position mapping table is updated based on the bound empty space index and the unique identifier of the target function icon to be added; in the editing mode, when it is detected that the user performs a delete operation on a target quick function icon to be deleted, the unique identifier of the target quick function icon is unbound from the position index of the target quick function icon, and the position mapping table is updated based on the unbound unique identifier of the target quick function icon and the position index of the target quick function icon.

[0100] For example, the control logic of the control system for the quick operation area is as follows:

[0101] Status determination: The control system has a global variable Quick_Edit_Mode to indicate whether the shortcut operation area is in edit mode.

[0102] Entering Edit Mode (S204): When the system detects that the user has pressed and held a blank area on the display unit for more than 1.5 seconds (timed by timer T_edit), it sets Quick_Edit_Mode to TRUE, which means the shortcut operation area enters the editing state and triggers the following actions:

[0103] Calling the animate() function initiates a translation animation that slightly spreads out the shortcut icons.

[0104] Draw a "-" button in the upper right corner of each existing shortcut icon.

[0105] Switch the content of the function display area to the "Function Repository" view. The "Function Repository" view displays all the function icons that can be added through a grid layout, and each function icon has a "+" button in the lower right corner.

[0106] Add Function (S205): In the edit state of the quick operation area, the user clicks the "+" button on a function icon to be added (target function icon) in the function repository. System execution:

[0107] Check the empty slot index (Empty_Slot_Index).

[0108] Bind the unique ID (Function_ID) of the target function icon to be added to this empty slot index and write it to the location mapping table of the NVS storage area. This location mapping table can be Quick_Settings_Config (Quick Settings Configuration Block).

[0109] The invalidate() function is called to redraw the icon, which will be used as the new shortcut icon and rendered according to the configuration information.

[0110] Removal function (S206): When it is detected that the user clicks the "-" button in the upper right corner of a shortcut function icon to be deleted (target shortcut function icon), the unique identifier of the target shortcut function icon is unbound from the position index of the target shortcut function icon. That is, the control system clears the Function_ID bound to the position of the target shortcut function icon, updates Quick_Settings_Config, and then redraws.

[0111] Save and Exit (S207): When the system detects that the user has clicked the "Confirm" button in the editing state, the control system sets Quick_Edit_Mode to FALSE, causing the shortcut operation area to exit the editing state, and performs a full write operation of Quick_Settings_Config to NVS to ensure data persistence.

[0112] Execution Function (S208): In the normal mode of the quick operation area (Quick_Edit_Mode == FALSE), when the system detects that the user clicks a quick function icon, it obtains the Function_ID bound to the corresponding position of the quick function icon by looking up the table, and then finds the corresponding processing function from another function jump table (Function_Jump_Table) based on the Function_ID and executes it; for example, if the Function_ID corresponds to "construction memory", the processing function will send a message with ID 0x210 via CAN to request to obtain the stored construction parameters.

[0113] In the previous exemplary embodiment, the display unit further includes a menu operation area, and the interaction control further includes menu operation area control; the method further includes: real-time monitoring of the touch coordinate information of the touch screen corresponding to the display unit; when the menu operation area is in a collapsed state, and the horizontal sliding distance of the touch coordinates in the menu operation area exceeds a preset horizontal threshold, switching the currently displayed function category icon in the menu operation area; wherein, when the menu operation area is in a collapsed state, the menu operation area displays at least one function category icon; when the menu operation area is in a collapsed state, and the vertical sliding of the touch coordinates in the menu operation area is detected, switching the state of the menu operation area to an expanded state; wherein, the expanded state is used to display all function icons corresponding to the currently displayed function category icon in the menu operation area.

[0114] For example, the control logic of the control system for the menu operation area is as follows:

[0115] Gesture recognition: The control system determines the user's gesture by listening to the coordinate information of the touch screen corresponding to the display unit. The coordinate information of the touch screen includes the X and Y coordinate change rate and displacement difference of the touch screen.

