CN114263085A - Intelligent paving control system of paver - Google Patents
Intelligent paving control system of paver Download PDFInfo
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- CN114263085A CN114263085A CN202210039570.6A CN202210039570A CN114263085A CN 114263085 A CN114263085 A CN 114263085A CN 202210039570 A CN202210039570 A CN 202210039570A CN 114263085 A CN114263085 A CN 114263085A
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- 238000010276 construction Methods 0.000 claims abstract description 38
- 238000013178 mathematical model Methods 0.000 claims description 8
- 230000006978 adaptation Effects 0.000 claims 2
- 238000000034 method Methods 0.000 description 15
- 239000010410 layer Substances 0.000 description 13
- 229910000831 Steel Inorganic materials 0.000 description 9
- 239000010959 steel Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 239000011384 asphalt concrete Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010409 ironing Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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Abstract
The invention discloses an intelligent paving control system of a paver, which comprises an RTK mobile reference station and a paver body, wherein a paver ceiling is arranged above the paver body, a paver screed is arranged at one end of the paver body, a GPS receiving antenna I is arranged at one end above the paver ceiling, a GPS receiving antenna II is arranged at the other end above the paver ceiling, and a receiver I is arranged at one end of the paver body; according to the invention, the map acquisition vehicle is used for acquiring boundary coordinate information of a construction area, the boundary coordinate information of the construction area is sent to the industrial personal computer, the panoramic camera shoots panoramic road conditions and feeds the panoramic road conditions back to the industrial personal computer so as to judge the road conditions, the industrial personal computer plans the driving path of the paver according to the coordinate information and the road conditions, the path can be directionally planned, the panoramic camera can judge the road conditions, the panoramic camera feeds the road conditions back in real time through the camera display screen 15 so as to be checked by personnel in a cab, and unexpected conditions can be avoided in time.
Description
Technical Field
The invention relates to the technical field of paver control systems, in particular to an intelligent paving control system of a paver.
Background
Asphalt pavement is used as main engineering in highway engineering, and the flatness of the asphalt pavement directly influences the driving comfort. In the prior art, in the construction process of road surfaces such as asphalt concrete and the like, firstly, construction scheme design is carried out on road sections to be constructed, wherein the construction scheme design comprises the steps of determining the elevation of each point of the road surface, determining the paving thickness requirements of a cushion layer, a base layer and a surface layer, and having specific data and standard requirements on compaction and flatness requirements of each layer of the road surface.
In most of base layer construction processes, a preset steel wire rope is used as a standard for base layer thickness control, a fulcrum is arranged at intervals of about 15 meters, the steel wire rope is fixed on the fulcrum, the steel wire rope extends about dozens of meters to about one hundred meters along the highway direction, the steel wire rope is tensioned from two sides, the steel wire rope is the only standard for the paver to pave the base layer, and when the paver walks, the base layer is paved by a sliding shoe device sliding on the steel wire rope and a control mechanism for automatically adjusting the height of an ironing plate of the paver. After the base layer is paved, the base layer is compacted through a pressure machine. Among the above-mentioned operation process, it is very loaded down with trivial details to lay wire rope, and it requires highly to wire rope location constructor, if the wire rope elevation deviation appears, will influence the engineering quality that the basic unit paved, because various vehicles and personnel of job site are many in addition, vehicle and staff touch wire rope very easily, just so influenced the standard line that paves, influence construction quality, appear the wire rope breakage in even more in the person's work progress, cause the injured accident of staff.
After the pavement is compacted, surface construction is carried out, and two methods are generally adopted for the surface construction. The method still uses the steel wire rope as the standard for paving, and the method still has the problems in the process of paving the base layer. Another method is by automatic thickness control based on ultrasonic ranging means. At present, the second method is adopted in the prior art, the step of nailing the pile again and laying the steel wire rope can be omitted, but the method cannot control the actual final flatness of the surface layer, the flatness is constrained by the base layer laying result, and the effect is still not ideal.
Generally speaking, the quality of road construction engineering, the comfort and safety of vehicle running, the service life of road surface and the maintenance cost are closely related to the accuracy of positioning the high layer and thickness of each layer of the road surface in the construction process. Due to the defects of the traditional measuring mode, the quality of the pavement construction project is seriously influenced; and the traditional measurement mode needs a large amount of labor force, has low measurement accuracy, long paving time and lower working efficiency.
