CN106758703B - Method for adjusting curved surface shape and walking path of ironing plate of paving equipment - Google Patents
Method for adjusting curved surface shape and walking path of ironing plate of paving equipment Download PDFInfo
- Publication number
- CN106758703B CN106758703B CN201710029860.1A CN201710029860A CN106758703B CN 106758703 B CN106758703 B CN 106758703B CN 201710029860 A CN201710029860 A CN 201710029860A CN 106758703 B CN106758703 B CN 106758703B
- Authority
- CN
- China
- Prior art keywords
- walking
- paving
- control device
- central control
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/004—Devices for guiding or controlling the machines along a predetermined path
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
Abstract
The invention relates to a method for adjusting the curved surface shape and the walking path of an ironing plate of paving equipment. The paving equipment comprises a paving main body, a central control device and a GPS receiving device. The GPS receiving device is arranged on the paving main body and used for transmitting the positioning information to the central control device so as to realize the automatic adjustment of the curved surface shape and the walking path of the screed. In the detection method, the central control device calculates the walking distance and the path of the paving equipment through positioning information sent by the GPS receiving device. In the adjusting method, the central control device calculates the walking distance and the walking path of the paving equipment through positioning information sent by the GPS receiving device, and the automatic adjustment of the curved surface shape and the walking path of the screed is realized. The paving equipment, the detection method and the adjustment method thereof have the advantages of accurate positioning, high measurement precision, no need of manual intervention and high intelligence degree.
Description
Technical Field
The invention relates to a method for adjusting the curved surface shape and the walking path of an ironing plate of paving equipment.
Background
The high-speed loop is a circulating runway specially used for automobiles to carry out continuous high-speed running tests in an automobile test field, the geometric design of the high-speed loop is different from that of a common road, particularly the curve part of the high-speed loop, and a basin-cavity type space three-dimensional curved surface is actually required to be formed. The basin-cavity type curved surface has complex line shape when the space is transited from a straight line to a special mild curve and then to a round curve to a high-ring curve road surface inclined by 0-50 degrees, and the special characteristics of the high-ring curve determine that the conventional paver can not meet the requirements of curved surface paving operation, so that only special paving equipment can be used. In the process of walking operation of the paving equipment, the curved surface shape of the ironing plate needs to be adjusted according to the different curved surface shapes of each section of the road surface so as to be attached to the curved surface road surface passing by, so that the paved road surface is smoother. When the walking direction of the paving equipment deviates from the preset route, the walking direction of the paving equipment needs to be adjusted in time so that the paving route is smooth. This requires the paving apparatus to have the function of measuring its own walking distance and walking direction.
At present, two types of pavers exist, the first type of paver determines the paving direction and width by using reference rails on two sides, while the second type of paver determines the paving direction and mileage position by using a driver and the reference rails on two sides, but in the mode, rework or paving direction deviation is easily caused due to inaccurate positioning and distraction of the driver. When the paver deviates from the track, the walking directions of the two pavers are not easy to control, manual detection and adjustment are needed, the error of manual detection is large, and the precision is low. The walking distance of the second paver is measured by the number of turns of an independent distance measuring rotating wheel in contact with the ground in front of the storage bin, the number of turns of rotation of the distance measuring rotating wheel is measured through a sensor, the number of turns of rotation is transmitted to a central control device of the paving equipment, and then the walking distance is calculated by the central control device according to the outer diameter and the number of turns of the distance measuring rotating wheel. When the distance measurement swiveling wheel meets foreign matters or pot holes, it is easy to be worn and torn, and then the outer diameter of its actual outer diameter is different with the outer diameter of storage in the central control device, thereby the error between the walking distance that calculates and the actual walking distance can be bigger and bigger, and then the precision that leads to walking range measurement is worse and worse, needs the artifical position of revising the paver constantly, and it is time-consuming, and can further lead to the curved surface shape adjustment of screed inaccurate simultaneously, finally influences the shape of road.
In summary, in the conventional paving apparatus, the problem of low precision exists in the walking distance measurement performed by the distance measuring rotation wheel and the detection of the walking path performed by the predetermined track, and the detection of the walking direction performed by the predetermined track requires a lot of manpower, so that there is a high necessity for improving the precision of the walking distance measurement
And to a paving apparatus and a corresponding method for automatically monitoring a walking path instead of a manual monitoring.