[0116] Folded Navigation (S209): The menu operation area is in a folded state by default, displaying at least one function category icon. When the menu operation area is in a folded state, and a horizontal swipe (identified as Gesture_Swipe_Left or Gesture_Swipe_Right) is detected within the menu operation area (i.e., when the user swipes left or right), the control system calculates the distance and speed of the horizontal swipe. If the horizontal swipe distance exceeds a preset horizontal threshold (e.g., 20% of the touchscreen), the function category icon is switched; the control system calls the scrollTo() function to create a smooth horizontal scrolling animation in the function category icon list, switching to the next or previous group of function category icons.

[0117] Expand and Collapse (S210): When the menu operation area is in a collapsed state, and a vertical swipe of the touch coordinates within the menu operation area is detected, specifically, when the user clicks the "Expand" button on the far right of the collapsed state or swipes upward (Gesture_Swipe_Up), the control system sets Menu_Expand_Status (menu expanded state variable) to TRUE, that is, switches the state of the menu operation area to the expanded state; the control system increases the height from the original height (e.g., 60 pixels) to the expanded height (e.g., 300 pixels) using QPropertyAnimation (control property animation), and dynamically loads all function icons corresponding to the currently displayed function category icons with a fade-in animation. The collapse process (switching to the collapsed state) is the opposite.

[0118] Function Selection (S211): When the menu operation area is expanded and a user clicks on a function icon, the control system dynamically loads the corresponding function interface resource file (QML file) based on the function icon's Function_ID and renders it to the function display area. Simultaneously, the control system records the current function ID (Current_Function_ID) for subsequent refreshes.

[0119] In the previous exemplary embodiment, the display unit further includes a function display area, and the interaction control further includes function display area control; the method further includes: when it is determined that the function icon pointed to by the function identifier has multiple subpages, preloading the multiple subpages and displaying the preloaded target subpage in the function display area; when the function display area displays the target subpage, and when the touch coordinates are detected to slide horizontally or vertically within the function display area, switching the target subpage currently displayed in the function display area.

[0120] For example, the control logic of the control system for the function display area is as follows:

[0121] Page Management: This feature display area is a StackView (page stack management module) used to manage the hierarchy of subpages of the feature icons.

[0122] Slide switching (S212): When the function icon pointed to by the function identifier has multiple sub-pages, that is, when the function corresponding to Current_Function_ID has multiple sub-pages (such as the "Diagnosis" function has two sub-pages, "Current Fault" and "Historical Fault"), the control system will preload these sub-pages and put them into StackView. The system calls the pop() and push() functions of StackView to realize the switching between sub-pages, accompanied by a slide-in and slide-out animation effect.

[0123] Data Binding and Refresh (S213): A dedicated data refresh timer (Timer_Data_Refresh) triggers at 100ms intervals. Each time a timeout occurs, it checks the Current_Function_ID and then sends a message via CAN requesting the data needed for that function (e.g., for the "Engine Information" function, a request message with ID 0x301 is sent). Upon receiving a response message, the data is parsed, and the bound data model in the UI is updated. QT's Model-View framework automatically reflects these changes on the function display area.

[0124] In this embodiment, the intelligent paver is interactively controlled in response to touch events of the display unit and message events of the communication unit. This enables the intelligent paver to interactively control the real-time prompt area, quick operation area, menu operation area, and function display area, thereby achieving real-time response and dynamic display of user operation and intelligent paver status. It can update alarm information in real time, update operation interface information in a timely manner, and provide quick access to functions, thereby improving the operational accuracy, operational safety, and unified management capability of complex functions of the intelligent paver, significantly enhancing the human-machine interaction experience and operational reliability of the intelligent paver.

[0125] In one exemplary embodiment, interactive control of the smart paver also includes global gesture and button control of the smart paver.

[0126] For example, the control logic for global gesture and button control in the control system is as follows:

[0127] System Settings Callup (S214): Controls the system to globally monitor gestures that slide down from the top edge of the touchscreen on the display unit (Y coordinate starting value < 50 pixels, sliding distance > 100 pixels). Once this gesture is recognized, regardless of the current function interface, the current operation is immediately interrupted, and a semi-transparent system settings shortcut panel pops up at the top of the current interface; this panel provides slider controls for commonly used settings such as brightness and volume.