Disclosure of Invention
The invention aims to provide an intelligent paving control system of a paver, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a paver intelligence control system that paves, includes RTK removal reference station and paver organism, paver organism top is provided with the paver ceiling, paver organism one end is provided with the paver screed, paver ceiling top one end is provided with GPS receiving antenna one, paver ceiling top other end is provided with GPS receiving antenna two, paver organism one end is provided with receiver one, paver screed one end is provided with GPS receiving antenna three, the paver screed other end is provided with GPS receiving antenna four, the paver organism other end is provided with receiver two, paver ceiling top is provided with panoramic camera, paver organism one end is provided with the display screen that makes a video recording.
As a further scheme of the invention: and the other end of the paver body is provided with an industrial personal computer.
As a still further scheme of the invention: and a touch display screen is arranged at the other end of the paver body.
As a still further scheme of the invention: and the other end of the paver body is provided with a controller.
As a still further scheme of the invention: and the first GPS receiving antenna, the second GPS receiving antenna and the first receiver are matched with each other in signal, and are electrically connected with the second receiver, the industrial personal computer and the touch display screen.
As a still further scheme of the invention: and the third GPS receiving antenna, the fourth GPS receiving antenna and the second receiver are matched with each other in signal, and are electrically connected with the second receiver, the industrial personal computer and the touch display screen.
As a still further scheme of the invention: and the industrial personal computer, the panoramic camera and the camera display screen are electrically connected.
As a still further scheme of the invention: the intelligent paving control system of the paver comprises the following steps:
and (3) controlling a running path: before construction, the RTK moving reference station 1 is erected, coordinate information is calibrated, and the RTK moving reference station cannot be moved before construction is finished. Then, a map acquisition vehicle is used for acquiring boundary coordinate information of a construction area, the boundary coordinate information of the construction area is sent to an industrial personal computer 8, a panoramic camera 14 shoots panoramic road conditions and feeds the panoramic road conditions back to the industrial personal computer 8 so as to judge road conditions, and the industrial personal computer 8 plans a traveling path of the paver according to the coordinate information and the road conditions; the data of two groups of GPS receiving antennas I2 and GPS receiving antennas II 3 on the top of the spreading locomotive can know the posture of the spreading machine at any time, the central points of the two groups of GPS receiving antennas I2 and GPS receiving antennas II 3 are superposed with the central axis of the advancing direction of the spreading machine, the central points of the two groups of GPS receiving antennas I2 and GPS receiving antennas II 3 are superposed with the planned traveling path of the spreading machine, and when the central points of the two groups of GPS receiving antennas I2 and GPS receiving antennas II 3 are not on the planned traveling path, the industrial personal computer 8 adjusts the traveling direction of the spreading machine through the controller 10 to ensure that the spreading machine always travels on the planned path;
controlling the absolute paving thickness: before construction, an RTK mobile reference station needs to be erected on a reference point given on a construction area drawing and is well calibrated, an absolute elevation mode is selected on an industrial personal computer, and a GPS receiving antenna III and a GPS receiving antenna II participate in control of paving thickness in the mode. The mathematical model is shown in fig. 4, H1 is the retraction length of the elevation oil cylinder, according to the mechanical structure, it can be known that H1 is perpendicular to the ground, α is the elevation angle, S is the length from the top end of the elevation oil cylinder to the tail end a of the screed, point a is the contact point between the tail end of the screed and the paved road surface, point C is the third GPS receiving antenna, H2 is the length from the third GPS receiving antenna to the contact point a between the tail end of the screed of the paver and the paved road surface, H2 is perpendicular to S, H2 is the vertical height from the point C to the paved road surface, and sin α is H1/S; cos alpha is H2/H2; it can be derived that: h2 ═ cosarcsin (H1/S) × H2; the absolute elevation H3 at point C may be measured directly by the RTK rover station, then the absolute elevation H4 at point a is H3-H2, we compare H4 to the design required absolute elevation H, decrease the paving thickness by the controller until H4 is H if H4 > H, and increase the paving thickness by the controller until H4 is H if H4 < H.
