Rolling track early warning method, device and equipment and storage medium

Abstract

The application relates to the technical field of construction quality monitoring, and discloses a rolling track early warning method, device, equipment and storage medium, the method comprises the following steps: acquiring equipment structure information, running state information and construction area information of a rolling equipment; determining an actual contact area and an actual sweeping area of front and rear pressure wheels; forming a predicted sweeping area in a preset prediction period and determining risk information; generating a plurality of candidate correction actions, performing safety screening and lap screening on the candidate sweeping area, and determining a target correction action; outputting early warning information, and updating the early warning state according to the actual sweeping area after correction. The application can identify boundary risks according to the actual coverage range of the pressure wheels, and the rolling lap quality after correction is considered.

Description

Technical Field

[0001] This invention relates to the field of construction quality monitoring technology, and in particular to a method, device, equipment and storage medium for early warning of compaction trajectory. Background Technology

[0002] During the compaction process of dams, roads, airports and other filling projects, the position of the equipment is usually collected by the positioning components installed on the compaction equipment, and the equipment's center trajectory or preset travel route is used to determine whether the compaction equipment is close to the construction boundary.

[0003] For compaction equipment where the front and rear frames can rotate relative to each other, the position of the positioning components does not necessarily correspond to the actual ground contact positions of the front and rear pressure rollers. When the equipment turns or reverses, the areas traversed by the front and rear pressure rollers may be significantly different. Judging solely based on the positioning position or the equipment's center trajectory can easily lead to situations where the outer edge of the pressure rollers is already close to the construction boundary without timely warning.

[0004] Existing correction prompts typically only consider preventing equipment from going out of bounds, without simultaneously determining whether the area covered by the corrected roller maintains a reasonable overlap with the adjacent effective compaction area, which may result in areas that are not sufficiently compacted during the correction process. Summary of the Invention

[0005] The main objective of this application is to provide a method, device, equipment, and storage medium for early warning of compaction trajectory, which aims to solve the technical problem that when using positioning location or equipment center trajectory for early warning, it is difficult to accurately reflect the actual boundary risks of the front and rear pressure rollers, and the correction action may cause insufficient overlap.

[0006] To achieve the above objectives, a first aspect of the present invention provides a method for early warning of rolling tracks, comprising the following steps:

[0007] Obtain information on the equipment structure, operating status, and construction area of ​​the compaction equipment;

[0008] Based on the equipment structure information and the operating status information, the actual grounding areas of the front and rear pressure rollers at the continuous acquisition time are determined, and the actual sweeping area is formed according to the actual grounding areas;

[0009] Based on the operating status information and the actual grounding area, the predicted sweeping area within the preset prediction period is determined, and the pressure roller location and prediction time that first fails to meet the boundary conditions in the predicted sweeping area are determined according to the construction area information, thereby obtaining risk information.

[0010] Based on the risk information, multiple candidate correction actions are generated, and the candidate sweeping area corresponding to each candidate correction action is determined. Based on the construction area information, the candidate sweeping areas are subjected to safety screening and overlap screening to determine the target correction action.

[0011] Output the early warning information corresponding to the target correction action, and update the early warning status based on the actual swept area and the construction area information after the target correction action is executed.

[0012] To achieve the above objectives, a second aspect of the present invention also provides a rolling trajectory early warning device, comprising:

[0013] The information acquisition module is used to acquire equipment structure information, operating status information, and construction area information of the compaction equipment.

[0014] The area formation module is used to determine the actual grounding area of ​​the front pressure roller and the rear pressure roller at the continuous acquisition time based on the equipment structure information and the operating status information, and to form the actual sweeping area according to the actual grounding area;

[0015] The risk determination module is used to determine the predicted sweep area within a preset prediction period based on the operating status information and the actual grounding area, and to determine the pressure roller location and prediction time that first fails to meet the boundary conditions in the predicted sweep area based on the construction area information, thereby obtaining risk information.

[0016] The action determination module is used to generate multiple candidate correction actions based on the risk information, determine the candidate sweeping area corresponding to each candidate correction action, and perform safety screening and overlap screening on the candidate sweeping areas according to the construction area information to determine the target correction action.

[0017] The status update module is used to output early warning information corresponding to the target correction action, and update the early warning status based on the actual sweeping area and the construction area information after the target correction action is performed.

[0018] To achieve the above objectives, a third aspect of the present invention also provides a rolling trajectory warning device, the rolling trajectory warning device including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, the computer program being configured to implement the steps of the above-described rolling trajectory warning method.

[0019] To achieve the above objectives, a fourth aspect of the present invention also provides a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method for warning of crushing trajectories.

[0020] One or more technical solutions proposed in this application have at least the following technical effects:

[0021] This application determines the actual grounding areas of the front and rear rollers based on the structural relationship and operating status of the compaction equipment, and forms the actual sweeping area based on the actual grounding area at continuous data collection time. This transforms the warning target from the location of the positioning component or the center of the equipment to the actual spatial range traversed by the rollers, thereby improving the accuracy of risk identification when the equipment is turning, reversing, or running along the construction boundary.

[0022] This application forms the predicted sweep area of ​​the front and rear pressure rollers within a preset prediction period, and determines the risky pressure roller, risk edge, and expected risk moment that first fails to meet the boundary conditions according to the order of prediction time, thereby enabling the output of early warning information for specific pressure roller parts.

[0023] This application sequentially performs safety screening and overlap screening on the candidate sweep areas corresponding to the candidate correction actions, ensuring that the target correction action can reduce the risk of the front or rear pressure rollers crossing the boundary and also reduce the possibility of insufficiently compacted areas forming after correction. When no candidate correction action simultaneously meets the preset safety and overlap conditions, this application determines the safety priority action based on the safety margin and forms a supplementary compaction area based on the expected uncovered area, enabling continuous implementation of safety measures and subsequent quality remediation.

[0024] This application updates the warning status based on the actual sweeping area and effective sweeping area after correction, which can avoid ending the warning based solely on driver confirmation, changes in equipment center position, or short-term directional changes, and can ensure that the warning end result corresponds to the actual coverage result of the pressure wheel. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart illustrating an embodiment of the crush trajectory early warning method of this application.

[0028] Figure 2 This is a schematic diagram illustrating the principle of information acquisition and processing in this application.

[0029] Figure 3This is a schematic diagram of an example structure of the compaction equipment in this application.

[0030] Figure 4 This is a flowchart illustrating the process of predicting and determining the sweeping area and risk information in this application.

[0031] Figure 5 This is a schematic diagram illustrating the formation of the predicted sweep area in this application.

[0032] Figure 6 This is a flowchart illustrating the selection process for candidate corrective actions in this application.

[0033] Figure 7 This is a schematic diagram illustrating the determination of the target correction action from candidate correction actions in this application.

[0034] Figure 8 This is a schematic diagram illustrating the principle of the early warning status update and pressure replenishment process in this application.

[0035] Figure 9 This is a schematic diagram of the module structure of the rolling trajectory early warning device of this application.

[0036] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0037] It should be understood that the specific embodiments described herein are only for explaining the technical solutions of this application and are not intended to limit this application.

[0038] To better understand the technical solution of this application, a detailed description is provided below in conjunction with the accompanying drawings and specific embodiments.

[0039] The main solution of this application embodiment is as follows: acquire equipment structure information, operating status information and construction area information of the compaction equipment; determine the actual grounding area and actual sweeping area of ​​the front and rear rollers respectively based on the equipment structure information and operating status information; form a predicted sweeping area and determine risk information within a preset prediction period; sequentially perform safety screening and overlap screening on the candidate sweeping areas corresponding to multiple candidate correction actions; output the early warning information corresponding to the target correction action, and update the early warning status according to the actual coverage result after correction.

[0040] It should be noted that the executing entity in this embodiment can be a vehicle-mounted terminal, a field computing device, a server, or a compaction trajectory early warning device composed of the aforementioned devices, which have data processing, network communication, and program execution functions. The vehicle-mounted terminal can be responsible for equipment status acquisition, field calculation, and early warning information output; the field computing device can be responsible for construction area management and candidate correction actions processing; and the server can be responsible for historical effective compaction area management, compaction task management, and construction quality record generation. The following description uses the compaction trajectory early warning device as the executing entity.

[0041] Reference Figure 1 In this embodiment, the rolling trajectory early warning method includes steps S100 to S500.