[0128] Physical button linkage (S215): The control system listens for the press events of three custom buttons via GPIO (General Purpose Input / Output) interrupt service routines (ISRs). A button press triggers a hardware interrupt. The ISR reads the GPIO level state, determines which button was pressed, and places the button event (Key_Event) into a message queue. The main thread retrieves the button event from the queue and processes it. For example, KEY_EVENT_SWITCH is mapped to a call to the toggleSystemSettings() function, achieving the same effect as a swipe gesture.

[0129] Furthermore, swiping down from the top edge of the touchscreen corresponding to the display unit will bring up a pre-set shortcut panel at any interface level. Swiping up in the menu area will switch it from a collapsed state to an expanded state. Swiping left or right in the function display area will switch between different subpages under the same function.

[0130] In an exemplary embodiment, the intelligent paver control method of the present invention is a multi-level integrated control system that integrates hardware control, interactive logic, function execution, and data management. Its control flow is generally constructed based on a state machine and event-driven model. The control system executes corresponding control commands and jumps to a new state based on different input events (touch, button, CAN message) and the current state. For example, as... Figure 3 The diagram shown illustrates the process of initialization and self-test control of the control system (corresponding to the hardware startup phase). This process includes the following steps:

[0131] Step 201: After the system is powered on, the power management chip (PMIC) RK809-5 sequentially turns on each power rail to supply power to the core board (RK3568J), memory, storage, and peripherals.

[0132] Step 202: The MCU (Microcontroller Unit) loads the Bootloader from the SPI Flash (Serial Peripheral Interface Flash). The Bootloader program initializes the DDR4 memory and the Emmmc (Embedded MultiMediaCard) controller, and then loads the Linux kernel from the Emmmc into memory to run.

[0133] Step 203: After the Linux kernel boots up, it mounts the root file system and starts the system daemons in sequence, including the CAN bus driver service can0.service, the touch screen driver service ts.input.service, the audio service audio.service, etc.

[0134] Step 204: After the Linux kernel boots up, the QT application runs automatically. This application first calls the hardware interface query function to read virtual file system nodes such as / proc / cpuinfo / sys / class / thermal / thermal_zone0 / temp and / sys / class / gpio in a loop to obtain information such as CPU model, temperature, and GPIO (general purpose input / output) status, and to determine whether the core hardware is ready.

[0135] Step 205: The application interacts with the CAN controller driver via IOCTL (Input / Output Control) commands, initializes the two CAN buses (CAN1 and CAN2), sets the baud rate to 250kbps, and defaults to setting CAN1 as the main communication channel. Then, it sends a broadcast query message (ID: 0x000) to the CAN bus, waiting for a handshake message (ID: 0x001) from the corresponding controllers of each subsystem. If at least one reply is received within 500ms, the communication link is considered normal; otherwise, it attempts to switch to the CAN2 channel and repeat the above process.

[0136] Step 206: The self-test program reads the model register of the touch screen controller through the I2C (Inter-Integrated Circuit) interface, tests the audio codec through the ALSA (Advanced Linux Sound Architecture) audio interface, and adjusts the backlight brightness from 0% to 100% and then to 50% through the PWM (Pulse Width Modulation) interface to complete the peripheral device test.

[0137] Step 207: After all self-test items pass, the System_Self_Check_Status flag is set to 0; the application reads the user settings (such as language, brightness, volume, shortcut menu layout) saved before the last shutdown and the last displayed function interface ID from the Emmm's non-volatile storage partition (NVS), and restores the context environment.

[0138] Step 208: If any self-test item fails, System_Self_Check_Status is set to ERROR, and the specific error code (such as ERR_201: CAN1 Comm Failure) is displayed in the real-time prompt area. At the same time, an audio alarm (continuous beeping) and backlight flashing (switching between 50% and 100% brightness at a frequency of 1Hz) are triggered until user intervention.

[0139] In one exemplary embodiment, the control system of the intelligent paver is also used for data management and communication control. Exemplarily, the control logic for data management and communication control is as follows:

[0140] Data logging: A low-priority logging thread is responsible for writing data to the SQLite database. This thread listens to a global Log_Queue. When other threads need to log, they put a record containing a timestamp, event ID, and data value into the queue. The logging thread writes the records in the queue to the database file asynchronously, avoiding blocking the main thread.

