Method and system for adaptive control of an industrial vehicle during a road surface treatment operation
A method for controlling an industrial vehicle comprising the steps of: detecting a physical feature that determines a local narrowing or a widening of said road route; calculating treatment parameters of the road surface adapted to be used in the presence of said physical feature; calculating an estimated time for reaching said physical feature; calculating a time interval value required for a complete implementation of the second treatment parameters; and starting the implementation of the second treatment parameters at a time that is equal to the estimated time excluding the time interval of complete implementation.
1. A method for controlling an industrial vehicle during a road surface treatment operation of a road route carried out by the industrial vehicle using first treatment parameters, comprising the steps of:
detecting at least one of: i) a physical feature in said road route, ii) an actual variation of the travel direction of the industrial vehicle in said road route, and iii) a planned variation of the travel direction of the industrial vehicle in said road route,
wherein said physical feature determines a local narrowing or widening of said road route, and said actual variation and planned variation determine a corresponding variation of a first distance of the industrial vehicle from a first edge of the road route and of a second distance of the industrial vehicle from a second edge of the road route;
calculating, as a function of said first and second distances, and/or as a function of said local narrowing or widening, second treatment parameters of the road surface; and
in case of actual variation of said travel direction, controlling the immediate implementation of the second treatment parameters by the industrial vehicle;
otherwise carrying out the steps of:
calculating an estimated time for reaching said variation of the travel direction or physical feature,
calculating a time interval value required for a complete implementation of the second treatment parameters, and
starting the implementation, by the industrial vehicle, of the second treatment parameters at a time that is equal to the estimated time excluding the time interval of complete implementation.
2. The method according to claim 1 , wherein said physical feature is one between: a geometric variation of the road route; a presence of an object or obstacle in said road route; a presence of transport means in said road route.
3. The method according to claim 1 , wherein the industrial vehicle comprises delivery means configured to spread a solid and/or liquid product on the road surface,
and wherein the implementation of the second treatment parameters comprises adjusting spreading parameters of said product between: type of product spread, amount of product spread per area unit, the width of spreading, symmetry of spreading.
4. The method according to claim 1 , wherein the industrial vehicle is provided with a blade of telescopic type for the mechanical removal of snow and/or ice from the road surface,
and wherein the implementation of the second treatment parameters comprises at least one operation between: lifting and lowering the blade with respect to the road surface, rotating the blade around at least one adjustment axis, varying the telescopic extension of the blade.
5. The method according to claim 1 , wherein the industrial vehicle further comprises a GNSS or GPS navigation system,
wherein the step of calculating the estimated time for reaching said physical feature is automatically carried out by said GNSS or GPS navigation system.
6. The method according to claim 1 , wherein the step of detecting the physical feature comprises applying an environmental model to data acquired through a LiDAR or a RADAR mounted on the industrial vehicle.
7. The method according to claim 6 , wherein the environmental model is a computer program configured to determine, on the basis of data provided by the LiDAR or RADAR: the width of said road route at said physical feature; the first distance; the second distance.
8. The method according to claim 7 , wherein the industrial vehicle comprises delivery means configured to spread a solid and/or liquid product on the road surface,
wherein the implementation of the second treatment parameters comprises adjusting spreading parameters of said product between: type of product spread, amount of product spread per area unit, the width of spreading, symmetry of spreading,
wherein the step of calculating the second treatment parameters comprises adjusting the width of spreading in such a way that the width of spreading has a value less than said width of the road route at said physical feature.
9. The method according to claim 7 , wherein the industrial vehicle comprises delivery means configured to spread a solid and/or liquid product on the road surface,
wherein the implementation of the second treatment parameters comprises adjusting spreading parameters of said product between: type of product spread, amount of product spread per area unit, the width of spreading, symmetry of spreading,
wherein the step of calculating the second treatment parameters comprises adjusting the symmetry of spreading as a function of said first and second distances, so that the range of said product by the delivery means is, at the first edge, equal to or less than the first distance and, at the second edge, equal to or less than the second distance.
10. The method according to claim 7 , wherein the industrial vehicle is provided with a blade of telescopic type for the mechanical removal of snow and/or ice from the road surface,
wherein the implementation of the second treatment parameters comprises at least one operation between: lifting and lowering the blade with respect to the road surface, rotating the blade around at least one adjustment axis, varying the telescopic extension of the blade,
wherein the step of calculating the second treatment parameters comprises varying the telescopic extension of the blade so that the blade has an extension value less than said width of the road route at said physical feature.