[0042] Step S100: Obtain the equipment structure information, operating status information, and construction area information of the compaction equipment.

[0043] like Figure 2 As shown, in this embodiment, the equipment structure information is used to characterize the spatial relationship between the positioning components, the front frame, the rear frame, the front roller, and the rear roller; the operating status information is used to characterize the spatial position, movement trend, and compaction operation status of the compaction equipment at the current moment; and the construction area information is used to characterize the spatial range that the roller can enter and the overlap requirements that the roller coverage result should meet. Step S100 includes the following sub-steps:

[0044] Step S110: Obtain equipment structural parameters and establish equipment structural information.

[0045] Equipment structural parameters can be entered when the compaction equipment is first connected to the system, or they can be retrieved from the equipment management platform. These parameters should at least define the positional relationship between the positioning component and the frame reference point where it is installed, the connection relationship between the front and rear frames, the positional relationship between the axles of each compaction roller and the corresponding frame reference point, and the roller dimensions. The positioning component can be a satellite positioning component, a combined navigation component, or other positioning component capable of outputting construction coordinates.

[0046] In one embodiment, the positioning component is mounted on the front frame, and the equipment structure information uses the position of the positioning component as the positioning reference. The system records the longitudinal and lateral distances between the positioning reference and the front frame reference point, the distance between the front frame reference point and the frame connection point, the distance between the frame connection point and the rear frame reference point, and the positions of the front and rear pressure wheel axles relative to their respective frame reference points. For equipment where the positioning component is mounted on the rear frame, the rear frame reference point can be determined first, and then the front frame reference point can be determined along the frame connection relationship.

[0047] The pressure roller dimensions are used to convert the pressure roller axis into the actual grounding area, and can include the pressure roller width and grounding length. The pressure roller width determines the coverage area of ​​the pressure roller in the axial direction, and the grounding length determines the contact area between the pressure roller and the construction surface along the direction of movement. When the equipment has front and rear pressure rollers of different sizes, the system saves the corresponding pressure roller dimensions separately.

[0048] Step S120: Obtain device status parameters and establish operating status information.

[0049] Equipment status parameters describe the actual state of the compaction equipment at each data acquisition moment and can be organized according to spatial status, motion status, and process status. Spatial status determines the position and frame orientation of the compaction equipment; motion status determines the running direction and short-term positional changes of the compaction equipment; and process status determines whether the area traversed by the roller forms an effective compaction zone that meets construction requirements.

[0050] In one embodiment, the spatial state includes the position output by the positioning component, the front frame direction, the rear frame direction, or a steering state that can determine the directional relationship between the front and rear frames. When attitude acquisition components are configured for both the front and rear frames, the directions of the two frames can be directly obtained; when only the front frame is configured with an attitude acquisition component, the front frame direction and the relative steering state between the front and rear frames can be obtained, and the rear frame direction can be determined by combining the equipment structural information.

[0051] Motion status can include operating speed, forward or backward movement, and direction change status. Operating speed is used to determine the distance the compaction equipment travels between adjacent data collection points and to determine its position at each prediction point within the prediction period. Forward or backward movement is used to determine the direction of movement, and direction change status reflects whether the equipment is currently maintaining its direction, continuing to turn, or gradually returning to center.

[0052] The process status can be set according to the specific construction equipment and process. For example, for a construction stage that requires vibratory compaction, the process status can indicate whether the vibration device is turned on, whether the equipment is in compaction mode, and whether the operating speed is within the specified range. For static compaction, vibration status can be set as a necessary condition, and corresponding effective compaction judgment conditions can be set according to the current construction procedure.

[0053] Step S130: Obtain regional constraint parameters and establish construction area information.

[0054] The region constraint parameters are used to describe the boundary conditions and overlap conditions within the current construction unit. Boundary conditions are used to determine whether the front and rear compaction rollers are located within the allowable working space, and overlap conditions are used to determine whether the candidate sweeping area or the actual effective sweeping area maintains a specified spatial overlap relationship with the adjacent effective compaction area.

[0055] Boundary conditions can be determined based on the permitted work area, restricted access area, and preset safety distance. The permitted work area can be the closed area corresponding to the current construction site, work zone, or construction layer; the restricted access area can be trenches, temporary facilities, weak areas, equipment passages, and other areas where the pressure roller is not allowed to enter; the preset safety distance is used to limit the minimum distance that should be maintained between the outer edge of the pressure roller and the construction boundary or restricted access area.

[0056] In one implementation, the preset safety distance is set to 0.30 meters. When the predicted sweeping area of ​​any pressure roller exceeds the allowable operating area, enters the restricted access area, or the minimum distance between it and the corresponding boundary is less than 0.30 meters, the corresponding candidate correction action is determined to not meet the preset safety conditions. For slopes, high embankments, or other boundaries with more serious consequences, a larger preset safety distance can be set.

[0057] The overlap conditions can be determined based on the preset overlap width range, the acceptable overlap width ratio, and the continuous gap length threshold. The preset overlap width range is used to limit the overlap width between adjacent compaction strips, the acceptable overlap width ratio is used to limit the proportion of detection positions that meet the width requirements, and the continuous gap length threshold is used to prevent local continuous uncovered areas from being masked by the overall average result.

[0058] For example, the preset overlap width range can be set to 0.20 meters to 0.40 meters, the qualified overlap width ratio can be set to no less than 90%, and the continuous gap length threshold can be set to 0.50 meters. The above values ​​are only examples for illustrative purposes and can be determined according to the roller width, filler type, compaction standard, and construction organization requirements during actual construction.

[0059] Adjacent effective compaction zones can be formed by the previous stroke of the current compaction equipment, or by the actual coverage results already completed and verified by other compaction equipment. The system only considers swept areas that meet the corresponding construction process conditions as adjacent effective compaction zones, and does not use areas formed when the equipment is not in the specified operating state as the basis for overlap judgment.

[0060] Step S140: Convert the equipment structure information, the operating status information, and the construction area information to the same construction coordinate system, and group the operating status information according to the acquisition time.

[0061] Equipment structural information is typically represented using the equipment's own chassis reference coordinates, while the location in operational status information may be represented using geographic coordinates, and construction area information may be represented using engineering construction coordinates. The system first transforms the location and construction area boundaries to the construction coordinate system based on the coordinate transformation relationship set in the construction project, and then converts the structural distance in the equipment's own coordinates into positional changes in the construction coordinate system based on the chassis direction.

[0062] Taking the installation of the positioning component on the front frame as an example, the system starts from the position of the positioning component and moves the corresponding distances recorded in the equipment structure information along the direction of the front frame and perpendicular to the direction of the front frame to determine the front frame reference point. Then, based on the front frame reference point, the frame direction, and the frame connection relationship, the frame connection position and the rear frame reference point are determined.

[0063] The system groups the status parameters into processing data sets according to the acquisition time. The time difference between the positioning status, chassis orientation, motion status, and process status within the same processing data set should be less than a preset synchronization threshold. For example, if the preset synchronization threshold is 0.10 seconds, the system selects other status parameters whose acquisition time differs from the positioning location by no more than 0.10 seconds for processing.

[0064] Step S200: Based on the equipment structure information and the operating status information, determine the actual grounding area of ​​the front pressure roller and the rear pressure roller at the continuous acquisition time, and form the actual sweeping area according to the actual grounding area.

[0065] like Figure 3 As shown, in this embodiment, step S200 is used to convert the position output by the positioning component into the actual contact range of the front and rear pressure rollers during construction. The system first determines the attitude of the front and rear frames respectively, then determines the corresponding pressure roller axis, forms the actual grounding area through the pressure roller size, and connects the actual grounding areas at adjacent acquisition times to form a continuous actual sweeping area. Step S200 includes the following sub-steps:

[0066] Step S210: Based on the equipment structure information and the operating status information, determine the front frame attitude and the rear frame attitude.

[0067] The front and rear frame attitudes include the position of the corresponding frame reference point in the construction coordinate system and the frame orientation, respectively. For articulated compaction equipment, the front and rear frames can rotate relative to each other around the frame connection point; therefore, the same equipment center direction cannot be used to represent the actual orientation of the two frames.

