A method and system for asphalt mixture transport vehicle release agent spray control

Abstract

The embodiment of the present application provides a kind of asphalt mixture transport vehicle release agent spraying control method and system, belong to intelligent spraying control technical field.The method comprises: obtaining the image data of transport vehicle container, and the space model of transport vehicle container is constructed based on image data, the size parameter of transport vehicle container is extracted based on space model and region is divided, and the region type identification corresponding to each position is obtained;Spraying area model is constructed based on size parameter and region type identification, and spraying demand parameter corresponding to each region is generated;The spraying control parameter of each atomizing nozzle is determined based on spraying demand parameter, and corresponding spraying sequence control parameter is generated;Spraying control parameter and spraying sequence control parameter are based on, and spraying device executes spraying operation based on real-time spraying coverage state, and spraying control parameter is revised based on real-time spraying coverage state.The present application scheme realizes the smooth transition distribution of spraying amount by introducing the spatial continuity constraint between spraying unit.

Description

Technical Field

[0001] This invention relates to the field of intelligent spraying control technology, specifically to a method and system for controlling the spraying of release agent on asphalt mixture transport vehicles. Background Technology

[0002] During asphalt pavement construction, to prevent asphalt mixture from adhering to the inner walls of the truck bed during transportation, a release agent is usually sprayed onto the inner walls of the truck bed before loading. Current construction methods often employ fixed spray paths or experience-based parameter settings to spray the inner walls of the truck bed, completing the operation according to a pre-set spray trajectory and spraying time. This method can meet basic usage requirements under standardized working conditions, and the equipment structure is relatively simple and easy to implement.

[0003] However, in practical engineering applications, different transport vehicles vary in terms of cargo box width, height, and length. Furthermore, the interior wall structure of the cargo box may deform or develop transitional areas after long-term use. This makes it difficult for existing spraying methods based on fixed paths or uniform parameters to meet the actual needs of different areas. On the one hand, the lack of dynamic matching between the spraying range and the cargo box dimensions easily leads to insufficient coverage or repeated spraying in certain areas. On the other hand, for structural transitional areas such as the junction of the side walls and the floor, differences in spatial location and liquid adhesion make it difficult to implement differentiated control during spraying, thus affecting the overall spraying distribution.

[0004] Therefore, based on existing spraying methods, how to combine the dimensions of the vehicle compartment and the structural characteristics of its inner wall to create a unified model of the spraying area, and how to coordinate and control the spraying range, spraying sequence, and spraying volume in order to achieve overall matching and dynamic adjustment of the spraying process, has become a technical problem that needs to be further solved in this field. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for controlling the spraying of release agent on asphalt mixture transport vehicles, which at least solves the problems of poor spray coverage and uneven spray distribution in the boundary areas caused by insufficient adaptation of existing spraying processes to differences in vehicle dimensions and structural areas.

[0006] To achieve the above objectives, the first aspect of the present invention provides a method for controlling the spraying of release agent on asphalt mixture transport vehicles. The method includes: acquiring image data of the cargo box of the transport vehicle, constructing a spatial model of the cargo box based on the image data, extracting dimensional parameters of the cargo box based on the spatial model and dividing it into regions to obtain region type identifiers corresponding to each location; constructing a spraying region model based on the dimensional parameters and the region type identifiers, and generating spraying demand parameters corresponding to each region; determining spraying control parameters for each atomizing nozzle based on the spraying demand parameters, and generating corresponding spraying sequence control parameters; controlling the spraying device to perform spraying operations based on the spraying control parameters and the spraying sequence control parameters, and correcting the spraying control parameters based on the real-time spraying coverage status.

[0007] Optionally, constructing a spatial model of the transport vehicle cargo box based on the image data includes: performing binocular matching processing on the image data to obtain disparity data for corresponding pixels; calculating the spatial coordinates corresponding to each pixel based on the disparity data to construct three-dimensional point cloud data of the transport vehicle cargo box; performing coordinate transformation processing on the three-dimensional point cloud data to generate a spatial point set in a unified coordinate system; performing boundary extraction processing on the spatial point set to obtain the inner wall contour data of the transport vehicle cargo box; and constructing a spatial model of the transport vehicle cargo box based on the inner wall contour data.

[0008] Optionally, the size parameters of the transport vehicle cargo box are extracted based on the spatial model and the region is divided to obtain the region type identifier for each location. This includes: extracting the boundaries of the spatial point set in the spatial model, determining the extreme positions of each coordinate direction, and calculating the width, height, and length parameters of the transport vehicle cargo box based on the extreme positions; calculating the surface normal vector information for each location based on the spatial point set, and determining the surface tilt angle parameter based on the surface normal vector information; classifying the spatial point set based on the surface tilt angle parameter, dividing the spatial point sets that meet different preset ranges into side wall regions, bottom plate regions, and side wall and bottom plate boundary regions; and generating the region type identifier for each location based on the division results.

[0009] Optionally, a spraying area model is constructed based on the size parameters and the area type identifier, and spraying demand parameters corresponding to each area are generated, including: dividing the spatial model into grids based on the size parameters to obtain multiple spraying units, and constructing a spraying area model based on the spatial positional relationship of each spraying unit; mapping the area type identifier to each spraying unit in the spraying area model to obtain the area type corresponding to each spraying unit; assigning a corresponding area correction coefficient to each spraying unit based on the spatial positional relationship of each spraying unit in the spraying area model and the corresponding area type; and generating spraying demand parameters for each spraying unit based on the area correction coefficient and a preset target spraying volume.

