CN105239493A - Road roller positioning device and road roller positioning method based on centimeter grade - Google Patents
Road roller positioning device and road roller positioning method based on centimeter grade Download PDFInfo
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- CN105239493A CN105239493A CN201510536903.6A CN201510536903A CN105239493A CN 105239493 A CN105239493 A CN 105239493A CN 201510536903 A CN201510536903 A CN 201510536903A CN 105239493 A CN105239493 A CN 105239493A
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Abstract
The invention discloses a road roller positioning device which is based on centimeter grade and is used in asphalt pavement construction process. The device includes a base station, a moving station and a server. In the base station, a GPS apparatus is arranged in a known position with an accurate coordinate. The moving station can refer to the GPS apparatus bond to a to-be-test road roller. The GPS apparatus mainly includes a dual-band high-gain antenna, a moving bench, a differential antennal and a power supply wire. The server is a mass-storage system and can be used for classifying and storing position data sent from a construction site. By means of the device, accurate position information of the road roller in the asphalt pavement construction process can be obtained, so that whether the road roller completes grinding mission according to preset grinding program or not is determined. The device can increase compaction efficiency and ensure compaction quality.
Description
Technical field
The present invention relates to field of traffic, particularly effecting HMA compaction control technology field.
Background technology
Since reform and opening-up, prosperous and powerful along with Chinese national economy, highway construction have also been obtained and develops fast.In the construction of high-grade highway, flexible pavement has plurality of advantages due to it, is widely used.As a kind of flexible pavement, flexible pavement have planeness good, without seam, short construction period, driving comfortable and low noise advantages, in the high grade pavement of countries in the world is mated formation, flexible pavement has accounted for very large ratio, and will keep the development trend of large proportion.
But in recent years, along with increasing rapidly of the traffic volume, overloading occurs often, the flexible pavement that China builds, being open to traffic in a few years time, just there will be comparatively serious Random early Detection phenomenon.A large amount of investigation shows: the Random early Detection that flexible pavement occurs is directly related with the degree of compaction on road surface.Degree of compaction is not enough, and cause the porosity on road surface excessive, rainwater can penetrate into inside, road surface easily, causes the early damage such as Moisture Damage and rut; Certainly, degree of compaction neither be the bigger the better, and the road surface of overvoltage can make void content diminish or crush mineral aggregate, there will be bellding and unstable phenomenon like this.The generation of these Random early Detection, not only needs a lot of human and material resources and financial resources to repair, and the more important thing is that it can have a strong impact on the functional performance on road surface.
Along with the raising of people's road pavement performance requirement, to the attention of road safety, the importance of effecting HMA compaction work obtains everybody re-recognizing.A large amount of research and practice finds: the quality of compacting and the technique of compacting huge for the functional performance impact on road surface.For a long time, large quantifier elimination has done in flexible pavement direction in China, has focused in the research and development of new material and the design of new construction, for compaction process research relatively less of flexible pavement.At present, the domestic research about bituminous mixture compaction process is still immature, and for reaching the compaction requirement of regulation, ensure compaction quality, great majority are all that the making on binding tests road is determined reasonably to roll program.Simultaneously, for the compacting of flexible pavement, on-the-spot constructor rolls by rule of thumb, randomness is larger, often road roller does not roll according to parameters such as the speed set and passes, do not meet with the program of rolling preset, thus occur the situation of " overvoltage " or " under-voltage ", affect compaction quality.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of positioner of the road roller based on Centimeter Level, causing greatly road surface because of overvoltage or under-voltage and compaction quality that is that bring is not good technical problem for solving existing pavement compaction technology randomness.