[0068] When the positioning component is installed on the front frame and the front frame direction can be directly obtained, the system determines the front frame reference point based on the position of the positioning component and the equipment structure information, and then determines the frame connection position along the front frame direction. When the operating status information includes the rear frame direction, the system determines the rear frame reference point from the frame connection position along the rear frame direction; when the operating status information includes the relative steering status, the system determines the rear frame direction based on the front frame direction and the relative steering status, and then determines the rear frame reference point.

[0069] When the positioning component is installed on the rear frame, the process can be performed in reverse order: first determine the rear frame reference point and the frame connection position, then determine the front frame reference point. If the equipment has multiple frame connection positions or multiple working components, the attitude of each frame can be determined sequentially according to the structural relationship between adjacent frames.

[0070] In reverse, the geometric orientation of the front and rear frames does not change with the direction of travel, but the actual direction of movement of the pressure roller is opposite to the orientation of the frame. The system saves the frame orientation and the direction of travel separately to avoid misjudging changes in the leading or trailing edge or direction of the pressure roller during reversing.

[0071] Step S220: Based on the attitude of the front frame and the attitude of the rear frame, determine the front pressure wheel axis and the rear pressure wheel axis.

[0072] The position of the front pressure roller axis is determined based on the front frame reference point, the front frame direction, and the positional relationship between the front pressure roller axis and the front frame reference point in the equipment structural information. The position of the rear pressure roller axis is determined based on the rear frame reference point, the rear frame direction, and the positional relationship between the rear pressure roller axis and the rear frame reference point.

[0073] When determining the pressure roller axis, the system first determines the center of the pressure roller axis, and then determines the direction of the pressure roller axis according to the corresponding frame direction. For equipment where the pressure roller axis is perpendicular to the longitudinal direction of the frame, the direction of the pressure roller axis can be obtained by rotating the frame direction by a preset angle; for equipment where the pressure roller axis has a fixed installation angle, it is determined according to the installation angle recorded in the equipment structure information.

[0074] The system determines the left and right ends of the pressure roller axis by extending from the center of the axis in two opposite directions based on the width of the pressure roller. The left and right ends are uniformly defined with reference to the current frame direction or running direction, and the same side judgment rule is maintained throughout the warning process. This allows the system to determine whether the risk is located on the left side of the front pressure roller, the right side of the front pressure roller, the left side of the rear pressure roller, or the right side of the rear pressure roller.

[0075] It should be noted that the left and right sides of the pressure roller are defined with reference to the corresponding frame orientation. The forward or backward state is only used to determine the direction of movement of the pressure roller and does not change the definition of the left and right sides of the pressure roller.

[0076] Step S230: Expand the front pressure roller axis and the rear pressure roller axis according to the pressure roller size defined by the equipment structure information to obtain the actual grounding area.

[0077] The system uses the pressure roller axis as the center, determines the actual grounding area in the lateral direction according to the width of the pressure roller, and determines the actual grounding area in the direction of movement according to the grounding length. When the construction surface is approximately horizontal, the actual grounding area can be represented by the area enclosed by the two ends of the pressure roller and the front and rear grounding boundaries.

[0078] For example, when the width of the front pressure wheel is 2.20 meters and the grounding length is 0.30 meters, the system forms a lateral range with a width of 2.20 meters along the axis of the front pressure wheel, and extends by 0.15 meters before and after the axis of the front pressure wheel, thus forming the actual grounding area of ​​the front pressure wheel at the current acquisition time. The rear pressure wheel is determined independently using the corresponding pressure wheel size.

[0079] For construction surfaces with significant slopes or local elevation changes, the system can read the elevation data of the construction surface near the roller axis, determine the local slope direction at the location of the roller, and project the roller end and ground boundary onto the corresponding construction surface. This process can reduce the roller edge position deviation that occurs when the horizontal projection is directly applied to the slope.

[0080] Step S240: Connect the actual grounding areas at adjacent acquisition times to form the actual sweeping areas corresponding to the front pressure wheel and the rear pressure wheel, respectively.

[0081] For the front pressure roller, the system acquires the actual grounding area of ​​the front pressure roller at two adjacent acquisition times. The two actual grounding areas, along with the intermediate range traversed by the pressure roller as it moves from the previous actual grounding area to the next, are merged to form the actual sweeping area of ​​the front pressure roller for that acquisition time period. The actual sweeping area of ​​the rear pressure roller is formed in the same way.

[0082] In one implementation, the system connects the corresponding left, right, front, and rear boundaries of adjacent actual grounding areas, and the area enclosed by the connection, together with the two actual grounding areas, is defined as the actual swept area. This method can represent the continuous range traversed by the pressure roller edge within the sampling interval.

[0083] The actual sweep areas of the front and rear pressure rollers are saved separately, along with the corresponding equipment identifiers and data collection time ranges. By saving these separately, the system can determine in subsequent processing whether the front or rear pressure roller approached the construction boundary first, and can also verify after correction whether both pressure rollers have met safety requirements.

[0084] Step S300: Based on the operating status information and the actual grounding area, determine the predicted sweeping area within the preset prediction period, and determine the pressure roller location and prediction time that first fails to meet the boundary conditions in the predicted sweeping area according to the construction area information, thereby obtaining risk information.

[0085] like Figure 4As shown, in this embodiment, step S300 is used to predict the short-term movement range of the front and rear pressure rollers before the pressure rollers actually enter the risk area, and to determine the pressure roller part where the risk occurs first according to the time sequence. The prediction process starts from the current actual grounding area and the current operating state, and is limited by the equipment speed, direction changes, and mechanical steering capability. Step S300 includes the following sub-steps:

[0086] Step S310: Based on the operating status information, determine multiple prediction times within the preset prediction period.

[0087] The preset prediction period is used to define the time range for the system to extrapolate into the future from the current moment. The preset prediction period can be set according to the current speed of the compaction equipment, the distance between the roller and the construction boundary, the slope of the construction surface, and the driving response requirements.

[0088] When the equipment speed is high, the braking conditions on the construction surface are poor, or the distance between the pressure roller and the boundary is small, a longer preset prediction period can be used to output early warning information. When the equipment is running at low speed and the boundary shape is complex, a shorter prediction interval can be used to improve the ability of the predicted sweep area to express local boundary changes.

[0089] For example, with a device speed of 1.00 meters per second and a minimum boundary distance of 0.65 meters, the preset prediction period can be set to 3.00 seconds and the prediction interval to 0.20 seconds, obtaining multiple prediction times sequentially starting from the current moment. The specific values ​​of the prediction period and prediction interval can be adjusted according to the device's braking performance and construction safety requirements.

[0090] Step S320: Taking the actual grounding area at the current moment as the starting area, determine the predicted grounding area corresponding to each predicted moment based on the operating status information and the movement restrictions of the rolling equipment.

[0091] In this embodiment, the process of starting from the current equipment state, updating the attitude of the front frame and the attitude of the rear frame sequentially according to the predicted time, and forming the pressure wheel grounding area accordingly is defined as the prediction process.

[0092] When executing the prediction process, the system determines the current moment as the starting moment and forms an initial attitude group by considering the current front frame reference position, front frame direction, rear frame reference position, rear frame direction, running direction, running speed, direction change status, and relative steering status of the front and rear frames. The system also designates the current actual ground contact area of ​​the front and rear pressure wheels as the starting areas for the front and rear pressure wheels, respectively. For the first prediction moment, the initial attitude group serves as the processing starting point; for subsequent prediction moments, the predicted front and rear frame attitudes obtained from the previous prediction moment serve as the processing starting points, thereby maintaining the continuity of position and direction changes between prediction moments.

[0093] The system first determines the predicted speed corresponding to each prediction time. When the current operating status information indicates that the equipment speed is basically stable, the current speed is used as the speed benchmark for the next prediction time. When the current operating status information indicates that the equipment is accelerating or decelerating, the speed benchmark is gradually increased or decreased based on the speed change direction of the most recent multiple acquisition times. Each increase or decrease is limited by the equipment's allowable acceleration, allowable deceleration, and the speed range of the current construction stage. Once the predicted speed reaches the corresponding upper or lower limit, it will no longer continue to increase or decrease along the original trend.

[0094] When determining the travel distance between adjacent prediction times, the system can take the average of the predicted speed at the previous prediction time and the predicted speed at the current prediction time, and then multiply it by the prediction interval. For the forward movement, the front frame reference position moves forward along the predicted running direction of the front frame; for the reverse movement, the front frame reference position moves in the opposite direction of the front frame orientation. The moved front frame reference position, combined with the front frame orientation and equipment structure information, can determine the front frame connection position at the current prediction time.