Controlling the relative paving thickness: before construction, any position near a work area of an RTK mobile reference station frame facility needs to be calibrated, a relative elevation mode is selected on an industrial personal computer, and in the mode, a GPS receiving antenna I, a GPS receiving antenna III, a receiver I and a receiver II participate in control of paving thickness. The mathematical model is shown in fig. 5, H1 is the retraction length of the elevation oil cylinder, according to the mechanical structure, it can be known that H1 is perpendicular to the ground, α is the elevation angle, S is the length from the top end of the elevation oil cylinder to the tail end a of the screed of the paver, point a is the contact point between the tail end of the screed and the paved road surface, point C is the GPS receiving antenna three, H2 is the length from the GPS receiving antenna three to the contact point a between the tail end of the screed of the paver and the paved road surface, H2 is perpendicular to S, H2 is the vertical height from point C to the paved road surface, point D is the GPS receiving antenna one, H5 is the vertical height from point D to the paved road surface, and E is the vertical point, sin α is H1/S; cos alpha is H2/H2; it can be derived that: h2 ═ cosarcsin (H1/S) × H2; the elevation H3 of the point C can be directly measured by an RTK mobile reference station, and the elevation H4 of the paved road surface of the point A is H3-H2; the elevation H6 of the point D can be directly measured by an RTK mobile reference station, the elevation H7 before paving of the pavement at the point E is H6-H5, the paving thickness H is H4-H7, H is compared with the relative elevation H1 required by the design, the paving thickness is reduced by a controller until H is H1 if H is more than H1, and the paving thickness is increased by the controller until H is H1 if H is less than H1.
Compared with the prior art, the invention has the beneficial effects that:
1. the map acquisition vehicle is used for acquiring boundary coordinate information of a construction area and sending the boundary coordinate information of the construction area to the industrial personal computer, the panoramic camera is used for shooting panoramic road conditions and feeding the panoramic road conditions back to the industrial personal computer so as to judge road conditions, the industrial personal computer plans a driving path of the paver according to the coordinate information and the road conditions, the path can be directionally planned, the road conditions can be judged through the panoramic camera, the panoramic camera is used for feeding back the road conditions in real time through the camera display screen 15 so as to be checked by personnel in a cab, and accidental conditions can be avoided in time;
2. the original ground elevation and the elevation of the newly paved road surface are measured in real time, the original road surface elevation does not need to be measured manually before construction, and a steel wire rope does not need to be arranged in a dotting mode to reduce manual errors.
3. The actual paving thickness is recorded in real time, the paving thickness is controlled to be continuous and uniform, and several working modes can be switched randomly.
Drawings
Fig. 1 is a schematic structural diagram of equipment in an intelligent paving control system of a paver.
Fig. 2 is a schematic side view of a paver in an intelligent paving control system of the paver.
Fig. 3 is a schematic diagram of a system flow structure of the intelligent paving control system of the paver.
Fig. 4 is a schematic diagram of a system flow structure of the intelligent paving control system of the paver.
Fig. 5 is a schematic structural diagram of a mathematical model for controlling the absolute paving thickness in the intelligent paving control system of the paver.
Fig. 6 is a schematic structural diagram of a mathematical model for controlling relative paving thickness in an intelligent paving control system of a paver.
1. An RTK moving reference station; 2. a first GPS receiving antenna; 3. a second GPS receiving antenna; 4. a first receiver; 5. a GPS receiving antenna III; 6. a GPS receiving antenna IV; 7. a second receiver; 8. an industrial personal computer; 9. a touch display screen; 10. a controller; 11. a paver body; 12. a paver ceiling; 13. a paver screed plate; 14. a panoramic camera; 15. and a camera display screen.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, in an embodiment of the present invention, an intelligent paving control system for a paver includes an RTK mobile reference station 1 and a paver body 11, a paver ceiling 12 is arranged above the paver body 11, a paver screed 13 is arranged at one end of the paver body 11, a GPS receiving antenna I2 is arranged at one end above the paver ceiling 12, a GPS receiving antenna II 3 is arranged at the other end above the paver ceiling 12, one end of the paver body 11 is provided with a receiver I4, one end of the paver screed 13 is provided with a GPS receiving antenna III 5, the other end of the paver screed 13 is provided with a GPS receiving antenna IV 6, the other end of the paver body 11 is provided with a receiver II 7, a panoramic camera 14 is arranged above the paver ceiling 12, and a camera display screen 15 is arranged at one end of the paver body 11.