Disclosure of Invention
Technical problem to be solved
In order to solve the above problems of the prior art: the invention provides a paving device, which has high detection precision of the walking distance and the walking path and can automatically monitor the walking path;
the invention provides a method for detecting the walking distance and the walking path of the paving equipment, which has high detection precision on the walking distance and the walking path of the paving equipment and can automatically detect the walking path of the paving equipment;
the invention also provides a method for adjusting the curved surface shape and the walking path of the screed of the paving equipment, which has the advantages that the detection precision of the walking distance and the walking path of the paving equipment is high, the walking path of the paving equipment can be automatically detected, and then the curved surface shape and the walking path of the screed can be automatically adjusted according to the detection results of the walking distance and the walking path.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the invention provides a paving device, which comprises a paving main body and a central control device, and further comprises: the GPS receiving device is installed on the paving main body and is in communication connection with the central control device so as to transmit the positioning information to the central control device, and the central control device can calculate the walking distance and the walking direction of the paving equipment through the positioning information.
According to the invention, the paving apparatus further comprises: the distance measuring rotating wheel is installed at the front end of the paving main body, the sensor corresponds to the distance measuring rotating wheel and is arranged, the number of rotating circles of the distance measuring rotating wheel is measured and is in communication connection with the central control device, the number of rotating circles is transmitted to the central control device, the central control device calculates the walking distance through the number of rotating circles, and the walking distance calculated through the number of rotating circles is adopted to judge whether the set distance is reached when the GPS signal strength is weak.
According to the invention, the central control device compares the walking distance calculated by the number of rotation circles with the walking distance calculated by the positioning information, and when the difference value of the two walking distances is greater than 0.1m, the central control device reports an error; the equipment that paves still includes walking direction sensor, and walking direction sensor installs the front end of the main part that paves can measure its distance value to the marker that paves on the road surface or set up on every side of paving, walking direction sensor with well accuse device communication is connected to transmit its distance value to the marker to well accuse device, well accuse device is through surveing when GPS signal intensity is weak whether the distance value changes and judges whether equipment that paves deviates and predetermines the walking route.
According to the invention, the walking direction sensors are detachably mounted at the oil filter openings of the left front end or the right front end of the paving body, respectively.
According to the invention, four GPS receiving devices are arranged, wherein two GPS receiving devices are respectively arranged at the front end of the paving main body, and the other two GPS receiving devices are respectively arranged at the left side and the right side of the screed of the paving main body.
The invention also provides a method for detecting the walking distance and the walking path of the paving equipment.
In another aspect of the present invention, a method for adjusting a curved surface shape and a travel path of a screed of a paving apparatus is provided, in which a central control device calculates a travel distance and a travel path of the paving apparatus through positioning information transmitted from a GPS receiving device, and controls the screed when the travel distance reaches a set distance
The curved surface shape of the flat plate is adjusted to a preset curved surface shape, and when the walking direction deviates from a preset walking route, the central control device controls the paving equipment to adjust the walking direction.
According to the invention, the method for adjusting the curved surface shape and the walking path of the ironing board of the paving equipment,
the method specifically comprises the following steps: s1: the GPS receiving device positions the paving equipment and transmits the positioning information of the paving equipment to the central control device; s2: the central control device calculates the walking distance of the paving equipment according to the positioning information, judges whether the preset distance is reached, if not, returns to the step S1, if yes, the central control device controls the curved surface shape of the screed to be adjusted to the preset curved surface shape stored in the screed, calculates the walking path of the paving equipment according to the positioning information, judges whether the walking path deviates from the preset walking path stored in the screed, if not, returns to the step S1, if yes, the walking direction of the paving equipment is adjusted according to the preset walking path until the paving equipment returns to the preset walking path; s3: return is made to step S1.
According to the invention, in the step S1, the central control device collects the number of rotation turns of the distance measuring rotating wheel, the walking distance of the paving equipment is calculated according to the number of rotation turns, and the central control device collects the distance value from the walking direction sensor to the markers arranged on or around the paved road surface; in step S2, the central control device determines whether the distance reaches a set distance by using the traveling distance calculated by the number of revolutions when the GPS signal strength is weak, and determines whether the paving apparatus deviates from a preset traveling route by observing whether the distance value changes.
According to the invention, the central control device compares the walking distance calculated by the number of rotation turns with the walking distance calculated by the positioning information, and reports an error when the difference between the two walking distances is greater than 0.1 m.