[0095] The system also determines the front frame orientation at the current prediction time based on the orientation change status. When the equipment is maintaining stable straight-line movement, the front frame orientation remains the same as the orientation at the previous prediction time; when the equipment is turning to one side, the front frame orientation continues to change according to the orientation change trend determined at the most recently collected time, but the orientation change between adjacent prediction times does not exceed the allowable orientation change per unit time; when the equipment is returning to center, the front frame orientation is changed in a direction that gradually reduces the orientation difference between the front and rear frames. If continuing the current trend would cause the relative angle between the front and rear frames to exceed the maximum turning range, the front frame orientation is then limited to the position corresponding to the maximum turning range.

[0096] When determining the predicted attitude of the rear frame, the system uses the predicted attitude of the rear frame at the previous prediction time as a basis, while simultaneously satisfying the frame connection relationship and the continuity of the rear frame motion. Specifically, the connection position of the rear frame can be determined first based on the connection position of the front frame at the current prediction time. Then, a candidate range of rear frame reference positions corresponding to the current movement distance is determined around the previous predicted reference position of the rear frame. From this range, the rear frame reference position and rear frame direction that make the connection positions of the front and rear frames coincide, the relative angle between the front and rear frames is within the maximum steering range, and the change in the rear frame direction is minimized are selected as the predicted attitude of the rear frame at the current prediction time.

[0097] When the equipment can provide the front frame direction change rate and the rear frame direction change rate, the system can first obtain candidate values ​​for the front frame direction and the rear frame direction based on the corresponding direction change rates, and then correct the two candidate values ​​according to the condition that the frame connection positions coincide. When only the front frame direction and the relative steering state of the front and rear frames can be provided, the system first determines the predicted attitude of the front frame, and then determines the predicted attitude of the rear frame according to the aforementioned frame connection relationship. If there is no rear frame attitude that simultaneously satisfies the connection relationship, the maximum steering range, and the allowable direction change per unit time, the direction change at that prediction moment is reduced and re-determined; if it still cannot be satisfied, the current prediction branch is stopped and marked as mechanically unrealizable.

[0098] After obtaining the predicted attitudes of the front and rear frames at the current prediction time, the system determines the predicted axes of the front and rear pressure rollers respectively according to the roller axis determination method described in step S220. It then extends the corresponding axes according to the respective roller widths and grounding lengths of the front and rear pressure rollers, forming the predicted grounding areas of the front and rear pressure rollers at the current prediction time. These predicted grounding areas are associated with and saved at the corresponding prediction time, enabling subsequent determination of when the specific edge of a particular pressure roller approaches or crosses the construction boundary.

[0099] For example, with a current speed of 1.00 meters per second, a prediction interval of 0.20 seconds, and the equipment in a stable leftward turning state, the most recently determined front frame direction change rate is 3 degrees per second, and the maximum allowable direction change rate is 5 degrees per second. For the first prediction moment after 0.20 seconds, the system can increase the front frame direction by 0.60 degrees to the left based on the previous direction, and update the front frame reference position by a movement distance of approximately 0.20 meters. Subsequently, the updated frame connection position is used as a constraint to determine the rear frame reference position and rear frame direction, and then the predicted grounding area of ​​the two pressure wheels at that prediction moment is formed. For the second prediction moment after 0.40 seconds, the system repeats the above process starting from the frame prediction attitude of the first prediction moment, until all prediction moments within the preset prediction period are processed.

[0100] Step S330: Connect the prediction grounding regions at adjacent prediction times to form a prediction sweep region.

[0101] The system connects the predicted grounding regions of the front and rear pressure wheels at adjacent prediction times to obtain the predicted sweep regions of the front and rear pressure wheels. The predicted sweep region represents the continuous range that the pressure wheel may traverse within a preset prediction period, as the current operating state continues to develop or changes in a restricted direction.

[0102] like Figure 5 As shown, the connection method of the predicted swept regions can be the same as that of the actual swept regions, that is, connecting the corresponding boundaries of adjacent predicted grounding regions and merging the two predicted grounding regions and the continuous range between them. Each segment of the predicted swept region is associated with the corresponding prediction time, so as to find the first occurrence of spatial conflict in chronological order.

[0103] When a predicted frame attitude exceeds the maximum steering range of the equipment or cannot maintain the connection between the front and rear frames during the prediction process, the system stops generating the corresponding prediction branch and does not take areas that cannot be achieved mechanically as valid prediction sweep areas.

[0104] Step S340: According to the order of the predicted times, the predicted sweep area is compared with the boundary conditions, and the risk pressure wheel, risk edge and expected risk time that first do not meet the boundary conditions are determined as risk information.

[0105] The system compares the predicted sweep areas of the front and rear pressure wheels at each predicted time with the permitted operating area, restricted access area, and preset safety distance, respectively. If any predicted sweep area exceeds the permitted operating area, enters the restricted access area, or the minimum distance between it and the corresponding boundary is less than the preset safety distance, then the predicted sweep area is determined to not meet the boundary conditions.

[0106] The system compares predicted times from morning to night, identifies the earliest predicted time that does not meet the boundary conditions as the expected risk time, designates the corresponding pressure roller as the risk pressure roller, and identifies the side of the pressure roller that first approaches or crosses the corresponding boundary as the risk edge. This risk information thus clearly identifies the time, side, and target pressure roller where the risk occurs.

[0107] When both pressure rollers fail to meet the boundary conditions at the same predicted time, the main risk pressure roller can be identified based on the expected range of exceeding the allowable operating area, the degree of entering the restricted access area, or the current available response time, while retaining the risk information corresponding to the other pressure roller so that the candidate correction action can simultaneously eliminate the risks of both pressure rollers.

[0108] The system can also determine the warning level based on the time interval between the expected risk moment and the current moment, as well as the expected risk level. For example, a remaining time greater than 2.00 seconds is classified as a prompt level, a remaining time between 1.00 and 2.00 seconds as a warning level, and a remaining time less than 1.00 seconds as an emergency level.

[0109] Step S400: Generate multiple candidate correction actions based on the risk information, determine the candidate sweeping area corresponding to each candidate correction action, and perform safety screening and overlap screening on the candidate sweeping areas according to the construction area information to determine the target correction action.

[0110] like Figure 6 As shown, in this embodiment, step S400 is used to generate multiple executable adjustment schemes for the equipment around the identified risk pressure roller, risk edge, and expected risk moment, and to deduce the coverage results of the front and rear pressure rollers under each adjustment scheme. The system first eliminates candidate correction actions that do not meet the preset safety conditions, and then determines the target correction actions that have a smaller impact on construction quality based on the overlap conditions; when both types of conditions cannot be met simultaneously, priority is given to ensuring equipment safety and forming a pressure replenishment area. Step S400 includes the following sub-steps:

[0111] Step S410: Based on the risk pressure wheel and the risk edge, determine the adjustment side, limit the action completion time according to the expected risk moment, and generate multiple candidate correction actions within a preset adjustment range.

[0112] Specifically, the target avoidance direction of the risk roller is determined based on the position of the risk edge relative to the construction boundary. Then, based on the running direction, the current relative steering state of the front and rear frames, and the steering response relationship of the compaction equipment, an adjustment lateral for achieving the target avoidance direction is determined. This adjustment lateral represents the target avoidance direction of the risk roller in the construction coordinate system and is not directly equivalent to the driving control direction. The system converts the target avoidance direction into a change in the front frame direction, a change in the relative steering state of the front and rear frames, or an equipment control command based on the forward or backward state of the compaction equipment, the current relative steering state of the front and rear frames, and the pre-determined steering response relationship.

[0113] When the risk edge is on the right side of the equipment, the system typically prioritizes adjusting to the left side, which is closer to the construction area; when the risk edge is on the left side of the equipment, the system typically prioritizes adjusting to the right side. If there is a restricted access area within the construction area, the system also considers that restricted access area; facing inwards from the construction area should not be interpreted as necessarily safe.

[0114] Each candidate corrective action can include the side adjustment, the degree of adjustment, the duration of the action, and the recommended speed. The degree of adjustment can be divided into multiple levels according to the range of directional changes allowed by the equipment, with each level representing the amount of directional adjustment that the driver or automatic control device can make before the anticipated risk moment.