Example one
The other end of the paver body 11 is provided with an industrial personal computer 8, the other end of the paver body 11 is provided with a touch display screen 9, and the other end of the paver body 11 is provided with a controller 10.
Example two
The GPS receiving antenna I2, the GPS receiving antenna II 3 and the receiver I4 are matched with each other in signal, and are electrically connected with the receiver II 7, the industrial personal computer 8 and the touch display screen 9.
EXAMPLE III
And the GPS receiving antenna III 5, the GPS receiving antenna IV 6 and the receiver II 7 are matched with each other in signal, and are electrically connected with the receiver II 7, the industrial personal computer 8 and the touch display screen 9.
Example four
And the industrial personal computer 8, the panoramic camera 14 and the camera display screen 15 are electrically connected.
The working principle of the invention is as follows: before construction, the RTK moving reference station 1 is erected, coordinate information is calibrated, and the RTK moving reference station cannot be moved before construction is finished. Then, a map acquisition vehicle is used for acquiring boundary coordinate information of a construction area, the boundary coordinate information of the construction area is sent to an industrial personal computer 8, a panoramic camera 14 shoots panoramic road conditions and feeds the panoramic road conditions back to the industrial personal computer 8 so as to judge road conditions, and the industrial personal computer 8 plans a traveling path of the paver according to the coordinate information and the road conditions; the data of two groups of GPS receiving antennas I2 and GPS receiving antennas II 3 on the top of the spreading locomotive can know the posture of the spreading machine at any time, the central points of the two groups of GPS receiving antennas I2 and GPS receiving antennas II 3 are superposed with the central axis of the advancing direction of the spreading machine, the central points of the two groups of GPS receiving antennas I2 and GPS receiving antennas II 3 are superposed with the planned traveling path of the spreading machine, and when the central points of the two groups of GPS receiving antennas I2 and GPS receiving antennas II 3 are not on the planned traveling path, the industrial personal computer 8 adjusts the traveling direction of the spreading machine through the controller 10 to ensure that the spreading machine always travels on the planned path;
before construction, the RTK mobile reference station 1 needs to be erected on a reference point given on a construction area drawing and calibrated, an absolute elevation mode is selected on an industrial personal computer 8, and a GPS receiving antenna III 5 and a GPS receiving antenna II 7 participate in paving thickness control in the mode. The mathematical model is shown in fig. 4, H1 is the retraction length of the elevation oil cylinder, according to the mechanical structure, it can be known that H1 is perpendicular to the ground, α is the elevation angle, S is the length from the top end of the elevation oil cylinder to the tail end a of the screed 13 of the paver, point a is the contact point between the tail end of the screed 13 of the paver and the paved road, point C is the GPS receiving antenna three 5, H2 is the length from the GPS receiving antenna three 5 to the contact point a between the tail end of the screed 13 of the paver and the paved road, H2 is perpendicular to S, H2 is the vertical height from point C to the paved road, and sin α is H1/S; cos alpha is H2/H2; it can be derived that: h2 ═ cosarcsin (H1/S) × H2; the absolute elevation H3 at point C may be measured directly by the RTK rover station 1, then the absolute elevation H4 at point a is H3-H2, we compare H4 to the design required absolute elevation H, decrease the paving thickness by the controller 10 until H4 is H if H4 > H, and increase the paving thickness by the controller 10 until H4 is H if H4 < H.