(III) advantageous effects
The invention has the beneficial effects that:
according to the paving equipment, the GPS receiving device can be used for positioning the paving equipment, the central control device can calculate the walking distance and the walking path of the paving equipment according to the positioning information of the GPS receiving device, the walking distance measurement precision is high, the detection precision of the walking path is high, the walking path of the paving equipment can be monitored in real time, and manual monitoring is not needed. In conclusion, the paving equipment disclosed by the invention simultaneously realizes the functions of automatically detecting the walking distance and the walking path and improving the detection precision of the walking distance and the walking path through the positioning information of the GPS receiving device, is convenient and quick, is accurate in positioning, does not need manual intervention, and is high in intelligence degree.
In the method for detecting the walking distance and the walking path of the paving equipment, the central control device calculates the walking distance and the walking path of the paving equipment through positioning information sent by the GPS receiving device. Therefore, the function of automatically detecting the walking distance and the walking path and improving the detection precision of the walking distance and the walking path is realized through the positioning information of the GPS receiving device, the positioning is convenient and fast, the positioning is accurate, manual intervention is not needed, and the intelligent degree is high.
The method for adjusting the curved surface shape and the walking path of the screed of the paving equipment simultaneously realizes the functions of automatically detecting the walking distance and the walking path and improving the detection precision of the walking distance and the walking path through the positioning information of the GPS receiving device, is convenient and quick, has accurate positioning, does not need manual intervention, and has high intelligent degree. Thereby ensuring the accurate and smooth shape of the paved road surface.
Drawings
FIG. 1 is a side view of a paving apparatus;
fig. 2 is a flowchart of a method for adjusting the shape of the curved surface and the travel path of the screed of the paving apparatus.
[ description of reference ]
1: paving the main body;
2: a GPS receiving device;
3: a central control device;
4: a walking direction sensor;
5: and a distance measuring rotating wheel.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Example one
Referring to fig. 1, in the present embodiment, a paving apparatus is provided. The paving equipment comprises a paving main body 1, a central control device 3 and a GPS receiving device 2.
Specifically, the GPS receiving device 2 is installed on the paving main body 1 and is used for acquiring positioning information of the paving equipment, and the GPS receiving device 2 is in communication connection with the central control device 3 so as to transmit the positioning information to the central control device 3. The central control device 3 is mounted on the paving main body 1. Through the real-time positioning information feedback of the GPS, the central control device 3 can calculate the walking distance and the walking path of the paving equipment through the positioning information. It can be understood that the GPS receiving device 2 monitors the position of the paving apparatus in real time to send out positioning information, and the central control device 3 may continuously receive the positioning information or receive the positioning information at predetermined intervals.
The curved surface according to the present invention is preferably a basin-type three-dimensional curved surface as a high-speed loop, and more specifically, the basin-type three-dimensional curved surface is a curved surface having a plane line shape of a blous curve, a macconal curve, and a transverse line shape of a parabola. The paving body 1 according to the present invention refers to each component of the paving machine that performs its paving function and other basic components (e.g., a traveling mechanism).
Therefore, the central control device 3 calculates the walking distance and the walking path of the paving equipment through the positioning information sent by the GPS receiving device 2, and when the walking distance reaches a set distance, the central control device 3 can control the curved surface shape of the screed plate to be adjusted to the preset curved surface shape stored in the screed plate in advance; when the walking path deviates from the preset walking route, the central control device 3 can control the paving equipment to adjust the walking direction, or prompt the driver that the paving equipment needs to be adjusted and adjusted. Therefore, the GPS is updated in real time and positioned accurately, the screed is adjusted according to accurate walking distance measurement, the accuracy of a walking route is guaranteed, local automatic control is achieved, human errors are avoided, the curve shape of a paved road surface is more accurate, and paving quality is higher.
Specifically to this embodiment, GPS receiving device 2 is equipped with four, and wherein two set up respectively in the front end of the main part 1 that paves, and two other sets up respectively in the left and right sides of the screed of the main part 1 that paves, and well accuse equipment can carry out all-round more accurate location to the equipment that paves according to four GPS receiving device 2's positioning information integration the position of the equipment that paves.
Of course, the number and positions of the GPS receiving devices 2 are not limited to the above embodiment, and it is preferable to ensure that two GPS receiving devices 2 are provided at the screed to directly detect the position of the screed.
Further, this equipment of paving still includes range finding swiveling wheel 5 and sensor, and range finding swiveling wheel 5 is installed at the front end of the main part 1 that paves, and the sensor corresponds range finding swiveling wheel 5 and sets up, and the sensor measures the number of revolutions of range finding swiveling wheel 5 and is connected with central control device 3 communication to give central control device 3 with the number of revolutions transmission. The central control device 3 calculates the walking distance through the number of turns and the outer diameter of the ranging rotating wheel 5 prestored in the central control device.