[0010] Optionally, generating spraying demand parameters for each spraying unit based on the area correction coefficient and the preset target spraying volume includes: calculating the basic spraying volume corresponding to each spraying unit based on the preset target spraying volume and the area of ​​each spraying unit; correcting the basic spraying volume based on the area correction coefficient to obtain the target spraying volume for each spraying unit; converting the target spraying volume into spraying time parameters and spraying flow rate parameters based on the target spraying volume and the spraying capacity parameters of the spraying device; and using the spraying time parameters and the spraying flow rate parameters as the spraying demand parameters for each spraying unit.

[0011] Optionally, based on the spraying demand parameters, the spraying control parameters of each atomizing nozzle are determined, and corresponding spraying sequence control parameters are generated, including: establishing a correspondence between spraying units and atomizing nozzles based on the spatial location of each spraying unit and the spatial distribution relationship of each atomizing nozzle; allocating the spraying demand parameters of each spraying unit to the corresponding atomizing nozzle based on the correspondence to obtain the target spraying volume corresponding to each atomizing nozzle; determining the spraying time parameters, spraying flow rate parameters, and start / stop status parameters of each atomizing nozzle based on the target spraying volume and spraying capacity parameters of each atomizing nozzle; sorting each spraying unit based on the area type identifier, and generating corresponding spraying sequence control parameters according to the sorting result.

[0012] Optionally, based on the target spray volume and spray capacity parameters of each atomizing nozzle, the spray time parameter, spray flow rate parameter, and start / stop status parameter of each atomizing nozzle are determined, including: using the rated spray flow rate corresponding to each atomizing nozzle as the spray capacity parameter, and calculating the corresponding basic spray time based on the target spray volume and the rated spray flow rate; comparing the basic spray time with a preset time threshold; when the basic spray time is greater than the preset time threshold, maintaining the rated spray flow rate and using the basic spray time as the spray time parameter; when the basic spray time is not greater than the preset time threshold, setting the spray time parameter to the preset time threshold, and calculating the spray flow rate parameter based on the target spray volume and the spray time parameter; The start and stop control times for each atomizing nozzle are generated based on the spraying time parameters, and the start and stop status parameters for each atomizing nozzle are determined according to the start and stop control times.

[0013] Optionally, controlling the spraying device to perform spraying operations based on the spraying control parameters and the spraying sequence control parameters includes: sequentially selecting atomizing nozzles in corresponding areas as the current execution objects according to the spraying sequence control parameters; controlling the atomizing nozzles corresponding to the current execution objects to open based on the spraying control parameters, and performing spraying according to the corresponding spraying time parameters and spraying flow parameters; after the spraying time parameter corresponding to the current execution object ends, controlling the corresponding atomizing nozzles to close, and switching to the next execution object, until the spraying operations corresponding to all areas are completed.

[0014] Optionally, the spraying control parameters are corrected based on the real-time spraying coverage status, including: acquiring real-time image data of the inner wall of the transport vehicle's cargo box, identifying the actual coverage status of each spraying unit based on the real-time image data, and obtaining the actual spraying volume of each spraying unit; calculating the spraying deviation value based on the actual spraying volume of each spraying unit and the corresponding target spraying volume; correcting the spraying demand parameters of the corresponding spraying unit based on the spraying deviation value to obtain updated spraying demand parameters; redetermining the spraying control parameters of each atomizing nozzle based on the updated spraying demand parameters, and controlling the spraying device to perform a compensating spraying operation.

[0015] A second aspect of the present invention provides a control system for spraying release agent on asphalt mixture transport vehicles. The system includes: an image acquisition unit, configured to acquire image data of the cargo box of the transport vehicle, construct a spatial model of the cargo box based on the image data, extract size parameters of the cargo box based on the spatial model, divide the cargo box into regions, and obtain region type identifiers for each location; a demand parameter determination unit, configured to construct a spraying region model based on the size parameters and the region type identifiers, and generate spraying demand parameters for each region; a control parameter generation unit, configured to determine spraying control parameters for each atomizing nozzle based on the spraying demand parameters, and generate corresponding spraying sequence control parameters; and a spraying execution unit, configured to control the spraying device to perform spraying operations based on the spraying control parameters and the spraying sequence control parameters, and correct the spraying control parameters based on the real-time spraying coverage status.

[0016] The above technical solution acquires image data of the transport vehicle's cargo box and constructs a spatial model to achieve unified identification of the box's size parameters and internal wall structure areas, transforming spray control from experience-based setting to adaptive adjustment based on spatial information. Furthermore, by constructing a spray area model and generating spray demand parameters corresponding to each zone, the spray volume of each area is matched with its spatial location and structural characteristics. Further, by mapping the spray demand parameters to atomizing nozzle control parameters and controlling the spray sequence, the orderly execution of the spraying process is achieved. Simultaneously, the control parameters are corrected based on the real-time spray coverage status, ensuring that the spraying results continuously converge towards the target state, thereby achieving coordinated matching of spray range and spray volume under different cargo box sizes and structural area conditions.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating the steps of a method for controlling the spraying of release agent on asphalt mixture transport vehicles according to one embodiment of the present invention. Figure 2 This is a system structure diagram of the asphalt mixture transport vehicle release agent spraying control system provided in one embodiment of the present invention; Figure 3 This is an internal structural diagram of a computer device provided in one embodiment of the present invention. Detailed Implementation

[0019] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0020] The basic structure of the asphalt mixture transport vehicle release agent spraying device used in the asphalt mixture transport vehicle release agent spraying control method proposed in this invention is described in Chinese patent application document with publication number CN122032795A. On the corresponding basic structure, in order to further realize the identification and modeling of the space dimensions and inner wall structure area of ​​the transport vehicle cargo box, the three-dimensional scanning part originally used to obtain the inner wall contour information is specifically set as a binocular camera. The image data of the transport vehicle cargo box is obtained through binocular vision imaging, and the three-dimensional spatial information of the transport vehicle cargo box is constructed based on binocular parallax calculation, so as to provide a data basis for subsequent spraying area division and spraying control parameter generation.