Technical scheme:
For ensureing that road surface completes the number of rolling of regulation within effective time according to the setting program of rolling in construction process of asphalt pavement, be necessary to measure the running orbit of road roller.And the monitoring that in construction process of asphalt pavement, the mensuration of road roller position can roll quality for flexible pavement provides technical guarantee, and then meet the degree of compaction of asphalt concrete pavement, promote the Practical Performance on road surface.Therefore the present invention program is from this angle, the following technical scheme of concrete employing:
A testing arrangement for road roller position in construction process of asphalt pavement, comprises datum station, movement station and server.Described datum station is positioned on the accurate and known position of coordinate a GPS device, can receive satellite and carry out the observation of carrier phase and the working condition of datum station can be launched by Data-Link; Be provided with No. two GPS device in described movement station and movement station is arranged on road roller to be measured, the datum station carrier phase of reception and the satellite carrier phase place of reception are carried out the accurate location that difference realizes movement station by it; Described server is mass-storage system, and the position data that can transmit job site is carried out classification and stored.
As preferably, the model of described GPS and No. two GPS is the split type double frequencies RTK of K10 in the present invention.Its positioning precision is high, and Signal reception is stablized, and has extra long distance RTK operation technique, breaks through traditional RTK operation distance, play higher economic benefit.
As preferably, in the present invention, the data transmission set between described datum station and movement station adopts radio station transmission technology.Built-in GM-46V radio station, external differential antennae, radio station band limits is wide, and wireless transmission rate is fast, fast and effeciently can transmit working condition.
As preferably, in the present invention, the data transmission set between described movement station and server adopts CDMA/3G network communications technology.Built-in CDMA/3G network communication module, will carry out the accurate gis Packet Generation of difference to server by wireless communication technique.
As preferably, in the present invention, described server adopts spatial database postgres and stores in conjunction with ssd space and the technology of cluster optimization, and real-time calculates large quantity space gis geography information and store.
The localization method of above-mentioned positioner, comprises the following steps:
Step one, basis treat the type of black top compound, determine reasonably to roll program, the road roller combination of configuration different model;
Step 2, near section to be paved the way, select suitable datum station position, set up a split type double frequencies RTK of K10, working method is set to " base station " pattern, and correctly completes the setting of each parameter, the split type double frequencies RTK of the K10 configured can enter " base station " duty;
Step 3, the basis program of rolling determine that the road roller in current traveling process is road roller to be measured, a split type double frequencies RTK of K10 is bundled on road roller, and the working method arranging the split type double frequencies RTK of this K10 is " movement station " pattern, correctly complete the setting of each parameter, the movement station configured can enter duty simultaneously;
Step 4, movement station, by receiving the positional information of satellite and datum station simultaneously, can obtain road roller position data accurately, and real-time Transmission are to servers by process;
Step 5, server process the data that scene is transmitted and store, and user can inquire about the real-time position information of road roller at any time, and can obtain the running orbit information of road roller;
Step 6, roll program and road roller running orbit by contrast, judge whether work progress carries out according to the program of rolling, and adjusts constructure scheme in time.
Further, in the present invention, when gathering road roller position data to be measured, movement station gathers a position data every 5s, sends a gis packet every 5s to background server simultaneously.For ensureing real-time and the accuracy of the road roller positional information obtained, the time interval of image data need be controlled within the specific limits.