11. A system for controlling an industrial vehicle during a road surface treatment operation of a road route carried out by the industrial vehicle using first treatment parameters, comprising:
an environmental model module configured to detect at least one of: i) a physical feature in said road route, ii) an actual variation of the travel direction of the industrial vehicle in said road route, and iii) a planned variation of the travel direction of the industrial vehicle in said road route,
wherein said physical feature determines a local narrowing or widening of said road route, and said actual variation and planned variation determine a corresponding variation of a first distance of the industrial vehicle from a first edge of the road route and of a second distance of the industrial vehicle from a second edge of the road route;
at least one parameter calculation module configured to calculate, as a function of said first and second distances and/or as a function of said local narrowing or widening, second treatment parameters of the road surface; and
a parameter implementation module configured to:
in case of actual variation of said travel direction, control the immediate implementation of the second treatment parameters by the industrial vehicle;
otherwise carry out the operations of:
calculating an estimated time for reaching said variation of the travel direction or physical feature,
calculating a time interval value required for a complete implementation of the second treatment parameters, and
starting the implementation, by the industrial vehicle, of the second treatment parameters at a time that is equal to the estimated time excluding the time interval of complete implementation.
12. The system according to claim 11 , wherein said physical feature is one between: a geometric variation of the road route; a presence of an object or obstacle in said road route; a presence of transport means in said road route.
13. The system according to claim 11 , wherein the industrial vehicle comprises delivery means configured to spread a solid and/or liquid product on the road surface,
and wherein the parameter implementation module is further configured to implement the second treatment parameters by adjusting spreading parameters of said product between: type of product spread, amount of product spread per area unit, width of spreading, symmetry of spreading.
14. The system according to claim 11 , wherein the industrial vehicle is provided with a blade of a telescopic type for the mechanical removal of snow and/or ice from the road surface,
and wherein the parameter implementation module is further configured to implement the second treatment parameters carrying out at least one operation between: lifting and lowering the blade with respect to the road surface, rotating the blade around at least one adjustment axis, varying the telescopic extension of the blade.
15. The system according to claim 11 , further comprising a GNSS or GPS navigation system, the parameter implementation module being configured to calculate the estimated time for reaching said physical feature using geolocation data provided by said GNSS or GPS navigation system.
16. The system according to claim 11 , further comprising a LiDAR or RADAR sensor, said environmental model module being configured to cooperate with said LiDAR or RADAR sensor in order to identify said physical feature, first distance, second distance.
17. The system according to claim 16 , wherein the environmental model is a computer program, the system further comprising a processing unit configured to run said environmental model to determine, on the basis of data provided by the LiDAR or RADAR: the width of said road route at said physical feature; the first distance; the second distance.
18. The system according to claim 17 , wherein the industrial vehicle comprises delivery means configured to spread a solid and/or liquid product on the road surface,
and wherein the parameter implementation module is further configured to implement the second treatment parameters by adjusting spreading parameters of said product between: type of product spread, amount of product spread per area unit, width of spreading, symmetry of spreading,
further comprising a movement module coupled to the parameter implementation module and configured to: receive, from the parameter implementation module, the second treatment parameters, and adjust the width of spreading so that the width of spreading has a value less than said width of said road route at said physical feature.
19. The system according to claim 17 , wherein the industrial vehicle comprises delivery means configured to spread a solid and/or liquid product on the road surface,
and wherein the parameter implementation module is further configured to implement the second treatment parameters by adjusting spreading parameters of said product between: type of product spread, amount of product spread per area unit, width of spreading, symmetry of spreading,
further comprising a spreading module coupled to the parameter implementation module and configured to control the delivery means for adjusting the symmetry of spreading as a function of said first and second distances, such that the range of said product is, at the first edge, equal to or less than the first distance and, at the second edge, equal to or less than a second distance.
20. The system according to claim 17 , wherein the industrial vehicle is provided with a blade of a telescopic type for the mechanical removal of snow and/or ice from the road surface,
and wherein the parameter implementation module is further configured to implement the second treatment parameters carrying out at least one operation among: lifting and lowering the blade with respect to the road surface, rotating the blade around at least one adjustment axis, and varying the telescopic extension of the blade,
further comprising a movement module coupled to the parameter implementation module and configured to: receive, from the parameter implementation module, the second treatment parameters, and vary the telescopic extension of the blade so that the blade has an extension value less than said width of said road route at said physical feature.