Before construction, an RTK mobile reference station 1 needs to be erected at any position near a construction area and calibrated, a relative elevation mode is selected on an industrial personal computer 8, and in the mode, a GPS receiving antenna I2, a GPS receiving antenna III 5, a receiver I4 and a receiver II 7 participate in paving thickness control. The mathematical model is shown in fig. 5, H1 is the retraction length of the elevation oil cylinder, according to the mechanical structure, it can be known that H1 is perpendicular to the ground, α is the elevation angle, S is the length from the top end of the elevation oil cylinder to the end a of the screed 13 of the paver, point a is the contact point between the end of the screed 13 of the paver and the paved road, point C is the GPS receiving antenna three 5, H2 is the length from the GPS receiving antenna three 5 to the contact point a between the end of the screed 13 of the paver and the paved road, H2 is perpendicular to S, H2 is the vertical height from point C to the paved road, point D is the GPS receiving antenna one 2, H5 is the vertical height from point D to the paved road, and E is the vertical point, then sin α is H1/S; cos alpha is H2/H2; it can be derived that: h2 ═ cosarcsin (H1/S) × H2; the elevation H3 at the point C can be directly measured by the RTK mobile reference station 1, and then the elevation H4 after the pavement at the point a is paved is H3-H2; the elevation H6 at point D can be directly measured by the RTK mobile reference station 1, then the elevation H7 before paving the road surface at point E is H6-H5, then the paving thickness H is H4-H7, we compare H with the relative elevation H1 required by the design, if H > H1, the paving thickness is reduced by the controller 10 until H is H1, and if H < H1, the paving thickness is increased by the controller 10 until H is H1.
The process of paving thickness adjustment is not a sudden change process but a slow process, so that the paving thickness of each section of road surface cannot be guaranteed to be consistent, and the paving thickness can be slowly adjusted only by guaranteeing the flatness of the road surface as much as possible.
As shown in FIG. 5, the distance S from point E to point FEFIs determined by the installation position D of the GPS receiving antenna 2, after the GPS receiving antenna 2 is installed, the distance S from the point E to the point FEFThen is determined, and
the traveling speed V of the paver can be obtained from a speed sensor on the traveling pump, so that the time T from point a to point E is (S)EF+SAF) And we can actually measure the time t required from the start of the change in paving thickness to the completion of the change in paving thickness.
Can not pave the pavement height state information of real-time measurement through GPS receiving antenna 2, if meet the great condition of change, like pit, little step, condition such as little soil packet, just can pave thickness adjustment in advance, can avoid because the road surface unevenness condition that the thickness adjustment process of paving slowly arouses.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. .
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. An intelligent paving control system of a paver comprises an RTK mobile reference station (1) and a paver body (11) and is characterized in that a paver ceiling (12) is arranged above the paver body (11), a paver screed (13) is arranged at one end of the paver body (11), a GPS receiving antenna I (2) is arranged at one end above the paver ceiling (12), a GPS receiving antenna II (3) is arranged at the other end above the paver ceiling (12), a receiver I (4) is arranged at one end of the paver body (11), a GPS receiving antenna III (5) is arranged at one end of the paver screed (13), a GPS receiving antenna IV (6) is arranged at the other end of the paver screed (13), a receiver II (7) is arranged at the other end of the paver body (11), a panoramic camera (14) is arranged above the paver ceiling (12), one end of the paver body (11) is provided with a camera display screen (15).
2. The intelligent paving control system of the paver of claim 1 wherein the other end of the paver body (11) is provided with an industrial personal computer (8).
3. The intelligent paving control system of the paver of claim 1 wherein the other end of the paver body (11) is provided with a touch display screen (9).
4. The intelligent paving control system of a paver of claim 1 wherein the other end of the paver body (11) is provided with a controller (10).
5. The intelligent paving control system of the paver according to claims 1-4, characterized in that the GPS receiving antenna I (2), the GPS receiving antenna II (3) and the receiver I (4) are in signal adaptation and are electrically connected with the receiver II (7), the industrial personal computer (8) and the touch display screen (9).
6. The intelligent paving control system of the paver of claims 1-4, wherein the GPS receiving antenna three (5), the GPS receiving antenna four (6) and the receiver two (7) are in signal adaptation and are electrically connected with the receiver two (7), the industrial personal computer (8) and the touch display screen (9).
7. The intelligent paving control system of the paving machine as claimed in claims 1-2, wherein the industrial personal computer (8), the panoramic camera (14) and the camera display screen (15) are electrically connected.