[0141] OTA Upgrade Control: The high-end version of the system runs an OTA daemon process in the background. This process connects to the company's OTA server periodically (e.g., every 24 hours) via a 4G module to check for new versions. It also employs an A / B dual-system partition design to ensure that upgrades can be rolled back if they fail.

[0142] In one exemplary embodiment, the control system of the intelligent paver is also used for software update and data management control. Exemplarily, the software update and data management control logic is as follows:

[0143] It adopts an A / B dual-system partition design and supports seamless OTA (Over-The-Air) wireless upgrades. During the upgrade process, the downloaded upgrade package is verified and installed on the inactive partition. After successful installation, the boot partition is switched; if it fails, it rolls back to the original partition.

[0144] It has a built-in SQLite relational database for encrypted storage of historical alarm logs, operation records, key operating parameters, and device configuration information; it also supports exporting all data in CSV format via a USB Type-C interface.

[0145] An alarm management mechanism based on classification and level has been implemented; alarms are divided into at least 6 categories (power, hydraulic, walking, leveling, material conveying, and intelligent paving) and 4 levels (warning, slight movement restriction, height movement restriction, and shutdown). Different levels of alarms trigger different audible, visual, and vibration prompts and human-machine interaction responses.

[0146] In one exemplary embodiment, the intelligent paver also provides a customizable shortcut function key, which can be configured by the paver's control system. Exemplarily, the configuration logic for the shortcut function key is as follows:

[0147] The display unit includes an editing interface that displays a menu list of all currently available first-level function menus and commonly used second-level function menus;

[0148] The control system receives an instruction from the user to select at least one function menu from the menu list above, and binds the identifier of the selected function menu to an empty slot identifier in the quick operation area.

[0149] The binding relationship is persistently stored in non-volatile memory (NVS);

[0150] When the control system receives a user's instruction to trigger an icon in the shortcut operation area, it parses out the corresponding function identifier based on the stored binding relationship and executes the function logic or interface jump corresponding to that identifier.

[0151] The intelligent paver control method of this invention achieves human-machine interaction control of the intelligent paver by responding to touch events generated by the display unit and message events received by the communication unit. This enables the operation commands to be linked with the intelligent paver's operating information, thereby improving the real-time performance and consistency of the intelligent paver's interactive control. Simultaneously, based on the intelligent paver's operating condition parameters obtained by the communication unit, corresponding functions are controlled to match the function control with the equipment's current operating state, avoiding misoperations caused by information lag or inconsistent states. This further improves the control accuracy, operational stability, and operational reliability of the intelligent paver during construction. The intelligent paver and its control method of this invention can improve operational efficiency and user experience, reduce misoperations and learning costs, achieve deep integration of intelligent paving functions and one-click operation; form a standardized and iterative technology platform supporting the application of a full range of products; and possess good reliability, environmental adaptability, and maintainability.

[0152] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0153] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0154] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0155] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0156] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0157] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0158] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0159] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling an intelligent paver, characterized in that, The method is applied to an intelligent paver, which includes a display unit and a communication unit; the method includes: The intelligent paver is interactively controlled in response to touch events of the display unit and message events of the communication unit. Based on the operating condition parameters of the intelligent paver obtained by the communication unit, the intelligent paver is functionally controlled; wherein, the function includes one-button construction; one-button construction control of the intelligent paver includes: When it is determined that the operating condition parameters meet the preset operating condition threshold, the initial parameter setting command and enable signal are sent to each subsystem of the intelligent paver in a preset sequence, so that the intelligent paver enters the operating state. The real-time paving data of the intelligent paver is obtained based on the communication unit, and the real-time operating parameters of each subsystem are adjusted based on the real-time paving data and the preset paving threshold using a PID control algorithm. When the communication unit receives a warning signal, it sends a stop command to each of the subsystems, causing the intelligent paver to enter an interrupt state.