The applications of the ranging rotating wheel 5 and the sensor are still reserved in the embodiment as follows:
1. in an area with weak GPS signal intensity, namely when the GPS signal is not enough to obtain clear positioning information, the central control device 3 judges whether the set distance is reached or not by adopting the walking distance calculated by the number of rotation circles so as to make up for the use defect of the GPS receiving device 2 and ensure paving operation.
2. In an area with weak GPS signal strength, the central control device 3 may compare the walking distance calculated by the number of revolutions with the walking distance calculated by the positioning information, and when the difference between the two walking distances is greater than 0.1m, the central control device 3 reports an error, which may be a mode that can prompt the attention of the worker by displaying warning information on a display screen. When the error is reported, a fault may occur at a certain position (for example, the GPS receiving device 2) of the paving equipment, so that the staff can be timely reminded to overhaul, and the paving quality is ensured.
In which frequent error reporting may occur after the rotating distance measuring wheel is worn out due to long-term use, which is to adjust the upper limit of the difference value stored in the central control device 3 (for example, to modify 0.1m to 0.3 m). After error reporting occurs, the accurate distance of the walking path can be detected through a third-party measuring instrument (a total station, a handheld GPS and the like), so that whether the measurement of the GPS receiving device 2 is problematic or not can be judged, and the position and the direction of the paving equipment can be corrected. Further, the paving equipment further comprises a walking direction sensor 4, wherein the walking direction sensor 4 is installed at the front end of the paving main body 1 and can measure the distance value from the walking direction sensor to a marker arranged on or around the paving road surface. The walking direction sensor 4 is in communication connection with the central control device 3 so as to transmit the distance value from the walking direction sensor to the marker to the central control device 3, and the central control device 3 judges whether the paving equipment deviates from a preset walking route or not by observing whether the distance value changes or not when the GPS signal intensity is weak (it can be understood that the walking direction sensor 4 continuously or intermittently transmits the distance value to the central control device 3). Specifically to this embodiment, walking direction sensor 4 sets up in the oil filter department of the left front end or the right front end of main part 1 that paves, and walking direction sensor 4 detachably installs in oil filter department, like this, when equipment that paves along two opposite directions walks, can select to install walking direction sensor 4 in the oil filter department that corresponds.
In this embodiment, a marker is disposed on or around the paved road surface, the setting of the marker is corresponding to the preset walking route, and when the paving equipment keeps the distance value detected by the walking direction sensor 4 unchanged, the paving equipment walks according to the preset walking route. Of course, slight fluctuations in the distance values are allowed. For example, sign rails are arranged beside the upper side and the lower side of the paved road, the walking direction sensor is an ultrasonic sensor, the walking direction sensor emits ultrasonic waves to the rails, the distance value between the walking direction sensor and the rails is calculated through the emitted ultrasonic waves, the central control device monitors whether the distance value changes in real time, and when the distance value changes, the central control device judges that the distance value deviates from a preset walking route.
Of course, the invention is not limited to this, but the marker may also be a marking line provided on the paved road surface, and the walking direction sensor may recognize the marking line and detect the distance to the marking line. Of course, the steel rail and the marking line may be provided at the same time, and the traveling direction sensor includes a sensor that recognizes the steel rail and the marking line, respectively, or a sensor that can recognize the steel rail and the marking line at the same time. The purpose of the walking direction sensor 4 is: in an area with weak GPS signal intensity, namely when the GPS signal is not enough to obtain clear positioning information, the central control device 3 adopts the walking direction sensor 4 to judge whether the walking direction deviates from a preset walking route stored in the central control device so as to make up for the use defect of the GPS receiving device 2 and ensure paving operation.
In summary, when the distance measuring rotation wheel 5 and the walking direction sensor 4 are provided at the same time, the positioning function of the GPS receiving device 2 can be replaced by the cooperation of the distance measuring rotation wheel 5 and the walking direction sensor 4, and the central control device 3 automatically selects whether to use the positioning information of the GPS receiving device 2 or the number of rotations of the distance measuring rotation wheel 5 and the distance value of the walking direction sensor 4 according to the strength of the GPS signal. Thus, in the present embodiment, a paving apparatus is shown in which the GPS receiver 2 is mainly used, and the distance measuring wheel 5 and the traveling direction sensor 4 are used to assist in detecting the traveling distance and the traveling direction.
Furthermore, most parts of the paving equipment are made in China, and the cost of the paving equipment is reduced.