Beneficial effect:
The present invention determines reasonably to roll program according to the type of bituminous mixture, apparatus of the present invention and method is used in the current section that paves, by positioning operating road roller, the positional information of road roller to be measured can be obtained quickly and easily, and precision reaches Centimeter Level; Secondly, by server, the gis packet that scene is transmitted is processed and analyzed, the real-time positional information of road roller can be obtained continuously, that passes through observation road roller rolls path simultaneously, road roller in work progress can be understood whether roll according to the scheme of rolling, grasp the compaction quality requirement whether rolling layers reaches regulation, once find undesirable place, can adopt remedial measures in time, effectively avoid the generation occurring " overvoltage " and " under-voltage " phenomenon, ensure the uniformity of effecting HMA compaction, improve the efficiency of whole compacting operation.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the structural representation of GPS device.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
A testing arrangement for road roller position in construction process of asphalt pavement, comprises datum station 5, movement station 6 and server 7.The GPS device that described datum station 5 and movement station 6 adopt is the split type double frequencies RTK of K10, and its device mainly comprises Dual-frequency high-gain antenna 1, travelling carriage 2, differential antennae 3 and power line 4.Described travelling carriage 2 can be set to base station mode and movement station pattern respectively according to different functional requirements, and its built-in GM-46V receives radio station and CDMA/3G network communication module, can ensure that between each several part, data are effectively transmitted; Described Dual-frequency high-gain antenna 1 is connected with travelling carriage 2, for receiving satellite signal; Described differential antennae 3 is connected with travelling carriage 2, and when travelling carriage is arranged on datum station 5, differential antennae is for being transmitted to movement station 6 by the differential data passed from radio station, and when travelling carriage is arranged on movement station 6, it is for radio station reception antenna; Described power line 4 is mainly used in powering to GPS device.Described server 7 adopts spatial database postgres and in conjunction with the technology that ssd space stores and cluster is optimized, real-time calculates large quantity space gis geography information and store.
The testing arrangement of road roller position, it reaches Centimeter Level precision is based on real time dynamic measurement principle.First the GPS device on datum station 5 carries out Continuous Tracking observation to satellites in view, and by observation data and survey station information, movement station 6 is sent in real time by radio transmission apparatus, movement station 6 is while reception gps satellite signal, the data of datum station 5 transmission are received by radio receiver, then according to the principle of relative positioning, three-dimensional coordinate when the real-time resolving GPS device gone out on movement station 6 is positioned at each observation point position and precision thereof, namely the three-dimensional coordinate between datum station 5 and movement station 6 is poor, real-time WGS-84 latitude and longitude coordinates and the geodetic height of each observation point position is obtained adding the fixed coordinate of datum station 5 itself, then resolve through coordinate transformation parameter and show that movement station 6 is positioned at the Centimeter Level plane coordinates of each observation point position, the processes such as the acquisition of above-mentioned coordinate and conversion are known method in industry.
A method of testing for road roller position in construction process of asphalt pavement, comprises the following steps:
Step one, because the roller-compaction of different pitches compound needs dissimilar road roller combination, first according to the type treating black top compound, to formulate and reasonably roll program, thus determine to need pinpoint road roller;
Step 2, near section to be paved the way, select suitable datum station 5 position, the split type double frequencies RTK travelling carriage 2 of erection K10, and install on request, connect gain antenna 1 and radio station differential antennae 3, working method is set to " base station " pattern, Data-Link is set to " UHF " Data-Link pattern, and correctly complete the setting of each parameter, after configuring datum station, automatically gathered by instrument and can obtain base station current GPS coordinate;
Step 3, a split type double frequencies RTK of K10 is bundled on road roller to be measured, and install on request, connect gain antenna 1 and radio station differential antennae 3, working method is set to " movement station " pattern, Data-Link is set to " UHF " Data-Link pattern, be set to by differential mode " radio station difference ", channel fix is consistent with datum station simultaneously.After correctly completing the arranging of each parameter, duty can be entered;
Step 4, the datum station 5 configured and movement station 6 can enter duty, datum station 5 sends difference information by differential antennae 3 to movement station 6, movement station 6 receives the positional information of satellite and datum station 5 by gain antenna 1 and differential antennae 3 simultaneously, road roller position data accurately can be obtained by difference processing, and by network communication module by real-time data transmission to server 7; When gathering road roller position data to be measured, movement station 6 gathers a position data every 5s, sends a gis packet every 5s to background server 7 simultaneously;
Step 5, server 7 process the data that scene is transmitted and store, and user can obtain the real-time position information of current road roller at any time by inquiry, can be obtained the running orbit of road roller by the continuous position information in calling data storehouse simultaneously.