[0021] like Figure 1As shown, an embodiment of the present invention provides a method for controlling the spraying of release agent on asphalt mixture transport vehicles, the method comprising: Step S1: Acquire image data of the cargo box of the transport vehicle, construct a spatial model of the cargo box based on the image data, extract the size parameters of the cargo box based on the spatial model and divide the area into regions to obtain the region type identifiers for each location.

[0022] Specifically, constructing a spatial model of the transport vehicle cargo box based on the image data includes: performing binocular matching processing on the image data to obtain disparity data for corresponding pixels; calculating the spatial coordinates corresponding to each pixel based on the disparity data to construct three-dimensional point cloud data of the transport vehicle cargo box; performing coordinate transformation processing on the three-dimensional point cloud data to generate a spatial point set in a unified coordinate system; performing boundary extraction processing on the spatial point set to obtain the inner wall contour data of the transport vehicle cargo box; and constructing a spatial model of the transport vehicle cargo box based on the inner wall contour data.

[0023] Furthermore, based on the spatial model, the size parameters of the transport vehicle cargo box are extracted and the area is divided to obtain the area type identifier for each location. This includes: extracting the boundaries of the spatial point set in the model, determining the extreme positions of each coordinate direction, and calculating the width, height, and length parameters of the transport vehicle cargo box based on the extreme positions; calculating the surface normal vector information for each location based on the spatial point set, and determining the surface tilt angle parameter based on the surface normal vector information; classifying the spatial point set based on the surface tilt angle parameter, dividing the spatial point sets that meet different preset ranges into side wall areas, bottom plate areas, and side wall-bottom plate boundary areas; and generating the area type identifier for each location based on the division results.

[0024] In this embodiment of the invention, the image data is preferably acquired by a binocular camera mounted on the spraying device. A fixed baseline distance is maintained between the two cameras, causing the same spatial point to exhibit parallax in the left and right images. Based on this, binocular matching processing is performed on the image data to obtain the parallax data for the corresponding pixels. This process can employ block matching or semi-global matching methods; this embodiment does not limit this approach, as long as the parallax results can be stably output.

[0025] After obtaining the disparity data, it is further converted into spatial coordinates. Specifically, the following relationship can be used for calculation: ; in, This represents the depth value corresponding to a pixel. Indicates the camera's focal length. Indicates the baseline distance of the binocular cameras. This represents the disparity value. After obtaining the depth value, spatial coordinates can be further calculated. This allows for the construction of 3D point cloud data of the transport vehicle's cargo box. This point cloud data is essentially a discrete sampling of the spatial morphology of the vehicle's interior walls, providing a foundation for subsequent modeling.

[0026] Considering that the original point cloud is usually located in the camera coordinate system, which is not convenient for unified processing, this embodiment further performs coordinate transformation processing on the 3D point cloud data, mapping it to a unified spatial coordinate system, such as a local coordinate system with the center of the spraying device as the origin or a preset global reference coordinate system. Through this processing, a spatial point set in a unified coordinate system can be obtained, so that data at different locations have a consistent reference benchmark.

[0027] Based on this, boundary extraction processing is performed on the spatial point set. Specifically, the outer contour range of the inner wall of the vehicle can be identified by performing extreme value search or convex hull calculation on the point set, thereby obtaining the inner wall contour data. It should be noted that the contour data here is not limited to the strictly defined geometric boundary, but can also include a filtered or simplified approximate representation of the boundary. Based on this inner wall contour data, a spatial model of the transport vehicle's cargo box can be constructed. This spatial model can be expressed in the form of a point cloud model, a mesh model, or a parametric geometric model, etc., and this embodiment does not limit it in this way.

[0028] After constructing the spatial model, the next step is to extract dimensional parameters and divide the region. Boundary analysis is performed on the spatial point set in the spatial model to determine the extreme values ​​in each coordinate direction, such as the maximum and minimum values ​​in the horizontal, vertical, and longitudinal directions. Based on these extreme values, the width, height, and length parameters of the transport vehicle's cargo box can be directly calculated. For example, the width parameter can be obtained from the difference between the maximum and minimum values ​​in the horizontal direction, the height parameter is determined by the difference in the vertical extreme values, and the length parameter is determined by the difference in the longitudinal extreme values. This process does not rely on manual measurement and can adapt to the actual dimensional variations of different vehicle models.

[0029] Furthermore, to achieve structural region division, it is necessary to analyze the local geometric features in the spatial model. In this embodiment, the local geometric morphology is characterized by calculating the surface normal vector information at each location of the spatial point set. Specifically, the normal vector can be solved by fitting a plane using neighborhood points. That is, for each point, its neighborhood point set is selected, and a local plane is obtained through least-squares fitting. Then, the normal vector of this plane is used as the normal vector of that point. Based on the normal vector, the surface tilt angle parameter can be further calculated. For example, it can be defined as follows: ; in, Indicates the surface inclination angle. Let be the normal vector of the current point. This is a reference direction vector (e.g., vertically upward). This tilt angle parameter reflects the spatial orientation characteristics of the area where the current point is located.