Example two
In this embodiment, a method for detecting a walking distance and a walking path of a paving apparatus is provided, where the paving apparatus is the paving apparatus in the first embodiment.
The central control device 3 calculates the walking distance and the walking path of the paving equipment through the positioning information sent by the GPS receiving device 2, and it can be understood that the GPS receiving device 2 monitors the position of the paving equipment in real time to send out the positioning information, and the central control device 3 can continuously receive the positioning information or receive the positioning information at preset intervals.
From this, location information through GPS receiving arrangement 2 has realized automated inspection walking distance and walking route simultaneously and has improved the function of the detection precision of the two, convenient and fast, and the location is accurate, does not need artificial intervention, and intelligent degree is high.
In the detection method, the central control device 3 can also collect the number of rotation turns of the distance measuring rotating wheel 5, the walking distance of the paving equipment is calculated according to the number of rotation turns, the walking direction sensor 4 measures the distance value from the walking direction sensor to the steel rail and transmits the distance value to the central control device 3, and the central control device 3 judges whether the paving equipment deviates from the preset walking route or not by observing whether the distance value changes or not. The central control device 3 obtains the walking distance through the number of rotation circles when the GPS signal intensity is weak, and judges whether the walking path accords with the preset walking path through the walking direction sensor 4.
Further, the central control device 3 compares the walking distance calculated by the number of the rotation turns with the walking distance calculated by the positioning information of the GPS receiving device 2, and is used for detecting whether the paving equipment is in fault, thereby further ensuring the accuracy of the measured data.
Further, the central control device 3 compares the walking distance calculated by the number of rotation turns with the walking distance calculated by the positioning information, and when the difference between the two walking distances is greater than 0.1m, the central control device 3 reports an error. This indicates that the paving apparatus has failed and the operator should troubleshoot or repair the paving apparatus.
EXAMPLE III
Referring to fig. 2, in this embodiment, a method for adjusting a curved surface shape and a walking path of a screed of a paving apparatus is provided, that is, a central control device 3 calculates a walking distance and a walking path of the paving apparatus through positioning information sent by a GPS receiving device 2, when the walking distance reaches a set distance, the central control device 3 controls the curved surface shape of the screed to be adjusted to a preset curved surface shape, and when the walking path deviates from a preset walking route, the central control device 3 controls the paving apparatus to adjust a walking direction. The method can be applied to the paving equipment provided in the first embodiment, and the walking distance and walking path detection method of the paving equipment provided in the second embodiment.
To sum up, the function of automatically detecting the walking distance and the walking path and improving the detection precision of the walking distance and the walking path is realized simultaneously through the positioning information of the GPS receiving device 2, the method is convenient and fast, the positioning is accurate, manual intervention is not needed, and the intelligent degree is high. Thereby ensuring the accurate and smooth shape of the paved road surface. Further, in this embodiment, the method specifically includes the following steps:
s1: the GPS receiving device 2 is used for positioning the paving equipment and transmitting the positioning information of the paving equipment to the central control device 3;
s2: the central control device 3 calculates the walking distance of the paving equipment according to the positioning information, judges whether the set distance is reached, if not, returns to the step S1, if yes, the central control device 3 controls the curved surface shape of the screed to be adjusted to the preset curved surface shape stored in the screed, the central control device 3 also calculates the walking path of the paving equipment according to the positioning information, judges whether the walking path deviates from the preset walking route stored in the screed, if not, returns to the step S1, if yes, the walking direction of the paving equipment is adjusted according to the preset walking route until the paving equipment returns to the preset walking route;
s3: return is made to step S1.
Further, in step S1, the central control device 3 collects the number of rotations of the distance measuring rotation wheel 5, calculates the walking distance of the paving equipment according to the number of rotations, and the walking direction sensor 4 measures the distance value from the walking direction sensor to the steel rail on the side of the paved road surface and transmits the distance value to the central control device 3; in step S2, the central control device 3 determines whether the GPS signal strength is weak (whether the paving apparatus reaches the set distance and whether the paving apparatus deviates from the preset traveling route) by using the traveling distance calculated from the number of revolutions and the distance value obtained by the traveling direction sensor 4.
Specifically, in this embodiment, when the GPS signal intensity is strong, the central control device 3 calculates the walking distance and the walking path of the paving equipment using the positioning information of the GPS receiving device 2, and also receives the number of rotations of the distance measuring rotating wheel 5, and compares the walking distance calculated by the number of rotations with the walking distance calculated by the positioning information of the GPS receiving device 2, so as to detect whether the paving equipment is in failure, thereby further ensuring the accuracy of the measurement data.