When installing Dual-frequency high-gain antenna, must be erected at eminence as far as possible, ensure that installation site is as far as possible away from Electromagnetic Interference, the interface of antenna and cable will do waterproofing protection simultaneously.
When installing differential antennae, eminence must be erected at as far as possible, simultaneously will as far as possible away from satellite earth antenna at least 5 meters, its installation site will beyond interference source 200 meters, as communication launching tower, power line etc.
When selecting correct position erection datum station, the elevation angle that should meet its decorating position is open more than 15 degree, without large-scale shelter, ensure around without Electromagnetic Interference, microwave station, radar station, mobile phone signal station etc. is not had, without high-voltage line in 50 meters, simultaneously when using radio station operation in 200 meters, ensure preferably without large-scale shelter between datum station to movement station, otherwise difference travel distance shorten rapidly.
For ensureing the precision of this localization method, need to control movement station in the effective range of datum station.But consider that highway construction is a linear engineering, some highway continuity several hundred kilometers, even thousands of kilometer, section compacting work is constantly completed and in the process of pushing ahead, datum station also needs the coverage thereupon shifting one's position to ensure between the two at road roller.Thus fast and effeciently change position for convenience of datum station, ensure that highway construction is constructed uninterruptedly, the GPS device be equipped with needed for datum station is arranged on a car by suggestion in advance, and completes the setting of each parameter.In the process changing position, only automobile need be left to suitable position, datum station just can be located again automatically, and whole system can continue to obtain positional information.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. based on a road roller positioner for Centimeter Level, it is characterized in that: comprise datum station (5), movement station (6) and server (7); Be provided with a GPS device in described datum station (5) and datum station is arranged on the position of known coordinate; No. two GPS device are provided with and movement station (7) is arranged on road roller to be measured in described movement station (7); Movement station (6) simultaneously receiving satellite signal and datum station (5) positional information thus road roller is located in real time; Described server (7) receives the real-time positioning information that movement station (6) transmits.
2. a kind of road roller positioner based on Centimeter Level according to claim 1, is characterized in that: the model of described GPS and No. two GPS is the split type double frequencies RTK of K10.
3. a kind of road roller positioner based on Centimeter Level according to claim 1, is characterized in that: the data between described datum station (5) and movement station (6) are transmitted by radio station transmission technology.
4. a kind of road roller positioner based on Centimeter Level according to claim 1, is characterized in that: the data between described movement station (6) and server (7) are transmitted by CDMA/3G network communications technology.
5. a kind of road roller positioner based on Centimeter Level according to claim 1, is characterized in that: described server (7) adopts spatial database postgres and stores and cluster optimization in conjunction with ssd space.
6. based on a localization method for the road roller of Centimeter Level, it is characterized in that: comprise the following steps that order performs:
Step one, basis treat the type of black top compound, determine reasonably to roll program, the road roller combination of configuration different model;
Step 2, near section to be paved the way, select suitable datum station (5) position, set up a split type double frequencies RTK of K10, and the duty that the split type double frequencies RTK of this K10 is " base station " pattern is set;
Step 3, the basis program of rolling determine that the road roller in current traveling process is road roller to be measured, a split type double frequencies RTK of K10 is fixed on road roller to be measured, and the working method arranging the split type double frequencies RTK of this K10 is the duty of " movement station " pattern;
Step 4, movement station (6), by receiving the positional information of satellite and datum station (5) simultaneously, obtain road roller to be measured position data accurately, and real-time Transmission are to server (7) by process;
Step 5, server (7) process the data transmitted and store, and namely user inquires about the real-time position information of road roller at any time, and obtain the running orbit information of road roller;
Step 6, roll program and road roller running orbit by contrast, judge whether work progress carries out according to the program of rolling, and adjusts constructure scheme in time.
7. the localization method of a kind of road roller based on Centimeter Level according to claim 6, it is characterized in that: when gathering road roller position data to be measured, movement station (6) gathers a position data every 5s, sends a gis packet every 5s to server (7) simultaneously.