[0030] Based on the surface tilt angle parameters, the spatial point set is classified. Specifically, multiple tilt angle ranges can be preset. For example, when the tilt angle is close to 90°, it corresponds to the side wall region; when the tilt angle is close to 0°, it corresponds to the bottom plate region; and when the tilt angle is in the intermediate transition range (e.g., between 30° and 60°), it corresponds to the boundary region between the side wall and the bottom plate. In this way, the originally continuous spatial surface can be divided into multiple regions with clear physical meaning.

[0031] It should be noted that the above-mentioned tilt angle range is only an example, and those skilled in the art can adjust the threshold according to actual spraying needs. For example, for a carriage structure with a large tilt, the determination range of the boundary area can be appropriately widened; for a carriage with a regular structure, a stricter interval division can be adopted.

[0032] After the area division is completed, a corresponding area type identifier is generated based on the division results. This area type identifier can be attached as a label to each point or cell in the spatial model for parameter allocation in the subsequent spray control process. For example, in the subsequent calculation of spray demand parameters, different spraying strategies can be directly assigned to different areas based on the area type identifier.

[0033] Through the above processing flow, a complete transformation path is achieved from image data to spatial model, and then to dimensional parameters and structural region identification. This path provides a unified data foundation for subsequent spray area modeling and spray control parameter generation, enabling spray control to shift from a traditional experience-driven approach to a computationally driven approach based on spatial structural features. Furthermore, this method exhibits good compatibility with specific implementation methods; for example, different binocular algorithms or depth calculation methods can be used during point cloud construction. In the region segmentation process, more geometric features can be introduced for auxiliary determination, all of which fall within the scope of this application.

[0034] Step S2: Construct a spraying area model based on the size parameters and the area type identifier, and generate spraying requirement parameters for each area.

[0035] Specifically, a spraying area model is constructed based on the size parameters and the area type identifier, and spraying demand parameters corresponding to each area are generated. This includes: dividing the spatial model into grids based on the size parameters to obtain multiple spraying units, and constructing a spraying area model based on the spatial positional relationship of each spraying unit; mapping the area type identifier to each spraying unit in the spraying area model to obtain the area type corresponding to each spraying unit; assigning a corresponding area correction coefficient to each spraying unit based on the spatial positional relationship of each spraying unit in the spraying area model and the corresponding area type; and generating spraying demand parameters for each spraying unit based on the area correction coefficient and a preset target spraying volume.

[0036] Furthermore, the spraying requirement parameters for each spraying unit are generated based on the area correction coefficient and the preset target spraying volume, including: calculating the basic spraying volume corresponding to each spraying unit based on the preset target spraying volume and the area of ​​each spraying unit; correcting the basic spraying volume based on the area correction coefficient to obtain the target spraying volume for each spraying unit; converting the target spraying volume into spraying time parameters and spraying flow rate parameters based on the target spraying volume and the spraying capacity parameters of the spraying device; and using the spraying time parameters and the spraying flow rate parameters as the spraying requirement parameters for each spraying unit.

[0037] In this embodiment of the invention, considering that the size of the cargo box of the transport vehicle is usually in the range of several meters, in order to balance computational efficiency and control accuracy, this embodiment preferably adopts a regular grid division method to divide the spatial model into multiple spraying units. Each spraying unit can be understood as a basic control unit with a defined spatial location and area, and its size can be set according to actual needs, for example, selected in the range of 0.15m×0.15m to 0.30m×0.30m.

[0038] After mesh generation, the relative positions of each spraying unit in space are explicitly expressed, for example, through their center point in a three-dimensional coordinate system. Furthermore, the adjacency, vertical, and distance relationships among these spraying units are uniformly organized to construct a spraying area model. This spraying area model is essentially a discrete representation of the spraying space; it not only includes the positions of each unit but also implicitly contains spatial topological relationships, providing a foundation for subsequent parameter allocation.

[0039] Based on this, the region type identifiers obtained in the preceding steps are mapped to each spraying unit. Specifically, this can be done by statistically or weighting the region types of the points covered by the spraying unit, thereby determining the region type corresponding to that spraying unit. For example, if most spatial points in a spraying unit are identified as sidewall regions, then the entire spraying unit is identified as a sidewall region; if it is located in a region with significant changes in tilt angle, it can be identified as a boundary region. Through this mapping process, each spraying unit not only has a spatial location but also clear structural semantic attributes.

[0040] Furthermore, based on the spatial relationships of each spraying unit and the corresponding area type in the spraying area model, an area correction coefficient is assigned to each spraying unit. This area correction coefficient is used to reflect the differences in spraying requirements between different areas. For example, for the sidewall area, a baseline value of 1.0 can be set; for the base plate area, since the liquid spreads more easily, it can be appropriately reduced, for example, set to 0.9; for the interface area between the sidewall and the base plate, due to the tendency of liquid to accumulate, it can be further reduced, for example, set to 0.6~0.7. It should be noted that the above values ​​are only examples, and those skilled in the art can adjust them based on construction experience or experimental results.

[0041] After obtaining the regional correction coefficient, the spraying requirement parameters for each spraying unit are further generated. Specifically, the base spraying volume is first calculated based on the preset target spraying volume and the area of ​​each spraying unit. The following relationship can be used: ; in, Indicates the first The basic spray volume of each spraying unit This indicates the area of ​​the spraying unit. This indicates the target spray volume per unit area (e.g., L / m²). This step achieves the initial conversion from area to spray volume.

[0042] Subsequently, the base spraying rate is corrected based on the regional correction coefficient to obtain the target spraying rate: ; in, For the first The area correction coefficient for each spraying unit. This correction allows for differences in spray volume between different areas, thus avoiding over- or under-spraying issues caused by a uniform spraying strategy.