[0115] For example, the system can generate candidate correction actions such as maintaining the current direction, making a small adjustment towards the construction area, making a medium adjustment towards the construction area, and making a large adjustment towards the construction area. In emergency warning situations, control actions such as reducing speed or stopping operation can also be configured for each directional adjustment action.

[0116] Candidate correction actions must not require the equipment to exceed the permissible directional change within a unit of time, nor must they require the equipment to directly switch from a larger directional change on one side to a larger directional change on the other side within a short period of time. When the anticipated risk is imminent, the system can reduce the number of candidate correction actions that involve minor adjustments and cannot produce an effective positional change before the risk occurs.

[0117] Step S420: Based on each of the candidate correction actions, the device structure information, and the actual grounding area, determine the corresponding candidate sweep area.

[0118] For each candidate correction action, the system reuses the prediction processing procedure defined in step S320. Specifically, the system still starts with the current front frame attitude, rear frame attitude, and actual ground contact area, and updates the frame position, frame direction, and pressure wheel ground contact area sequentially according to the prediction time. The difference is that the direction change state and speed change trend used to continue the current running trend in step S320 are replaced with the direction adjustment sequence and speed adjustment sequence corresponding to the candidate correction action.

[0119] The system first converts candidate correction actions into candidate action parameters corresponding to each prediction time. When candidate correction actions include adjusting the side, adjustment degree, action completion time, and suggested speed, the total directional change to be completed can be determined based on the adjustment degree, and the number of prediction intervals to which the total directional change should be allocated can be determined based on the action completion time. Within the action completion time, the system allocates the total directional change to each prediction time according to the allowable directional change per unit time of the equipment; after reaching the target direction, the system maintains the target direction for the remaining prediction period, or gradually reduces the directional change according to the pre-set return-to-center requirements of the candidate correction actions.

[0120] For the recommended speed, the system can gradually adjust the current speed to the recommended speed within the action completion time, and maintain the recommended speed after it is reached. The speed increase or decrease in each prediction interval must not exceed the equipment's allowable acceleration or deceleration; if the recommended speed required by the candidate correction action to be reached before the predicted risk moment cannot be achieved within the equipment's allowable deceleration range, the candidate correction action is marked as unexecutable. Thus, each prediction moment corresponds to a candidate direction change and a candidate speed.

[0121] When determining the candidate front frame attitude at a given prediction time, the system uses the candidate front frame attitude from the previous prediction time as a starting point, applies the candidate direction change at that prediction time to the front frame direction, and determines the moving distance based on the candidate velocities from the previous and current prediction times. Then, it updates the front frame reference position according to whether it is in a forward or backward state. Based on the updated front frame reference position, front frame direction, and equipment structure information, the system determines the front frame connection position, thereby obtaining the candidate front frame attitude at that prediction time.

[0122] When determining the candidate rear frame attitude at the same prediction time, the system uses the candidate rear frame attitude from the previous prediction time as a starting point, and re-determines the candidate rear frame reference position and candidate rear frame direction based on the conditions that the frame connection positions coincide, the relative angle between the front and rear frames does not exceed the maximum steering range, and the rear frame direction change is continuous. This reflects the different responses of the correction action to the front and rear frames, and can identify situations where the front pressure wheel has moved towards the safe zone while the rear pressure wheel continues to approach the boundary.

[0123] After determining the candidate front frame attitude and candidate rear frame attitude at each prediction time, the system forms the candidate grounding region for the front pressure wheel and the candidate grounding region for the rear pressure wheel in the manner described in step S220. For the same candidate correction action, the current actual grounding region is connected to the candidate grounding region at the first prediction time, and then connected to the candidate grounding regions at subsequent adjacent prediction times, forming the candidate sweeping region for the front pressure wheel and the candidate sweeping region for the rear pressure wheel respectively; the two together constitute the candidate sweeping region corresponding to the candidate correction action.

[0124] If, at any prediction time, the change in candidate direction exceeds the allowable change in direction per unit time, the change in candidate velocity exceeds the allowable acceleration or deceleration, or the attitude of the candidate rear frame that satisfies the frame connection relationship cannot be determined, then the subsequent deduction of the candidate correction action is stopped, and it is determined as an unexecutable action, and does not proceed to the safety screening in step S430. For candidate correction actions that can complete the deduction at all prediction times, the system saves the candidate frame attitude, candidate grounding area, and candidate sweep area at each prediction time for use in boundary safety judgment and overlap judgment.

[0125] For example, with a current speed of 1.00 meters per second and a prediction interval of 0.20 seconds, a candidate correction action is "a moderate adjustment to the left, completing a 6-degree directional change within 1.20 seconds, and suggesting a speed reduction to 0.80 meters per second." The system can divide 1.20 seconds into 6 prediction intervals, increasing the leftward direction by 1 degree within each interval, and gradually distributing the total speed reduction of 0.20 meters per second across the 6 prediction intervals. For the first prediction moment, the system substitutes the 1-degree leftward directional adjustment and the corresponding candidate speed to determine the candidate front frame attitude, and then determines the candidate rear frame attitude according to the frame connection relationship. For the second prediction moment, the system uses the two candidate frame attitudes from the previous moment as a starting point, then substitutes the next set of directional adjustments and candidate speeds, until the candidate correction action is completed in the 6th prediction moment.

[0126] Step S430: Compare each candidate sweep region with the boundary conditions, eliminate candidate correction actions that do not meet the preset safety conditions, and determine the safety margin corresponding to the remaining candidate correction actions.

[0127] The system compares the candidate sweep areas of the front and rear pressure wheels for each candidate correction action with the allowable operating area. If any candidate sweep area exceeds the allowable operating area, the corresponding candidate correction action is discarded.

[0128] The system also compares candidate sweep areas with restricted access areas. If any candidate sweep area intersects with a restricted access area, the corresponding candidate correction action is eliminated. Even if a candidate sweep area does not cross the construction boundary, if the minimum distance between it and the construction boundary or the restricted access area is less than the preset safety distance, the corresponding candidate correction action is also eliminated.

[0129] For the candidate correction actions selected through the above comparison, the system determines the minimum distance between the candidate sweep areas of the front and rear pressure wheels and each risk boundary, and uses the smaller distance as the safety margin for the corresponding candidate correction action. The larger the safety margin, the greater the distance that can be maintained between the pressure wheel and the danger zone after the action is executed.

[0130] If all directional adjustments fail to meet the preset safety conditions, but stopping operation can prevent the predicted risk from escalating, the system can consider stopping operation as a safety candidate action. After the equipment stops, the system re-executes risk determination and candidate correction actions based on the new actual position and chassis attitude.

[0131] It should be noted that if there are no candidate correction actions that meet the preset safety conditions, an emergency deceleration action or a stop action is generated based on the current operating speed, the expected risk moment, and the allowable deceleration of the equipment. The emergency deceleration action or stop action is determined as the emergency target action and is used as the target correction action. The overlap screening is skipped and the highest level warning is output. After the equipment stops or the operating status changes, steps S300 and S400 are re-executed.

[0132] Step S440: Compare the candidate sweeping area corresponding to the remaining candidate correction action with the adjacent effective compaction area to determine the corresponding overlap result.

[0133] Based on the current operating direction and the location of the existing effective compaction zone, the system determines the side of the compaction zone that needs to maintain overlap. Subsequently, multiple detection points are set in the candidate sweep area along the running direction of the compaction equipment, and the lateral overlap width between the candidate sweep area and the adjacent effective compaction zone is determined at each detection point.

[0134] The interval between detection positions can be set according to the length of the candidate swept area and the construction accuracy requirements, for example, to 0.20 meters. The system compares the overlap width of each detection position with the preset overlap width range and determines the proportion of detection positions whose overlap width is within the preset range.

[0135] When the overlap width of adjacent detection positions is less than the preset lower limit of overlap width or there is no overlap, the system will identify the corresponding continuous segment as a gap segment and determine the continuous length of each gap segment. The overlap result may include the qualified overlap width ratio and the maximum continuous gap length.