8. The intelligent paving control system of a paving machine as claimed in claims 1-6, wherein the intelligent paving control system of a paving machine comprises the following steps:
and (3) controlling a running path: before construction, an RTK moving reference station (1) is erected, coordinate information is calibrated, and the RTK moving reference station cannot be moved before construction is finished. Then, a map acquisition vehicle is used for acquiring boundary coordinate information of a construction area, the boundary coordinate information of the construction area is sent to an industrial personal computer (8), a panoramic camera (14) shoots panoramic road conditions and feeds the panoramic road conditions back to the industrial personal computer (8) so as to judge the road condition, and the industrial personal computer (8) plans a driving path of the paver according to the coordinate information and the road condition; the data of the two groups of GPS receiving antennas I (2) and the GPS receiving antenna II (3) on the top of the spreading vehicle can know the posture of the spreading machine at any time, the central points of the two groups of GPS receiving antennas I (2) and the GPS receiving antenna II (3) are superposed with the central axis of the advancing direction of the spreading machine, the central points of the two groups of GPS receiving antennas I (2) and the GPS receiving antenna II (3) are superposed with the planned traveling path of the spreading machine, and when the central points of the two groups of GPS receiving antennas I (2) and the GPS receiving antenna II (3) are not on the planned traveling path, the industrial personal computer (8) adjusts the traveling direction of the spreading machine through the controller (10) to ensure that the spreading machine always travels on the planned path;
controlling the absolute paving thickness: before construction, an RTK mobile reference station (1) needs to be erected on a reference point given on a construction area drawing and is well calibrated, an absolute elevation mode is selected on an industrial personal computer (8), and a GPS receiving antenna III (5) and a receiver II (7) participate in control of paving thickness in the mode. The mathematical model is shown in fig. 4, H1 is the retraction length of the elevation cylinder, according to the mechanical structure, it can be known that H1 is vertical to the ground, α is the elevation angle, S is the length from the top end of the elevation cylinder to the tail end a of the screed, point a is the contact point between the tail end of the screed and the paved road surface, point C is the GPS receiving antenna three (5), H2 is the length from the GPS receiving antenna three (5) to the contact point a between the tail end of the paver screed (13) and the paved road surface, H2 is vertical to S, H2 is the vertical height from point C to the paved road surface, sin α is H1/S; cos alpha is H2/H2; it can be derived that: h2 ═ cos (arcsinH1/S) × H2; the absolute elevation H3 at point C may be measured directly by RTK, then the absolute elevation H4 at point a is H3-H2, we compare H4 to the design requirement absolute elevation H, decrease the paving thickness by controller 10 until H4 is H if H4 > H, and increase the paving thickness by controller 10 until H4 is H if H4 < H.
Controlling the relative paving thickness: before construction, an RTK mobile reference station (1) needs to be erected at any position near a construction area and is calibrated, a relative elevation mode is selected on an industrial personal computer (8), and a GPS receiving antenna I (2), a GPS receiving antenna III (5), a receiver I (4) and a receiver II (7) participate in control of paving thickness in the mode. The mathematical model is shown in fig. 5, H1 is the retraction length of the elevation oil cylinder, according to the mechanical structure, it can be known that H1 is vertical to the ground, α is the elevation angle, S is the length from the top end of the elevation oil cylinder to the tail end a of the screed, point a is the contact point between the tail end of the screed and the paved road surface, point C is the GPS antenna 5, H2 is the length from the GPS antenna 5 to the contact point a between the tail end of the screed and the paved road surface, H2 is vertical to S, H2 is the vertical height from point C to the paved road surface, point D is the GPS antenna 2, H5 is the vertical height from point D to the paved road surface, and E is a vertical point sin α H1/S; cos alpha is H2/H2; it can be derived that: h2 ═ cos (arcsinH1/S) × H2; the elevation H3 of the point C can be directly measured by the RTK mobile reference station (1), and the elevation H4 of the paved road surface of the point A is H3-H2; the elevation H6 of the point D can be directly measured by an RTK mobile reference station (1), the elevation H7 before paving of the road surface of the point E is H6-H5, the paving thickness H is H4-H7, H is compared with the relative elevation H1 required by the design, the paving thickness is reduced until H is H1 through a controller (10) if H is more than H1, and the paving thickness is increased until H is H1 through the controller (10) if H is less than H1.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116219841A (en) * | 2023-01-10 | 2023-06-06 | 安徽开源路桥有限责任公司 | Water stable layer 3D system of spreading that possesses high accuracy |
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| CN116219841B (en) * | 2023-01-10 | 2024-05-17 | 安徽开源路桥有限责任公司 | Water stable layer 3D system of spreading that possesses high accuracy |
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