[0043] After obtaining the target spray volume, it needs to be converted into specific, executable control parameters. Considering that spraying devices typically output the spray volume in the form of flow rate × time, this conversion needs to be combined with the spraying capacity parameters of the spraying device. Let the rated flow rate of a certain atomizing nozzle be... Then the basic spraying time can be obtained: ; in, This indicates the spraying time for the corresponding spraying unit. When the calculated time is within a reasonable range, it can be directly used as the spraying time parameter. When the time is too short or too long, it can be further compensated by adjusting the flow rate. For example, when the time is lower than a preset threshold, the minimum time can be fixed and the required flow rate can be calculated.

[0044] Therefore, through the above conversion, spraying time parameters and spraying flow rate parameters can be obtained. Furthermore, these parameters are output as spraying demand parameters for each spraying unit, providing a direct basis for subsequent nozzle control.

[0045] It should be noted that in practical applications, the above calculation process can be optimized as a whole by combining it with the spraying area model. For example, spraying units that are spatially adjacent and of the same area type can be merged to reduce the number of control operations. For boundary areas, a staged spraying strategy can be adopted, assigning different correction coefficients at different stages to further suppress liquid accumulation. These are all extensions that can be adopted in the implementation of this application.

[0046] Step S3: Determine the spray control parameters for each atomizing nozzle based on the spray demand parameters, and generate the corresponding spray sequence control parameters.

[0047] Specifically, based on the spatial location of each spraying unit and the spatial distribution of each atomizing nozzle, a correspondence between spraying units and atomizing nozzles is established. Based on this correspondence, the spraying demand parameters of each spraying unit are allocated to the corresponding atomizing nozzle to obtain the target spraying volume for each atomizing nozzle. Based on the target spraying volume and spraying capacity parameters of each atomizing nozzle, the spraying time parameters, spraying flow rate parameters, and start / stop status parameters of each atomizing nozzle are determined. Based on the area type identifier, each spraying unit is sorted, and corresponding spraying sequence control parameters are generated according to the sorting results.

[0048] Furthermore, based on the target spray volume and spray capacity parameters of each atomizing nozzle, the spray time parameters, spray flow rate parameters, and start / stop status parameters of each atomizing nozzle are determined, including: using the rated spray flow rate corresponding to each atomizing nozzle as the spray capacity parameter, and calculating the corresponding basic spray time based on the target spray volume and the rated spray flow rate; comparing the basic spray time with a preset time threshold, and when the basic spray time is greater than the preset time threshold, maintaining the rated spray flow rate and using the basic spray time as the spray time parameter; when the basic spray time is not greater than the preset time threshold, setting the spray time parameter to the preset time threshold, and calculating the spray flow rate parameter based on the target spray volume and the spray time parameter; generating the start / stop control time of each atomizing nozzle based on the spray time parameter, and determining the start / stop status parameters of each atomizing nozzle according to the start / stop control time.

[0049] In this embodiment of the invention, a correspondence between spraying units and atomizing nozzles is established based on the spatial location of each spraying unit and the spatial distribution of each atomizing nozzle. Since each atomizing nozzle in the spraying device typically has a fixed installation position, its spray coverage area exhibits a certain diffusion distribution in space. Therefore, the two can be associated through spatial distance or a coverage function. For example, using the center of the nozzle as a reference point, its effective range is constructed. When a spraying unit is located within this range, it is considered that the spraying unit is the responsibility of that nozzle. For cases where multiple nozzles cover overlapping areas, the nearest neighbor principle or a weighted allocation method can be used to determine the dominant nozzle.

[0050] In one alternative implementation, a space influence function can be introduced for description, for example: ; in, Indicates the first The first nozzle to the first The influence weight of each spraying unit Indicates the spatial distance between the two. This is a diffusion parameter. Using this weight, the demand of a spraying unit can be allocated to multiple nozzles, resulting in smoother control distribution. Of course, in practical engineering, it can also be simplified to a one-to-one mapping; this application does not impose this limitation.

[0051] After establishing the corresponding relationships, the spraying demand parameters of each spraying unit are assigned to the corresponding atomizing nozzles. Specifically, for multiple spraying units belonging to the coverage area of ​​the same nozzle, their target spraying volumes are accumulated or weighted to obtain the target spraying volume for that nozzle. For example: ; in, Indicates the first The target spray volume for each nozzle. Indicates the first The target spray volume for each spraying unit. This process achieves the transformation from local unit requirements to nozzle-level control requirements.

[0052] Furthermore, based on the target spray volume and spray capacity parameters of each atomizing nozzle, the spray time parameters, spray flow rate parameters, and start / stop status parameters of each atomizing nozzle are determined. Specifically, the rated spray flow rate of each atomizing nozzle is first obtained and used as the spray capacity parameter. Based on this parameter, the basic spray time can be calculated: ; in, For the first The basic spraying time for each nozzle. This is the rated flow rate of the nozzle.

[0053] Considering the requirements for nozzle response time and system stability during actual control, this implementation introduces a preset time threshold to constrain the basic spraying time. When the basic spraying time is greater than this threshold, it indicates that a larger spray volume is required. In this case, the rated spray flow rate is kept constant, and the basic spraying time is used as the final spraying time parameter. When the basic spraying time is not greater than this threshold, it indicates that the spray volume is smaller. To avoid control instability caused by frequent start-stop cycles, the spraying time parameter is fixed to the preset time threshold, and the required spray flow rate is calculated in reverse. ; in, This indicates a preset time threshold. The adjusted spray flow rate parameters are shown above. This method enables adaptive switching between time priority and flow compensation.