[0136] When the proportion of qualified overlap widths reaches a preset proportion and the maximum continuous gap length is less than a preset threshold, the corresponding candidate correction action is determined to meet the overlap conditions. By simultaneously evaluating the qualified proportion and the continuous gap length, it is possible to avoid a small number of large overlapping areas from increasing the average result and masking local continuous pressure leakage.

[0137] Step S450: Based on the safety margin and the overlap result, determine the target correction action from the remaining candidate correction actions.

[0138] like Figure 7 As shown, when there is one remaining candidate correction action that meets the overlap condition, the system determines that candidate correction action as the target correction action. When there are multiple remaining candidate correction actions that meet the overlap condition, they can be selected sequentially according to the degree of action adjustment, safety margin, and overlap result.

[0139] In one implementation, the system prioritizes candidate correction actions with smaller adjustment degrees to reduce abrupt directional changes; when the adjustment degrees are the same, candidate correction actions with larger safety margins are selected; when the safety margins are similar, candidate correction actions with overlap widths closer to the middle of the preset overlap width range and smaller maximum continuous gap lengths are selected.

[0140] For example, the system generates four candidate correction actions. Maintaining the current direction would still cause the rear pressure roller to cross the construction boundary; a slight leftward adjustment with a safety margin of only 0.18 meters is eliminated in the safety screening. A medium leftward adjustment has a safety margin of 0.48 meters and a main overlap width of 0.29 meters; a larger leftward adjustment has a safety margin of 0.70 meters and a main overlap width of 0.45 meters. When the preset overlap width range is 0.20 meters to 0.40 meters, the system determines the medium leftward adjustment as the target correction action.

[0141] Step S460: If none of the remaining candidate correction actions meet the overlap condition, then a safety priority action is determined based on the safety margin.

[0142] When there are at least one candidate correction action that meets the preset safety conditions, but none of the candidate correction actions meet the overlap conditions, it indicates that due to the influence of construction boundaries, restricted access areas, or equipment turning capabilities, it is difficult to simultaneously meet the safety requirements and coverage quality requirements under the current conditions.

[0143] The system compares the safety margins of each remaining candidate correction action and prioritizes the candidate correction action with the larger safety margin. When the safety margins are the same or the difference is less than a preset comparison threshold, the expected time to eliminate the boundary risk and the degree of action adjustment can be further compared. The candidate correction action that can eliminate the risk more quickly and is easier for the driver to execute is selected as the safety priority action.

[0144] Safety-priority actions must still meet preset safety conditions. The system will not select actions that might cause any pressure roller to cross the boundary or enter the restricted access area simply because the overlap conditions cannot be met.

[0145] Step S470: Compare the candidate sweeping area corresponding to the safety priority action with the adjacent effective compaction area to determine the expected uncovered area; expand the expected uncovered area along the running direction of the compaction equipment to form a supplementary compaction area.

[0146] The system merges the candidate sweeping areas corresponding to safety-priority actions with adjacent effective compaction areas, and identifies the portions of the current work zone not covered by these areas or with overlap widths less than a preset lower limit as expected uncovered areas. Expected uncovered areas can be irregular, continuous areas, or they can include multiple separate local areas.

[0147] For multiple local areas that are less than the preset merging distance, the system can merge them into a single expected uncovered area, allowing subsequent equipment to continuously pressurize. For local areas that are far apart, separate pressurization areas can be created, avoiding unnecessary rework by the pressurization equipment in already qualified areas.

[0148] The system extends a preset entry length and a preset exit length forward and backward along the direction of operation towards the expected uncovered area, respectively. This ensures that the pressurizing equipment can enter the specified operating state before reaching the core uncovered area and maintains sufficient overlap after leaving the core uncovered area. The preset entry length and preset exit length can be determined based on the equipment acceleration process and the stabilization time of the vibration device.

[0149] For example, if the expected length of the uncovered area is 3.60 meters and the average width is 0.18 meters, it can be extended forward and backward by 1.00 meter each, forming a replenishment area with a length of 5.60 meters. Within the replenishment area, the entry section, the core uncovered section, and the exit section can be distinguished.

[0150] The system identifies safety-priority actions as target correction actions and associates the pressure replenishment area with the target correction action and the current warning record. Therefore, even if the actual overlap does not meet the overlap conditions after the driver executes the safety-priority action, the system can still establish a subsequent pressure replenishment task based on the associated pressure replenishment area.

[0151] Step S500: Output the early warning information corresponding to the target correction action, and update the early warning status based on the actual sweeping area and the construction area information after the target correction action is executed.

[0152] like Figure 8 As shown, in this embodiment, step S500 is used to convert risk information and target correction actions into prompts that the driver can execute, and to verify whether the risk has been eliminated based on the actual wheel pressure coverage result formed during the execution of the target correction action. The system first verifies whether both the front and rear wheel pressures meet preset safety conditions, then verifies whether the effective sweeping area meets the overlap conditions, and updates the warning status based on the verification results. Step S500 includes the following sub-steps:

[0153] Step S510: Generate early warning information based on the risk information and the target correction action, and output the early warning information.

[0154] Warning information may include risk level, risk threshold, warning level, target adjustment direction, adjustment extent, action completion time, and recommended speed. The system can output warning information through at least one of the following methods: vehicle display, voice prompts, indicator lights, or equipment vibration alerts.

[0155] For example, when the risk information indicates that the right edge of the rear pressure roller will not meet the boundary conditions after 1.80 seconds, and the target correction action is to adjust to the left in a medium-amplitude manner, the warning information can be "The right side of the rear pressure roller is approaching the construction boundary. Please adjust to the left in a medium-amplitude manner. It is recommended that the speed not exceed 0.80 meters per second."

[0156] The system monitors changes in the direction and speed of the equipment from the moment the warning information is output. If no change in direction towards the target is detected within the preset response time, the system can increase the frequency of alerts or raise the warning level. When the actual change in the equipment's direction is opposite to the target's correction action, the system immediately reconstructs the predicted sweep area and determines new risk information.

[0157] When the target correction action is an emergency deceleration or stop action, the system outputs a corresponding emergency deceleration prompt or emergency stop prompt and continuously monitors the equipment speed. If the equipment speed does not decrease to a preset stop threshold within a preset braking time, the emergency level prompt remains in effect.

[0158] When the warning information is output to the driver, the system converts the target avoidance direction into the driving control direction corresponding to the current running direction, and marks the target avoidance direction and driving control direction of the risk pressure wheel respectively.

[0159] Step S520: Continuously acquire the operating status information after executing the target correction action, determine the actual sweeping area based on the equipment structure information and the operating status information, and determine the effective sweeping area in the actual sweeping area according to the process status.

[0160] Specifically, after the system detects that the front and rear pressure rollers have re-entered the safe range defined by the boundary conditions, it determines the corresponding moment as the safety verification start moment, and determines the actual sweep area formed within the most recent preset judgment period after the safety verification start moment as the safety verification sweep area. The boundary safety result is determined based on the safety verification sweep area; the actual overlap result is determined based on the effective correction sweep area formed during the target correction action.

[0161] The system continuously acquires operational status information from the moment the warning information is output, and repeatedly executes steps S210 to S240 to form the actual sweep area of ​​the front and rear pressure wheels during the target correction action. The actual sweep area reflects the actual operational results executed by the driver or automatic control device.

[0162] The system reads the process status of each actual swept area within the corresponding time period. For actual swept areas that meet the process conditions specified in the current construction stage, they are identified as valid swept areas; for actual swept areas that do not meet the process conditions, they are only used for boundary safety judgment and are not used as the basis for overlapping qualification.

[0163] For example, the current construction phase requires vibratory compaction at a speed of 0.80 to 1.50 meters per second. If the vibration device is turned off during the correction period or the speed exceeds 1.50 meters per second, the corresponding actual swept area cannot be determined as a valid swept area. Even if the roller passes through an adjacent work zone in space, this cannot be used to determine that the overlap is qualified.

[0164] When the process conditions change within a corresponding time period in an actual swept area, the system segments the actual swept area according to the time of the state change, identifying only the portion that meets the process conditions as the effective swept area. This allows for a more accurate representation of the actual effective construction results formed during the correction period.

[0165] Step S530: Compare the actual swept area with the boundary conditions to obtain the boundary safety result.