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| CN201510536903.6A CN105239493A (en) | 2015-08-27 | 2015-08-27 | Road roller positioning device and road roller positioning method based on centimeter grade |
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| CN201510536903.6A CN105239493A (en) | 2015-08-27 | 2015-08-27 | Road roller positioning device and road roller positioning method based on centimeter grade |
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Cited By (9)
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| CN106256959A (en) * | 2016-01-27 | 2016-12-28 | 上海华测导航技术股份有限公司 | A kind of by receiver control road roller system and control method |
| CN108344459A (en) * | 2018-05-11 | 2018-07-31 | 中交第二航务工程局有限公司 | Pressure monitoring system is ground on road surface and remote monitoring system is rolled on road surface |
| CN109082976A (en) * | 2018-09-27 | 2018-12-25 | 湖南中大机械制造有限责任公司 | A kind of engine control system for unmanned road roller |
| CN109165638A (en) * | 2018-10-10 | 2019-01-08 | 河海大学 | It is a kind of based on grain composition and material composition Visual identification technology enrockment roll project setting method |
| CN109162174A (en) * | 2018-08-06 | 2019-01-08 | 长安大学 | Unmanned road roller |
| CN109443360A (en) * | 2018-10-18 | 2019-03-08 | 南京天辰礼达电子科技有限公司 | A kind of vehicle driving trace generation and stitching algorithm based on polygon |
| CN110258259A (en) * | 2019-06-19 | 2019-09-20 | 四川川交路桥有限责任公司 | Unmanned road roller rcc system |
| CN114167461A (en) * | 2021-11-08 | 2022-03-11 | 中铁六局集团有限公司 | Engineering measurement method and CORS system |
| CN114510024A (en) * | 2021-12-21 | 2022-05-17 | 中国科学院自动化研究所 | Multi-robot cooperative control method and system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106256959B (en) * | 2016-01-27 | 2018-10-02 | 上海华测导航技术股份有限公司 | It is a kind of to control road roller system and control method with receiver |
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| CN109162174B (en) * | 2018-08-06 | 2021-03-16 | 长安大学 | Unmanned road roller |
| CN109162174A (en) * | 2018-08-06 | 2019-01-08 | 长安大学 | Unmanned road roller |
| CN109082976A (en) * | 2018-09-27 | 2018-12-25 | 湖南中大机械制造有限责任公司 | A kind of engine control system for unmanned road roller |
| CN109165638B (en) * | 2018-10-10 | 2021-10-19 | 河海大学 | Rockfill rolling scheme adjusting method based on particle grading and material composition visual identification technology |
| CN109165638A (en) * | 2018-10-10 | 2019-01-08 | 河海大学 | It is a kind of based on grain composition and material composition Visual identification technology enrockment roll project setting method |
| CN109443360A (en) * | 2018-10-18 | 2019-03-08 | 南京天辰礼达电子科技有限公司 | A kind of vehicle driving trace generation and stitching algorithm based on polygon |
| CN109443360B (en) * | 2018-10-18 | 2022-04-05 | 南京天辰礼达电子科技有限公司 | Vehicle driving track generation and splicing method based on polygon |
| CN110258259A (en) * | 2019-06-19 | 2019-09-20 | 四川川交路桥有限责任公司 | Unmanned road roller rcc system |
| CN110258259B (en) * | 2019-06-19 | 2024-03-26 | 四川川交路桥有限责任公司 | Unmanned road roller rolling system |
| CN114167461A (en) * | 2021-11-08 | 2022-03-11 | 中铁六局集团有限公司 | Engineering measurement method and CORS system |
| CN114510024A (en) * | 2021-12-21 | 2022-05-17 | 中国科学院自动化研究所 | Multi-robot cooperative control method and system |
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Application publication date: 20160113 |