[0054] After determining the spraying time parameters, the start and stop control times for each atomizing nozzle can be further generated. Specifically, based on the execution sequence defined in the spraying sequence control parameters, the spraying time of each nozzle can be mapped onto a time axis, thereby obtaining the start and stop times of each nozzle. For example, the first... The opening time of each nozzle is The closing time is: ; Based on the above start-stop control timing, the start-stop state parameters of each atomizing nozzle can be determined and used to drive the corresponding solenoid valve or control module.

[0055] While determining the nozzle-level control parameters, it is also necessary to generate spray sequence control parameters. This process sorts each spray unit based on the area type identifier. Specifically, priorities can be set according to the area type, for example: sidewall areas first, followed by floor areas, and finally the area where the sidewall and floor meet. By sorting the spray units according to priority and combining their spatial relationships, the overall spray execution sequence can be generated.

[0056] In one implementation, a phased spraying strategy can be adopted: the first phase prioritizes spraying the sidewall area to form an initial adhesion layer; the second phase sprays the base plate area to achieve primary coverage; and the third phase performs compensatory spraying on the boundary area, reducing the spray flow rate to avoid liquid accumulation. This sequential control effectively alleviates the problem of liquid accumulation in the boundary area.

[0057] It should be noted that spraying sequence control can be based not only on area type but also on spatial location, such as from far to near or from top to bottom, to avoid interference between nozzles. These strategies can be combined as needed and are all within the scope of this application.

[0058] Step S4: Control the spraying device to perform spraying operation based on the spraying control parameters and the spraying sequence control parameters, and correct the spraying control parameters based on the real-time spraying coverage status.

[0059] Specifically, the spraying device is controlled to perform spraying operations based on the spraying control parameters and the spraying sequence control parameters, including: selecting the atomizing nozzles of the corresponding areas as the current execution objects according to the spraying sequence control parameters; controlling the atomizing nozzles corresponding to the current execution objects to open based on the spraying control parameters, and performing spraying according to the corresponding spraying time parameters and spraying flow parameters; after the spraying time parameter corresponding to the current execution object ends, controlling the corresponding atomizing nozzles to close, and switching to the next execution object, until the spraying operations corresponding to all areas are completed.

[0060] Furthermore, the spray control parameters are corrected based on the real-time spray coverage status, including: acquiring real-time image data of the inner wall of the transport vehicle's cargo box, identifying the actual coverage status of each spray unit based on the real-time image data, and obtaining the actual spray volume of each spray unit; calculating the spray deviation value based on the actual spray volume of each spray unit and the corresponding target spray volume; correcting the spray demand parameters of the corresponding spray unit based on the spray deviation value to obtain updated spray demand parameters; redetermining the spray control parameters of each atomizing nozzle based on the updated spray demand parameters, and controlling the spraying device to perform a compensating spray operation.

[0061] In this embodiment of the invention, during the spraying execution phase, the spraying area is scheduled in an orderly manner based on spraying sequence control parameters. Spraying sequence control parameters can be understood as encoding the execution priority and order of different areas or different spraying units, for example, organized through queues or time slices. During actual execution, the atomizing nozzles of the corresponding areas are selected sequentially as the current execution objects according to the spraying sequence control parameters. The current execution object can be a single nozzle or a group of nozzles that are activated simultaneously; this embodiment does not limit this.

[0062] After identifying the target device, the corresponding atomizing nozzle is activated based on the spray control parameters. Specifically, an activation command is sent to the control unit (e.g., a solenoid valve or drive module) of the corresponding nozzle to put it into operation. Simultaneously, based on the spray time and flow rate parameters in the spray control parameters, the nozzle is controlled to spray continuously at a set flow rate. The spray time parameter determines the duration the nozzle is activated, while the flow rate parameter is controlled by adjusting the valve opening or the pump output pressure.

[0063] After the spraying time for the currently executing object ends, the corresponding atomizing nozzle is controlled to shut down. The shut-down process is also implemented through the control unit, ensuring that the nozzle stops spraying at the predetermined time. Subsequently, the system switches to the next executing object according to the spraying sequence control parameters, repeating the above-mentioned on / off process until all areas have been sprayed. This sequential execution method avoids disordered operation between nozzles, improving the controllability and consistency of the spraying process.

[0064] It should be noted that in practical applications, the above execution process can adopt either sequential execution or grouped parallel execution modes. For example, for spatially independent areas, multiple nozzles can be allowed to work simultaneously, thereby improving efficiency. For areas with overlapping effects, sequential execution is used to avoid interference. The selection of these execution strategies can be scheduled through spray sequence control parameters.

[0065] After the initial spraying, to further ensure that the spraying results meet the expected requirements, this implementation method introduces a feedback correction mechanism based on the real-time spraying coverage status. Specifically, during or after spraying, real-time image data of the inner wall of the transport vehicle's cargo box is acquired. This image data can also be acquired by the aforementioned binocular camera, and the actual coverage status of each spraying unit is identified through image processing algorithms.

[0066] During the identification process, the presence and extent of coverage of each spraying unit can be determined by analyzing grayscale variations, color distribution, or surface reflectivity in the image. For example, pixel features in the image can be compared with preset coverage features to obtain the coverage ratio of each spraying unit. Furthermore, this coverage ratio can be converted into an estimate of the actual spraying volume, denoted as […]. , indicating the first The actual spraying volume of each spraying unit.

[0067] After obtaining the actual spray volume, compare it with the corresponding target spray volume. Compare and calculate the spray deviation value: ; in, This indicates the spraying deviation value. A positive value indicates that the spraying unit is underspraying; a negative value indicates that there is overspraying.