[0166] The system compares the latest actual sweep areas of the front and rear pressure rollers formed during the target correction action with the permitted operating area, restricted entry area, and preset safety distance. Only when both pressure rollers are within the permitted operating area, neither has entered the restricted entry area, and the minimum distance between them and the corresponding boundary reaches the preset safety distance, is the boundary safety result of the current judgment cycle determined to be qualified.

[0167] When the risk pressure roller is the rear pressure roller, even if the front pressure roller has moved into the construction area and met the preset safety conditions, the system continues to check the actual swept area of ​​the rear pressure roller until the rear pressure roller also meets the preset safety conditions. This process avoids prematurely ending the warning when the equipment center position has returned to the allowable working area, but the rear pressure roller is still close to the construction boundary.

[0168] If any pressure roller still fails to meet the preset safety conditions, the system maintains a continuous early warning state and re-executes steps S300 and S400 based on the latest actual grounding area and operating status information. The redefined target correction action can replace the original target correction action, and new early warning information will be output.

[0169] To reduce frequent changes in boundary safety results caused by single positioning errors, the system can summarize multiple recent actual swept areas according to a preset judgment cycle. Only when the boundary safety results continuously meet the preset number of judgments will the final confirmation process of the overlap result begin.

[0170] Step S540: When the boundary safety result meets the preset safety conditions, the effective sweeping area is compared with the adjacent effective compaction area to obtain the actual overlap result.

[0171] The system adopts the same detection position setting method as step S440, sets multiple detection positions in the effective sweep area during the target correction action, and determines the actual overlap width, overlap width qualified ratio and maximum continuous gap length of each detection position.

[0172] When the proportion of qualified overlap widths reaches the preset proportion and the maximum continuous gap length is less than the preset threshold, the actual overlap result of the current judgment period is determined to be qualified. When the effective sweeping area length is insufficient to cover the complete correction section, even if the local overlap width meets the requirements, the system continues to collect data and does not immediately determine the actual overlap result as the final qualified result.

[0173] For target correction actions associated with pressure-replenishing areas, the system can also compare the actual uncovered area with the pre-formed pressure-replenishing area. When the actual uncovered area exceeds the pressure-replenishing area, the pressure-replenishing area is updated based on the actual uncovered area; when the actual uncovered area is smaller than the pressure-replenishing area, the original pressure-replenishing area can be retained to provide sufficient space for pressure-replenishing entry and exit.

[0174] Step S550: Based on the boundary security result and the actual overlap result, update the warning status to a completed status, a pending pressure replenishment status, or a continuous warning status.

[0175] When both the boundary safety result and the actual overlap result continuously meet the preset number of judgments, the system will update the warning status to the completed status. For example, if the judgment period is set to 0.50 seconds and the preset number of judgments is set to 3, then after the front pressure wheel and the rear pressure wheel meet the preset safety conditions for 1.50 seconds continuously, and the effective sweeping area meets the overlap conditions for 1.50 seconds continuously, the system will update the warning status to the completed status.

[0176] When the boundary safety result meets the preset safety conditions, but the actual overlap result does not meet the overlap conditions, the system will update the warning status to the pending pressure replenishment status. The system establishes a pressure replenishment task based on the pressure replenishment area formed in step S470 or based on the actual uncovered area after correction, and outputs the location and operation requirements of the pressure replenishment area to the construction management terminal.

[0177] When the boundary safety results do not meet the preset safety conditions, the system will maintain the warning status as a continuous warning, redetermine the target correction action, and continue to output warning information. The continuous warning status will not end due to manual confirmation by the driver unless the equipment has stopped and on-site personnel have completed safety verification.

[0178] For the state to be repressurized, after the repressurization equipment enters the repressurization area, the system forms the actual sweeping area and the effective sweeping area during the repressurization period according to steps S210 to S240, and determines whether the core uncovered part is covered by the effective sweeping area that meets the process conditions, and whether the effective sweeping area formed by repressurization and the existing effective rolling areas on both sides meet the overlap conditions.

[0179] Once the pressure replenishment verification passes, the system updates both the pressure replenishment task and the original warning status to "completed." If the pressure replenishment verification fails, the "pending pressure replenishment" status is retained, and the pressure replenishment area is updated based on the remaining uncovered portion. Therefore, the warning status ends based on the actual construction results, rather than solely on the equipment's center location or manual operation.

[0180] The system can generate a corresponding warning number for each alert and associate risk information, candidate corrective actions, candidate sweep areas, safety screening results, overlap screening results, target corrective actions, actual sweep areas, pressure replenishment areas, and the final warning status with the warning number. After construction is completed, a construction quality record can be generated based on the warning number for construction acceptance and process review.

[0181] In a specific scenario, the permissible working area of ​​a dam fill section is an irregularly enclosed area. The compaction equipment moves forward along the right construction boundary. The width of both the front and rear compaction rollers is 2.20 meters, the preset safety distance is 0.30 meters, the preset overlap width range is 0.20 meters to 0.40 meters, the current speed of the equipment is 1.00 meters per second, and the preset prediction time period is 3.00 seconds.

[0182] The system determines the actual grounding areas of the front and rear pressure rollers based on equipment structure and operational status information. Currently, the distance between the right edge of the front pressure roller and the construction boundary is 0.65 meters, and the distance between the right edge of the rear pressure roller and the construction boundary is 0.42 meters. Prediction results indicate that the right edge of the rear pressure roller will exceed the permissible operating area after 1.80 seconds, while the front pressure roller will not exceed the permissible operating area within the preset prediction period. Therefore, the rear pressure roller is identified as a risk pressure roller, and the right side of the rear pressure roller is identified as the risk edge.

[0183] The system generates four candidate correction actions: maintaining the current direction, making a small adjustment to the left, making a medium adjustment to the left, and making a large adjustment to the left. Maintaining the current direction cannot eliminate the risk; the minimum boundary distance after a small adjustment to the left is less than 0.30 meters; the main overlap width after a large adjustment to the left is 0.45 meters, exceeding the preset overlap width range; the safety margin after a medium adjustment to the left is 0.48 meters, and the main overlap width is 0.29 meters. Therefore, the system determines the medium adjustment to the left as the target correction action.

[0184] The vehicle-mounted terminal outputs warning information indicating that the right side of the rear pressure roller is approaching the construction boundary, requiring a slight adjustment to the left and a reduction in speed. After the driver executes these instructions, the system continuously generates actual sweeping areas for the front and rear pressure rollers. When the minimum boundary distance between the front and rear pressure rollers is greater than 0.30 meters, and the actual overlap width remains between 0.27 meters and 0.34 meters for three consecutive judgment cycles, the system updates the warning status to "completed."

[0185] In another specific scenario, a restricted access area is set up near the construction boundary within the permitted work area. The system predicts that the right edge of the rear pressure roller will exceed the permitted work area after 1.30 seconds. A slight adjustment to the left cannot eliminate the risk of the rear pressure roller, a medium adjustment to the left will cause the front pressure roller to enter the restricted access area, and only a large adjustment to the left can make both the front and rear pressure rollers meet the preset safety conditions, but the corresponding overlap width is only 0.08 meters.

[0186] The system prioritizes a significant leftward adjustment for safety and extends the anticipated uncovered area (3.60 meters long and 0.18 meters wide) forward and backward by 1.00 meter each, creating a 5.60-meter-long pressure-replenishing area. After the driver completes the safety adjustment, the system confirms that both the front and rear pressure wheels meet the preset safety conditions, but the actual overlap is substandard, thus updating the warning status to a pressure-replenishing state.

[0187] The compaction equipment then entered the compaction area. The system confirmed that the effective sweeping area formed by the compaction completely covered the uncovered part of the core, and that the overlap width between the compaction area and the existing effective compaction areas on both sides was between 0.26 meters and 0.35 meters. Therefore, the compaction task and the original warning status were updated to the completed status.

[0188] This application also provides a rolling track early warning device, please refer to... Figure 9 The rolling trajectory early warning device includes:

[0189] The information acquisition module is used to acquire equipment structure information, operating status information, and construction area information of the compaction equipment.

[0190] The area formation module is used to determine the actual grounding area of ​​the front pressure roller and the rear pressure roller at the continuous acquisition time based on the equipment structure information and the operating status information, and to form the actual sweeping area according to the actual grounding area;

[0191] The risk determination module is used to determine the predicted sweep area within a preset prediction period based on the operating status information and the actual grounding area, and to determine the pressure roller location and prediction time that first fails to meet the boundary conditions in the predicted sweep area based on the construction area information, thereby obtaining risk information.