Further, the central control device 3 compares the walking distance calculated by the number of rotation turns with the walking distance and the walking direction calculated by the positioning information, respectively, and when the difference between the two walking distances is greater than 0.1m, the central control device 3 reports an error. This indicates that the paving apparatus has failed and the operator should troubleshoot or repair the paving apparatus.
When the paving equipment finishes the paving task, the power supply is cut off, the method for adjusting the curved surface shape and the walking path of the screed of the paving equipment in the embodiment finishes the circulation mode, and all the steps stop running.
In summary, in the above-described embodiments, the paving apparatus includes a plurality of ironing units arranged side by side and a plurality of arch adjusting units, each ironing unit includes an ironing body and an ironing board connected below the ironing body, all the ironing boards form an ironing board of the ironing system integrally, and the ironing bodies of every two adjacent ironing units are hinged. Every two adjacent ironing units are correspondingly provided with an arch adjusting unit, and the arch adjusting units drive the two adjacent ironing units to rotate around the hinged joint of the ironing units, so that the radian of the ironing board is changed by changing the included angle between the two adjacent ironing boards. Wherein, central control unit 3 controls and transfers the unit drive two screed plates of arching and rotate, and then changes the curved surface shape of screed plate. Of course, the structure of the ironing unit and the arching unit of the paving apparatus is not limited thereto. The number of ironing units is at least 6.
In summary, in the above embodiments, the central control device 3 is provided with the first analysis and calculation module, the first analysis and calculation module can calculate the walking distance and the walking path of the paving equipment according to the positioning information, and the central control device 3 can calculate the walking distance and the walking path of the paving equipment through the positioning information by the real-time positioning information feedback of the GPS.
Further, the central control device 3 further comprises a first judgment module and a control module, wherein the first judgment module judges whether the walking distance of the paving equipment reaches a set distance according to the walking distance calculated by the positioning information, and judges whether the paving equipment deviates from a preset walking route stored in the first judgment module according to the walking path calculated by the positioning information; the control module controls the curved surface shape of the screed when the walking distance of the paving equipment reaches a set distance, and can control the paving equipment to adjust the walking direction when the walking path of the paving equipment deviates from a preset walking route. The first judgment module is in communication connection with the first analysis and calculation module, and the first analysis and calculation module transmits the walking distance and the walking path to the control module; the control module is in communication connection with the first judgment module, and the first judgment module transmits the judgment result to the control module.
Further, the central control device 3 further comprises a second analysis and calculation module, and the second analysis and calculation module calculates the walking distance of the paving equipment according to the number of rotation turns. And the second analysis and calculation module is in communication connection with the sensor to acquire the number of rotation turns.
Further, the central control device 3 further includes a second determination module and an error reporting module. The second judgment module can judge whether the set distance is reached or not through the walking distance calculated by the number of rotation turns when the GPS signal strength is weak, the second judgment module is in communication connection with the second analysis and calculation module to obtain the walking distance calculated by the number of rotation turns, and the second judgment module is in communication connection with the control module to transmit the judgment result to the control module. The error reporting module can compare the walking distance calculated by the rotation number with the walking distance calculated by the positioning information when the GPS signal intensity is strong, and automatically reports an error when the difference value of the two walking distances is greater than 0.1m, the error reporting module and the first analysis and calculation module are in communication connection to obtain the walking distance calculated by the positioning information, and the error reporting module and the second analysis and calculation module are in communication connection to obtain the walking distance calculated by the rotation number.
Further, the central control device 3 further comprises a monitoring module, and the monitoring module monitors whether the measured value changes when the GPS signal strength is weak. The central control device 3 is in communication connection with the walking direction sensor 4 to obtain the measured value. It can be understood that the walking direction sensor 4 will send real-time measurement values to the central control device 3 continuously or at intervals (with short intervals).
By integrating the above embodiments, the determination that the traveling distance of the paving apparatus reaches the set traveling distance may be performed in two ways:
first, it is determined whether the current value of the walking distance is the same as the value of the set walking distance, and it is understood that a plurality of set walking distances are set as positions for converting the shape of the curved surface, for example, 2m, 4m, 6m … …, and the shape of the curved surface of the screed plate is adjusted when the walking distance reaches 2m, 4m, 6m … …;
second, it is determined whether the difference between the distances traveled before and after the first and second times is equal to a set difference (e.g., 2 m).