[0068] Based on the spraying deviation value, the spraying requirement parameters of the corresponding spraying unit are corrected. Specifically, the target spraying volume can be adjusted according to the magnitude of the deviation value, for example: ; in, This is a correction coefficient used to control the correction magnitude. This method avoids one-time overcompensation, making the correction process smoother and more stable.

[0069] After obtaining the updated spraying demand parameters, the spraying control parameters for each atomizing nozzle are further redefined based on these parameters. This process can reuse the aforementioned calculation flow from spraying demand parameters to nozzle control parameters, including the redistribution of the target spray volume, recalculation of spraying time and flow rate, and updating of start and stop times. Finally, the updated control parameters are applied to the spraying device to perform compensatory spraying operations.

[0070] It should be noted that the compensation spraying operation can be performed on all spraying units, or only on spraying units whose deviation exceeds a preset threshold, thereby improving execution efficiency. For example, when When the deviation is less than a certain threshold, the area can be considered to have met the requirements and no further spraying is required; only areas with large deviations will be sprayed a second time.

[0071] Through the aforementioned execution and feedback correction process, closed-loop regulation of the spraying control is achieved. Compared with traditional one-time spraying methods, this method can dynamically adjust control parameters according to the actual coverage situation, allowing the spraying results to gradually approach the target state. Furthermore, this closed-loop mechanism has good adaptability to different vehicle sizes and complex structural areas, effectively improving the stability and consistency of the spraying process.

[0072] In summary, this embodiment closely integrates spray control parameters with the execution process and introduces a feedback correction mechanism based on real-time coverage status, transforming spray control from static planning to dynamic adjustment, thereby maintaining the controllability and consistency of spray results even under complex working conditions.

[0073] In another implementation, after calculating the target spray volume for each spraying unit, the spray volume gradient between adjacent spraying units is calculated based on the spatial adjacency relationship between adjacent spraying units in the spraying area model, and smoothing processing is performed on areas where the gradient exceeds a preset range. For example, for adjacent spraying units... and If satisfied The target spray volume for both parameters is then weighted and adjusted to gradually achieve a continuous variation. This method avoids abrupt changes in spray volume caused by area division or parameter discretization, thereby reducing uneven local spraying or boundary marks. Simultaneously, in the subsequent generation of sprinkler control parameters, allocation is based on the smoothed spray demand parameters, resulting in a spatially continuous transition characteristic of the spraying process.

[0074] like Figure 2 This invention provides a control system for spraying release agent on asphalt mixture transport vehicles. The system includes: an image acquisition unit, used to acquire image data of the transport vehicle's cargo box, construct a spatial model of the cargo box based on the image data, extract size parameters of the cargo box based on the spatial model, divide the cargo box into regions, and obtain region type identifiers for each location; a demand parameter determination unit, used to construct a spraying region model based on the size parameters and the region type identifiers, and generate spraying demand parameters for each region; a control parameter generation unit, used to determine the spraying control parameters for each atomizing nozzle based on the spraying demand parameters, and generate corresponding spraying sequence control parameters; and a spraying execution unit, used to control the spraying device to perform spraying operations based on the spraying control parameters and the spraying sequence control parameters, and to correct the spraying control parameters based on the real-time spraying coverage status.

[0075] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 3The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The network interface A02 is used for communication with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a method for controlling the spraying of a release agent on an asphalt mixture transport vehicle.

[0076] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0077] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details described above. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe the various possible combinations.

[0078] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. A method for controlling the spraying of release agent on asphalt mixture transport vehicles, characterized in that, The method includes: Image data of the cargo box of the transport vehicle is acquired, and a spatial model of the cargo box of the transport vehicle is constructed based on the image data. The size parameters of the cargo box of the transport vehicle are extracted based on the spatial model and the region is divided to obtain the region type identifier corresponding to each location. A spraying area model is constructed based on the size parameters and the area type identifier, and spraying requirement parameters for each area are generated. Based on the spraying demand parameters, the spraying control parameters of each atomizing nozzle are determined, and the corresponding spraying sequence control parameters are generated. The spraying device is controlled to perform spraying operations based on the spraying control parameters and the spraying sequence control parameters, and the spraying control parameters are corrected based on the real-time spraying coverage status.

2. The method for controlling the spraying of release agent on asphalt mixture transport vehicles according to claim 1, characterized in that, Constructing a spatial model of the transport vehicle's cargo box based on the image data includes: Perform binocular matching processing on the image data to obtain the disparity data of the corresponding pixels; Based on the parallax data, the spatial coordinates corresponding to each pixel are calculated to construct the three-dimensional point cloud data of the cargo box of the transport vehicle; The three-dimensional point cloud data is subjected to coordinate transformation to generate a spatial point set in a unified coordinate system; Boundary extraction processing is performed based on the spatial point set to obtain the inner wall contour data of the cargo box of the transport vehicle; A spatial model of the transport vehicle's cargo box is constructed based on the inner wall contour data.

3. The method for controlling the spraying of release agent on asphalt mixture transport vehicles according to claim 2, characterized in that, Based on the spatial model, the dimensional parameters of the transport vehicle's cargo box are extracted and the area is divided to obtain the area type identifier for each location, including: Boundary extraction is performed on the spatial point set in the spatial model to determine the extreme value positions in each coordinate direction, and the width, height and length parameters of the cargo box of the transport vehicle are calculated based on the extreme value positions; Calculate the surface normal vector information at each location based on the spatial point set, and determine the surface tilt angle parameter based on the surface normal vector information; Based on the surface tilt angle parameter, the spatial point set is classified into the side wall region, the bottom plate region, and the boundary region between the side wall and the bottom plate, respectively. Based on the partitioning results, generate the corresponding region type identifier for each location.