[0192] The action determination module is used to generate multiple candidate correction actions based on the risk information, determine the candidate sweeping area corresponding to each candidate correction action, and perform safety screening and overlap screening on the candidate sweeping areas according to the construction area information to determine the target correction action.

[0193] The status update module is used to output early warning information corresponding to the target correction action, and update the early warning status based on the actual sweeping area and the construction area information after the target correction action is performed.

[0194] Each of the above modules can be implemented by an independent program, or by different program segments called by the same processor. Data transferred between modules can be stored in a shared memory area or transferred sequentially through module interfaces. This application does not limit the specific physical deployment location of each module.

[0195] This application also provides a rolling track warning device, which may include a processing unit that can perform various appropriate actions and processes according to a program stored in a read-only memory or a program loaded from a storage device into a random access memory. The random access memory also stores various programs and data required for the operation of the rolling track warning device. The processing unit, the read-only memory, and the random access memory are interconnected via a bus. An input / output interface is also connected to the bus. Typically, the following systems can be connected to the input / output interface: input devices, output devices, storage devices, and communication devices.

[0196] This application also provides a computer-readable storage medium having computer-readable program instructions stored thereon, the computer-readable program instructions being used to execute the rollover trajectory warning method in the above embodiments. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the rollover trajectory warning method provided in the above embodiments, and will not be repeated here.

[0197] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for early warning of compaction trajectory, characterized in that, Includes the following steps: Obtain information on the equipment structure, operating status, and construction area of ​​the compaction equipment; Based on the equipment structure information and the operating status information, the actual grounding areas of the front and rear pressure rollers at the continuous acquisition time are determined, and the actual sweeping area is formed according to the actual grounding areas; Based on the operating status information and the actual grounding area, the predicted sweeping area within the preset prediction period is determined, and the pressure roller location and prediction time that first fails to meet the boundary conditions in the predicted sweeping area are determined according to the construction area information, thereby obtaining risk information. Based on the risk information, multiple candidate correction actions are generated, and the candidate sweeping area corresponding to each candidate correction action is determined. Based on the construction area information, the candidate sweeping areas are subjected to safety screening and overlap screening to determine the target correction action. Output the early warning information corresponding to the target correction action, and update the early warning status based on the actual swept area and the construction area information after the target correction action is executed.

2. The method for early warning of compaction trajectory as described in claim 1, characterized in that, The steps to obtain equipment structure information, operating status information, and construction area information of the compaction equipment include: Obtain equipment structural parameters that characterize the positional relationship between the positioning component, the frame and the pressure roller, and the size of the pressure roller; and establish equipment structural information based on the equipment structural parameters. Acquire equipment status parameters to characterize the spatial, motion, and technological states of the compaction equipment, and establish operational status information based on the equipment status parameters; Obtain regional constraint parameters to characterize work space constraints and coverage quality constraints, and establish construction area information based on the regional constraint parameters, wherein the construction area information includes the boundary conditions and overlap conditions; The equipment structure information, the operating status information, and the construction area information are converted to the same construction coordinate system, and the operating status information is grouped according to the collection time.

3. The method for early warning of compaction trajectory as described in claim 1, characterized in that, Based on the equipment structure information and the operating status information, the steps of determining the actual grounding areas of the front and rear pressure rollers during continuous data acquisition, and forming the actual sweeping area based on the actual grounding areas, include: Based on the equipment structure information and the operating status information, the attitude of the front frame and the attitude of the rear frame are determined. Based on the attitude of the front frame and the attitude of the rear frame, the front pressure wheel axis and the rear pressure wheel axis are determined; The actual grounding area is obtained by expanding the front pressure roller axis and the rear pressure roller axis according to the pressure roller size defined by the equipment structure information; The actual grounding areas at adjacent acquisition times are connected to form the actual sweeping areas corresponding to the front pressure wheel and the rear pressure wheel, respectively.

4. The method for early warning of compaction trajectory as described in claim 2, characterized in that, Based on the operational status information and the actual grounding area, the predicted sweeping area within a preset prediction period is determined, and the pressure roller location and prediction time that first fails to meet the boundary conditions in the predicted sweeping area are determined according to the construction area information, thus obtaining risk information. The steps include: Based on the operational status information, multiple prediction times within a preset prediction period are determined; Taking the actual grounding area at the current moment as the starting area, the predicted grounding area corresponding to each predicted moment is determined based on the operating status information and the movement restrictions of the compaction equipment. The prediction grounding regions connected to adjacent prediction times form a prediction sweep region; According to the order of the predicted times, the predicted sweep area is compared with the boundary conditions, and the risk pressure wheel, risk edge and predicted risk time that first do not meet the boundary conditions are identified as risk information.

5. The rolling trajectory early warning method as described in claim 4, characterized in that, Based on the risk information, multiple candidate correction actions are generated. For each candidate correction action, a corresponding candidate sweeping area is determined. Then, based on the construction area information, the candidate sweeping areas undergo safety screening and overlap screening to determine the target correction action. The steps include: Based on the risk pressure wheel and the risk edge, the adjustment side is determined, the action completion time is limited according to the expected risk moment, and multiple candidate correction actions are generated within a preset adjustment range; Based on each of the candidate correction actions, the equipment structure information, and the actual grounding area, the corresponding candidate sweep area is determined; Each candidate sweep region is compared with the boundary conditions, and the candidate correction actions that do not meet the preset safety conditions are eliminated, and the safety margin corresponding to the remaining candidate correction actions is determined. The candidate sweeping area corresponding to the remaining candidate correction action is compared with the adjacent effective compaction area to determine the corresponding overlap result; Based on the safety margin and the overlap result, the target correction action is determined from the remaining candidate correction actions.

6. The method for early warning of compaction trajectory as described in claim 5, characterized in that, After determining the corresponding overlap result, the steps include: If none of the remaining candidate correction actions meet the overlap condition, then the safety priority action is determined based on the safety margin. The candidate sweeping area corresponding to the safety priority action is compared with the adjacent effective compaction area to determine the expected uncovered area; The area to be uncovered is expanded along the running direction of the compaction equipment to form a compaction zone; The safety priority action is identified as the target correction action, and the pressure compensation area is associated with the target correction action.

7. The method for early warning of compaction trajectory as described in claim 6, characterized in that, The steps of outputting the early warning information corresponding to the target correction action and updating the early warning status based on the actual swept area and the construction area information after the target correction action are executed include: Based on the risk information and the target correction action, an early warning message is generated and output. The system continuously acquires the operating status information after the target correction action is performed, determines the actual sweeping area based on the equipment structure information and operating status information, and determines the effective sweeping area in the actual sweeping area according to the process status. The actual swept area is compared with the boundary conditions to obtain the boundary safety result; When the boundary safety result meets the preset safety conditions, the effective sweeping area is compared with the adjacent effective compaction area to obtain the actual overlap result; Based on the boundary security results and the actual overlap results, the warning status is updated to a completed status, a pending pressure replenishment status, or a continuous warning status.

8. A rolling trajectory early warning device, characterized in that, include: The information acquisition module is used to acquire equipment structure information, operating status information, and construction area information of the compaction equipment. The area formation module is used to determine the actual grounding area of ​​the front pressure roller and the rear pressure roller at the continuous acquisition time based on the equipment structure information and the operating status information, and to form the actual sweeping area according to the actual grounding area; The risk determination module is used to determine the predicted sweep area within a preset prediction period based on the operating status information and the actual grounding area, and to determine the pressure roller location and prediction time that first fails to meet the boundary conditions in the predicted sweep area based on the construction area information, thereby obtaining risk information. The action determination module is used to generate multiple candidate correction actions based on the risk information, determine the candidate sweeping area corresponding to each candidate correction action, and perform safety screening and overlap screening on the candidate sweeping areas according to the construction area information to determine the target correction action. The status update module is used to output early warning information corresponding to the target correction action, and update the early warning status based on the actual sweeping area and the construction area information after the target correction action is performed.

9. A rolling trajectory early warning device, characterized in that, The rolling trajectory warning device includes: a memory, a processor, and a computer program stored in the memory and capable of running on the processor, the computer program being configured to implement the steps of the rolling trajectory warning method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the crush trajectory early warning method as described in any one of claims 1 to 7.

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