2. The method according to claim 1, characterized in that, The function also includes automatic steering; automatic steering control of the intelligent paver includes: The real-time position and posture data of the intelligent paver is obtained through the communication unit; the position and posture data includes positioning information, steering status data and driving speed data; Based on the real-time pose data, the lateral deviation value between the current position of the intelligent paver and the preset path corresponding to the intelligent paver is determined; Based on the lateral deviation value and real-time driving speed data, a PID control algorithm is used to calculate the steering angle correction amount corresponding to the intelligent paver, and the intelligent paver is controlled to automatically steer based on the steering angle correction amount.

3. The method according to claim 1, characterized in that, The display unit includes a real-time prompt area, and the interactive control includes real-time prompt area control. The interactive control of the intelligent paver in response to touch events from the display unit and message events from the communication unit includes: Based on the communication unit's monitoring of bus messages, when alarm data is detected, the alarm data is stored in the target first-in-first-out queue; the alarm data is bus message data within a preset identifier range. Based on a first preset period, the alarm data is retrieved from the target first-in-first-out queue, and the pre-stored alarm record table is updated in real time based on the retrieved alarm data. Based on the second preset cycle, valid alarm records are read from the real-time updated alarm record table, and the real-time alert zone control is updated based on the alarm level and alarm status of the valid alarm records.

4. The method according to claim 1, characterized in that, The display unit further includes a quick operation area, and the interactive control further includes quick operation area control; the interactive control of the intelligent paver in response to touch events of the display unit and message events of the communication unit further includes: When it is detected that the duration of a user's long press operation on the display unit exceeds a preset time threshold, the quick operation area is controlled to enter the editing state; wherein, the editing state displays quick function icons to be deleted and a function repository including multiple function icons to be added; In the editing state, when it is detected that a user performs an add operation on a target function icon to be added in the function repository, the empty space index in the quick operation area is bound to the unique identifier of the target function icon to be added, and the preset position mapping table is updated based on the bound empty space index and the unique identifier of the target function icon to be added; In the editing state, when a user is detected to be deleting a target shortcut icon, the unique identifier of the target shortcut icon is unbound from the location index of the target shortcut icon, and the location mapping table is updated based on the unbound unique identifier of the target shortcut icon and the location index of the target shortcut icon.

5. The method according to claim 4, characterized in that, The display unit further includes a menu operation area, and the interactive control further includes menu operation area control; the method further includes: The touch coordinate information of the touch screen corresponding to the display unit is monitored in real time; When the menu operation area is in a collapsed state, and the horizontal sliding distance of the touch coordinate within the menu operation area exceeds a preset horizontal threshold, the currently displayed function category icon in the menu operation area is switched; wherein, when the menu operation area is in a collapsed state, the menu operation area displays at least one function category icon; When the menu operation area is in a collapsed state, and the touch coordinate is detected to slide vertically within the menu operation area, the state of the menu operation area is switched to an expanded state; wherein, the expanded state is used to display all function icons corresponding to the function category icons currently displayed in the menu operation area.

6. The method according to claim 5, characterized in that, The display unit further includes a function display area, and the interactive control further includes function display area control; the method further includes: When it is determined that the function icon pointed to by the function identifier has multiple subpages, the multiple subpages are preloaded and the preloaded target subpage is displayed in the function display area; When the function display area displays the target subpage, and the touch coordinates are detected to slide horizontally or vertically within the function display area, the target subpage currently displayed in the function display area is switched.

7. An intelligent paver, characterized in that, The intelligent paver includes a display unit, a communication unit, and a control system. The control system includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

8. The intelligent paver according to claim 7, characterized in that, The display unit includes: The real-time alert area, located in the first area of ​​the display unit, is used to display alarm record data; The engine information area, located in the second area of ​​the display unit, is used to display the key engine parameters of the intelligent paver; the key engine parameters include engine speed, water temperature, and oil pressure; The quick operation area, located in the third area of ​​the display unit, is used to provide users with multiple quick function icons; these quick function icons are quick access points to functions. The menu operation area, located in the fourth area of ​​the display unit, is used to display at least one function category icon based on the folded and unfolded states; wherein, the function category icon corresponds to multiple function icons, including basic function category icons, auxiliary function category icons, intelligent paving category icons, information query category icons, diagnostic alarm category icons, and adjustment calibration category icons; The function display area, located in the fifth area of ​​the display unit, is used to display subpages of function icons corresponding to the menu operation area or shortcut operation area.

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