4. The method for controlling the spraying of release agent on asphalt mixture transport vehicles according to claim 1, characterized in that, A spraying area model is constructed based on the size parameters and the area type identifier, and spraying requirement parameters for each area are generated, including: The spatial model is divided into grids based on the size parameters to obtain multiple spraying units, and the spatial positional relationship of each spraying unit is used to construct a spraying area model. Map the area type identifier to each spraying unit in the spraying area model to obtain the area type corresponding to each spraying unit; Based on the spatial positional relationship of each spraying unit and the corresponding area type in the spraying area model, a corresponding area correction coefficient is assigned to each spraying unit. Spraying requirement parameters for each spraying unit are generated based on the regional correction coefficient and the preset target spraying volume.

5. The method for controlling the spraying of release agent on asphalt mixture transport vehicles according to claim 4, characterized in that, Based on the area correction coefficient and the preset target spraying volume, the spraying requirement parameters for each spraying unit are generated, including: The basic spraying volume corresponding to each spraying unit is calculated based on the preset target spraying volume and the area of ​​each spraying unit; The base spraying volume is corrected based on the regional correction coefficient to obtain the target spraying volume for each spraying unit. Based on the target spray volume and the spraying capacity parameters of the spraying device, the target spray volume is converted into spraying time parameters and spraying flow rate parameters; The spraying time parameter and the spraying flow rate parameter are used as the spraying requirement parameters for each spraying unit.

6. The method for controlling the spraying of release agent on asphalt mixture transport vehicles according to claim 1, characterized in that, Based on the spraying demand parameters, the spraying control parameters for each atomizing nozzle are determined, and corresponding spraying sequence control parameters are generated, including: Based on the spatial location of each spraying unit and the spatial distribution of each atomizing nozzle, a correspondence between spraying units and atomizing nozzles is established; Based on the aforementioned correspondence, the spraying demand parameters of each spraying unit are allocated to the corresponding atomizing nozzles to obtain the target spraying volume corresponding to each atomizing nozzle. Based on the target spray volume and spray capacity parameters of each atomizing nozzle, the spray time parameters, spray flow rate parameters, and start / stop status parameters of each atomizing nozzle are determined. The spraying units are sorted based on the area type identifier, and corresponding spraying sequence control parameters are generated according to the sorting results.

7. The method for controlling the spraying of release agent on asphalt mixture transport vehicles according to claim 6, characterized in that, Based on the target spray volume and spray capacity parameters of each atomizing nozzle, the spray time parameters, spray flow rate parameters, and start / stop status parameters of each atomizing nozzle are determined, including: The rated spray flow rate corresponding to each atomizing nozzle is used as the spraying capacity parameter, and the corresponding basic spraying time is calculated based on the target spray volume and the rated spray flow rate. The basic spraying time is compared with a preset time threshold. When the basic spraying time is greater than the preset time threshold, the rated spraying flow rate is maintained and the basic spraying time is used as the spraying time parameter. When the basic spraying time is not greater than the preset time threshold, the spraying time parameter is set to the preset time threshold, and the spraying flow rate parameter is calculated based on the target spraying volume and the spraying time parameter. The start and stop control times for each atomizing nozzle are generated based on the spraying time parameters, and the start and stop status parameters for each atomizing nozzle are determined according to the start and stop control times.

8. The method for controlling the spraying of release agent on asphalt mixture transport vehicles according to claim 1, characterized in that, Controlling the spraying device to perform spraying operations based on the spraying control parameters and the spraying sequence control parameters includes: According to the spraying sequence control parameters, the atomizing nozzles in the corresponding areas are selected as the current execution objects in sequence; Based on the spray control parameters, the atomizing nozzle corresponding to the current execution object is turned on, and spraying is performed according to the corresponding spraying time parameters and spraying flow rate parameters; After the spraying time parameter for the current execution object is completed, the corresponding atomizing nozzle is turned off, and the process switches to the next execution object until the spraying operation for all areas is completed.

9. The method for controlling the spraying of release agent on asphalt mixture transport vehicles according to claim 1, characterized in that, The spraying control parameters are corrected based on the real-time spraying coverage status, including: Acquire real-time image data of the inner wall of the cargo box of the transport vehicle, and identify the actual coverage status of each spraying unit based on the real-time image data to obtain the actual spraying volume of each spraying unit; Calculate the spraying deviation value based on the actual spraying volume of each spraying unit and the corresponding target spraying volume; Based on the spraying deviation value, the spraying demand parameters of the corresponding spraying unit are corrected to obtain the updated spraying demand parameters. Based on the updated spray demand parameters, the spray control parameters of each atomizing nozzle are redefined, and the spraying device is controlled to perform compensatory spraying operations.

10. A control system for spraying release agent on asphalt mixture transport vehicles, characterized in that, The system includes: The image acquisition unit is used to acquire image data of the cargo box of the transport vehicle, construct a spatial model of the cargo box of the transport vehicle based on the image data, extract the size parameters of the cargo box of the transport vehicle based on the spatial model and divide the area to obtain the area type identifier corresponding to each location; The demand parameter determination unit is used to construct a spraying area model based on the size parameters and the area type identifier, and generate spraying demand parameters for each area. The control parameter generation unit is used to determine the spray control parameters of each atomizing nozzle based on the spray demand parameters, and generate the corresponding spray sequence control parameters. The spraying execution unit is used to control the spraying device to perform spraying operations based on the spraying control parameters and the spraying sequence control parameters, and to correct the spraying control parameters based on the real-time spraying coverage status.

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