When the two conditions are equal, the walking distance of the paving equipment reaches the set walking distance.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (5)
1. The utility model provides a method for adjusting the shape of a curved surface and a walking path of an ironing plate of paving equipment, the paving equipment comprises a paving main body (1) and a central control device (3), and is characterized in that: the paving equipment further comprises a GPS receiving device (2) used for acquiring positioning information of the paving equipment, wherein the GPS receiving device (2) is installed on the paving main body (1) and is in communication connection with the central control device (3); the central control device (3) calculates the walking distance and the walking path of the paving equipment through positioning information sent by the GPS receiving device (2), when the walking distance reaches a set distance, the central control device (3) controls the curved surface shape of the screed to be adjusted to a preset curved surface shape, and when the walking path deviates from a preset walking route, the central control device (3) controls the paving equipment to adjust the walking direction;
the method specifically comprises the following steps:
s1: the GPS receiving device (2) positions the paving equipment and transmits the positioning information of the paving equipment to the central control device (3);
s2: the central control device (3) calculates the walking distance of the paving equipment according to the positioning information, judges whether the preset distance is reached, if not, returns to the step S1, if yes, the central control device (3) controls the curved surface shape of the screed to be adjusted to the preset curved surface shape stored in the screed, the central control device (3) also calculates the walking path of the paving equipment according to the positioning information, judges whether the walking path deviates from the preset walking route stored in the screed, if not, returns to the step S1, and if yes, the walking path of the paving equipment is adjusted according to the preset walking route until the paving equipment returns to the preset walking route;
s3: return is made to step S1.
2. The method of claim 1, wherein the method comprises the steps of:
the paving equipment further comprises a walking direction sensor (4), and the walking direction sensor (4) is installed at the front end of the paving main body (1);
the paving apparatus further comprises: the intelligent paving system comprises a distance measuring rotating wheel (5) and a sensor, wherein the distance measuring rotating wheel (5) is installed at the front end of the paving main body (1), the sensor is arranged corresponding to the distance measuring rotating wheel (5), the number of rotating circles of the distance measuring rotating wheel (5) is measured and is in communication connection with a central control device (3) so that the number of rotating circles can be transmitted to the central control device (3), the central control device (3) calculates the walking distance through the number of rotating circles, and judges whether the preset distance is reached or not by adopting the walking distance calculated through the number of rotating circles when the GPS signal intensity is weak;
the walking direction sensor (4) is in communication connection with the central control device (3) so as to transmit the distance value from the sensor to the marker to the central control device (3), and the central control device (3) judges whether the paving equipment deviates from a preset walking route by observing whether the distance value changes when the GPS signal intensity is weak;
in the step S1, the central control device (3) collects the number of rotations of the distance measuring rotation wheel (5), calculates the walking distance of the paving equipment according to the number of rotations, and collects the distance value from the walking direction sensor (4) to the markers arranged on or around the paving road surface, which is measured by the walking direction sensor (3);
in the step S2, the central control device (3) determines whether the distance reaches a set distance by using the travel distance calculated by the number of rotations when the GPS signal intensity is weak, and determines whether the paving apparatus deviates from a preset travel route by observing whether the distance value changes.
3. The method of claim 2, wherein the method comprises the steps of:
and the central control device (3) compares the walking distance calculated by the number of rotation circles with the walking distance calculated by the positioning information, and when the difference value of the two walking distances is greater than 0.1m, the central control device (3) reports an error.
4. The method for adjusting the curved surface shape and the travel path of the screed of the paving apparatus according to claim 2, wherein the travel direction sensor (4) is detachably installed at an oil filter at a left front end or a right front end of the paving main body (1).
5. The method of claim 1, wherein the method of adjusting the shape of the screed surface and the path of travel of the paving apparatus,
the GPS receiving devices (2) are four, two of the GPS receiving devices are arranged at the front end of the paving main body (1) respectively, and the other two GPS receiving devices are arranged on the left side and the right side of the ironing plate of the paving main body (1) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029860.1A CN106758703B (en) | 2017-01-16 | 2017-01-16 | Method for adjusting curved surface shape and walking path of ironing plate of paving equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029860.1A CN106758703B (en) | 2017-01-16 | 2017-01-16 | Method for adjusting curved surface shape and walking path of ironing plate of paving equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106758703A CN106758703A (en) | 2017-05-31 |
| CN106758703B true CN106758703B (en) | 2022-04-22 |
Family
ID=58946799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710029860.1A Active CN106758703B (en) | 2017-01-16 | 2017-01-16 | Method for adjusting curved surface shape and walking path of ironing plate of paving equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106758703B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3543402A1 (en) | 2018-03-19 | 2019-09-25 | Joseph Vögele AG | Construction machine for constructing or processing of a street |
| CN109763407A (en) * | 2019-02-15 | 2019-05-17 | 中铁四局集团第一工程有限公司 | Paver traveling control device, paver and paver ambulation control method |
| CN112030684B (en) * | 2020-09-02 | 2022-07-12 | 中铁四局集团第一工程有限公司 | Construction method for paving asphalt surface layer of irregular rough road in full width |
| CN112853853A (en) * | 2021-01-07 | 2021-05-28 | 河北建设集团卓诚路桥工程有限公司 | 3D paving construction method for asphalt pavement |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5935183A (en) * | 1996-05-20 | 1999-08-10 | Caterpillar Inc. | Method and system for determining the relationship between a laser plane and an external coordinate system |
| WO2008124657A1 (en) * | 2007-04-05 | 2008-10-16 | Power Curbers, Inc. | Methods and systems utilizing 3d control to define a path of operation for a construction machine |
| CN102174792B (en) * | 2011-03-22 | 2013-07-10 | 苌安 | Intelligent GPS (global positioning system) elevation and average thickness control system of floated screed plate paver |
| CN102506683A (en) * | 2011-09-29 | 2012-06-20 | 林忠仁 | Measuring wheel used for measuring distance and area and measuring method thereof |
| DE102012001289A1 (en) * | 2012-01-25 | 2013-07-25 | Wirtgen Gmbh | Self-propelled construction machine and method for controlling a self-propelled construction machine |
| CN203429539U (en) * | 2013-08-22 | 2014-02-12 | 新疆交通建设（集团）有限责任公司 | High-precision quality control system for construction quality of bituminous pavement |
| CN104195925B (en) * | 2014-09-05 | 2016-07-06 | 中铁四局集团有限公司 | A kind of rolling apparatus with curved surface following and circuit rolling method |
| CN104278614A (en) * | 2014-09-28 | 2015-01-14 | 广东惠利普路桥信息工程有限公司 | Pavement construction system capable of supporting high-precision GPS (global positioning system) and posture analysis |
| CN105178146A (en) * | 2015-08-18 | 2015-12-23 | 河南省路桥建设集团有限公司 | Automatic paving control system for paving machine |
| CN206607484U (en) * | 2017-01-16 | 2017-11-03 | 特路（北京）科技有限公司 | Laying equipment |
-
2017
- 2017-01-16 CN CN201710029860.1A patent/CN106758703B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106758703A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106758703B (en) | Method for adjusting curved surface shape and walking path of ironing plate of paving equipment | |
| CN207828716U (en) | A kind of more applicability track switch geometry state automatic checkout equipments | |
| US10526755B2 (en) | Truck position control system for milling operations | |
| CN110542380B (en) | Automatic monitoring device for ballastless track structure | |
| BR102016017080A2 (en) | road finishing machine, and method for installing a road paving layer by means of a road finishing machine | |
| CN106835903B (en) | Paver and paving system | |
| BR102020009320A2 (en) | road finisher and method for operating a road finisher | |
| JP2008524473A (en) | Method and apparatus for monitoring road paving machine | |
| CN104401368B (en) | Based on locomotive position fixing system and the localization method thereof of track circuit and DGPS | |
| CN103901411A (en) | Radar test device and automotive radar pitch angle test method | |
| CN208206046U (en) | A kind of warning system for bridge expanssion joint displacement monitoring | |
| CN107792117B (en) | Locomotive wheel diameter self-checking device and method based on radar | |
| CN208736358U (en) | A kind of bow network monitoring system | |
| US10704211B2 (en) | Measuring paving layer thickness by means of a road roller | |
| CN105675811A (en) | Method for quickly detecting bump at end of highway bridge | |
| EP1787854A1 (en) | Vehicle measuring railway line parameters | |
| CN203007757U (en) | Grinding vehicle laser positioning device and grinding vehicle | |
| CN204214438U (en) | A kind of monitoring device for subgrade settlement | |
| CN206607484U (en) | Laying equipment | |
| CN203334166U (en) | Pavement subgrade rebound deflection measuring system | |
| CN116429451A (en) | Track offset measuring device and method | |
| CN207537851U (en) | A kind of asphalt-spreader paving thickness real-time detection apparatus | |
| CN103046442A (en) | Grinding wagon laser positioning device and grinding wagon | |
| KR101267925B1 (en) | Tag information verifying apparatus for railway car | |
| CN202485630U (en) | Road surface vehicle track detector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |