CN106918337B - Paving three-dimensional positioning device suitable for F2 race track and control method thereof - Google Patents
Paving three-dimensional positioning device suitable for F2 race track and control method thereof Download PDFInfo
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- CN106918337B CN106918337B CN201710144301.5A CN201710144301A CN106918337B CN 106918337 B CN106918337 B CN 106918337B CN 201710144301 A CN201710144301 A CN 201710144301A CN 106918337 B CN106918337 B CN 106918337B
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- elevation
- measurement laser
- receiving module
- paving
- module
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000005259 measurement Methods 0.000 claims description 48
- 230000007246 mechanism Effects 0.000 claims description 20
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 5
- 239000004917 carbon fiber Substances 0.000 claims description 5
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000208829 Sambucus Species 0.000 description 1
- 239000010426 asphalt Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000008995 european elder Nutrition 0.000 description 1
- 238000010409 ironing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a paving three-dimensional positioning device suitable for an F2 track and a control method thereof, belonging to the technical field of engineering machinery. A control method of the paving three-dimensional positioning device suitable for the F2 track is also disclosed. Through the built-in inclination sensor of connecting rod, revise the elevation of paving the road surface according to the angle that inclination sensor measured, overcome the drawback that the measuring accuracy of elevation that leads to because the road surface is downhill and is swayd in opposite directions in succession at the race track road surface reduces.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a paving three-dimensional positioning device suitable for an F2 race track and a control method thereof.
Background
The paver is an important road construction device, and in actual engineering, when the paver lowers the screed to a position with a proper distance on the ground, various materials are flattened on the road surface so as to ensure the flatness of the road surface.
However, when paving the racing track, because the racing track has the characteristics of continuously repeated curves, large turning camber, small turning radius, continuous fluctuation of the longitudinal slope of the road surface, continuous direction swing of the transverse slope of the road surface and the like, the racing track has higher requirements on the road surface flatness, and the paving machine can accurately position the plate surface and the elevation position of the screed plate of the paving machine when paving.
The existing paver can only pave curved asphalt, and the elevation positioning precision is poor, so that the paving requirement of the racing lane cannot be met.
Disclosure of Invention
The invention aims to provide a paving three-dimensional positioning device suitable for an F2 race track and a control method thereof, so as to improve the positioning accuracy of a paver.
In order to achieve the above purpose, the invention adopts the following technical scheme: in a first aspect, there is provided a paving three-dimensional positioning apparatus for an F2 racetrack, the apparatus comprising: the device comprises a plane positioning signal receiving module, a plane positioning signal transmitting module, a plane positioning mechanism and an elevation positioning mechanism, wherein the plane positioning mechanism is composed of an elevation measurement laser receiving module and an elevation measurement laser transmitting module, the plane positioning signal receiving module and the elevation measurement laser receiving module are arranged on the middle upper part of a connecting rod, the plane positioning signal receiving module is arranged on the top of the connecting rod, the device further comprises an inclination angle sensor which is arranged in the connecting rod, the inclination angle sensor is connected with the elevation measurement laser receiving module, the plane positioning signal receiving module, the elevation measurement laser receiving module and the inclination angle sensor form a three-dimensional positioning mechanism, and the three-dimensional positioning mechanism is vertically arranged on a screed.
Specifically, the inclination sensor is arranged in the middle upper part of the connecting rod through a fixing piece.
Specifically, the connecting rod is made of high-performance carbon fiber.
Specifically, three-dimensional positioning mechanisms are symmetrically and vertically arranged on two sides of the ironing plate.
Specifically, the fixing piece is a bolt.
In a second aspect, there is provided a method of controlling a paving three-dimensional positioning device suitable for an F2 racetrack, the method comprising:
the plane positioning signal receiving module is used for positioning the plane of the paving road surface according to the received plane positioning signal transmitted by the plane positioning signal transmitting module;
the elevation measurement laser receiving module is used for positioning the elevation of the paving road surface according to the received elevation positioning signal emitted by the elevation measurement laser emitting module;
and correcting the elevation of the paving road surface by using the inclination angle measured by the inclination angle sensor.
Further, the inclination angle measured by the inclination angle sensor is used for correcting the elevation of the paving road surface, and the method specifically comprises the following steps:
according to the inclination angle measured by the inclination angle sensor, correcting the elevation of the paving road surface by using an elevation correction formula, wherein the elevation correction formula is as follows:
H B' ＝H B ·cosβ，
wherein H is B' To correct the elevation of the paving surface, H B To correct the elevation of the road surface on which money is being spread, β is the tilt of the connecting rod measured by the tilt sensor.
Compared with the prior art, the invention has the following technical effects: according to the invention, the inclination angle sensor is arranged in the connecting rod, and the inclination angle of the connecting rod is measured through the inclination angle sensor. The elevation measurement laser receiving module is connected with the inclination sensor, the inclination angle of the connecting rod measured by the inclination sensor is collected, and then the elevation of the paving road surface measured by the elevation measurement laser receiving module is corrected by utilizing the inclination angle of the connecting rod, so that the corrected elevation is obtained. The defect of reduced height measurement precision caused by the inclination of the connecting rod due to the continuous reverse swinging of the transverse slope of the road surface in the racing field is overcome.
Drawings
FIG. 1 is a schematic view of a paving three-dimensional positioning apparatus for an F2 racetrack according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a three-dimensional positioning mechanism according to an embodiment of the present invention;
FIG. 3 is a flow chart of a control method of a paving three-dimensional positioning apparatus for an F2 racetrack according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the correction of the elevation of the paved surface using the inclination measured by the inclination sensor in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to fig. 1 to 4.
As shown in fig. 1 and 2, the present embodiment discloses a paving three-dimensional positioning device suitable for an F2 track, which includes: the device comprises a plane positioning mechanism formed by a plane positioning signal receiving module 10 and a plane positioning signal transmitting module 11 and an elevation positioning mechanism formed by an elevation measuring laser receiving module 20 and an elevation measuring laser transmitting module 21, wherein the plane positioning signal receiving module 10 and the elevation measuring laser receiving module 20 are arranged at the middle upper part of a connecting rod 40, the plane positioning signal receiving module 10 is arranged at the top of the connecting rod 40, the device further comprises an inclination sensor 30 which is arranged in the connecting rod 40, the inclination sensor 30 is connected with the elevation measuring laser receiving module 20, the plane positioning signal receiving module 10, the elevation measuring laser receiving module 20 and the inclination sensor 30 form a three-dimensional positioning mechanism 50, and the three-dimensional positioning mechanism 50 is vertically arranged on a screed 60.
Further, the tilt sensor 30 is mounted in the middle upper portion of the connecting rod 40 by a fixing member.
As shown in fig. 2, the planar positioning signal receiving module 10, the elevation measurement laser receiving module 20, and the tilt sensor 30 in the present embodiment are all mounted at the middle-upper portion of the connecting rod 40, and the relative positional relationship is a top-middle-bottom relationship. The elevation measurement laser receiving module 20 is connected with the tilt sensor 30 through a connecting line to obtain the tilt angle of the connecting rod 40 collected by the tilt sensor 30.
In practical application, because the racing lane has the characteristics of large turning curvature, small turning radius, continuous fluctuation change of a longitudinal slope of a road surface and continuous reverse swing of a transverse slope of the road surface, when the conventional three-dimensional positioning device is used for measuring elevation, the position of the screed of the paver on a plane attached to the road surface can be continuously changed due to the fluctuation change of the road surface, so that the measured elevation precision can be reduced. Therefore, the present embodiment improves the accuracy of the elevation measurement by incorporating the tilt sensor 30 in the connecting rod 40, and correcting the measured elevation by the measured tilt of the connecting rod 40.
Further, the connecting rod 40 is made of high-performance carbon fiber.
The high-performance carbon fiber material in this embodiment is a commercially available product: supplied by the company sambucus (Trimble).
In practical applications, because the screed 60 of the paver has a relatively high temperature, the present embodiment uses high-performance carbon fibers having low density, ultrahigh temperature resistance, small thermal expansion coefficient, and high axial strength. The manufactured connecting rod 40 has the characteristics of light weight, high hardness and high temperature resistance, and is not easy to incline, damage and the like in the working process, so that the accuracy of elevation measurement is improved.
Further, three-dimensional positioning mechanisms 50 are symmetrically and vertically installed on two sides of the screed 60.
In this embodiment, two sets of three-dimensional positioning mechanisms 50 are symmetrically installed on both sides of the screed 60. Considering that in practical application, if a set of three-dimensional positioning mechanism 50 is installed on the screed 60, errors may occur in the measured inclination angle, and the three-dimensional positioning mechanisms 50 are symmetrically arranged on two sides of the screed 60, so that the accuracy of the measured inclination angle can be effectively improved, and the accuracy of elevation measurement can be further improved.
Further, the fixing member in this embodiment is a bolt. However, it should be noted that those skilled in the art may use other fixing methods, such as screws, rivets, etc., to fix the tilt sensor 30 according to the actual situation.
It should be noted that, the tilt sensor 30 may be accurately fixed inside the connecting rod 40 by using bolts, so that the tilt sensor 30 may accurately measure the working posture of the connecting rod 40 in real time.
Further, the paving three-dimensional positioning device in the embodiment can display the process of positioning the paving road surface and the result through the terminal equipment, so that a user can display and control the paving process of the road surface in real time through the terminal equipment.
As shown in fig. 3, the present embodiment discloses a control method of a paving three-dimensional positioning device suitable for an F2 track, which includes the following steps S1 to S3:
s1, a plane positioning signal receiving module 10 positions the plane of a paving road surface according to a received plane positioning signal transmitted by a plane positioning signal transmitting module 11;
s2, the elevation measurement laser receiving module 20 positions the elevation of the paving surface according to the received elevation positioning signals emitted by the elevation measurement laser emitting module 21;
and S3, correcting the elevation of the paving road surface by using the inclination angle measured by the inclination angle sensor 30.
Further, the step S3 specifically includes the following steps:
according to the inclination angle measured by the inclination angle sensor 30, the elevation of the paving road surface is corrected by using an elevation correction formula, wherein the elevation correction formula is as follows:
H B' ＝H B ·cosβ，
wherein H is B' To correct the elevation of the paving surface, H B To correct the elevation of the paving surface of money, β is the inclination of the connecting rod 40 measured by the inclination sensor 30.
Specifically, the principle of correcting the elevation measured by the elevation measurement laser receiving module 20 by using the inclination angle measured by the inclination angle sensor 30 in the present embodiment is as shown in fig. 4:
the process of correcting the elevation measured by the elevation measurement laser receiving module 20 according to the elevation calculation principle and the geometric relationship is as follows:
H A ＝H 0 +h，
H B ＝H A ±S·sinα，
H B' ＝H B ·cosβ，
thus, H is derived B' ＝(H 0 +h+S.sin α). Cos β. Wherein H is 0 For the elevation measurement of the point elevation at the laser emission module 21, H is the instrument height of the elevation measurement laser emission module 21, H A For the elevation of the emission source of the elevation measurement laser emission module 21, S is the slant distance between the elevation measurement laser emission module 21 and the elevation measurement laser receiving module 20 measured by the elevation measurement laser emission module 21. Alpha is elevation angle H when elevation measurement laser transmitting module 21 measures laser transmitted by elevation measurement laser receiving module 20 B The elevation of the laser receiving module 20 is measured for the elevation.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (6)
1. The utility model provides a three-dimensional positioner that paves suitable for F2 race way, include by plane location signal receiving module (10), plane location signal transmitting module (11) constitute plane location mechanism and by elevation measurement laser receiving module (20), elevation measurement laser transmitting module (21) constitute elevation location mechanism, plane location signal receiving module (10) and elevation measurement laser receiving module (20) install in the well upper portion of connecting rod (40) and plane location signal receiving module (10) install in the top of connecting rod (40), characterized by, still include built-in inclination sensor (30) in connecting rod (40), inclination sensor (30) are connected with elevation measurement laser receiving module (20), plane location signal receiving module (10), elevation measurement laser receiving module (20) and inclination sensor (30) constitute three-dimensional positioning mechanism (50), and three-dimensional positioning mechanism (50) are installed on flat board (60) vertically; according to the inclination angle measured by the inclination angle sensor (30), correcting the elevation of the paving road surface by using an elevation correction formula, wherein the elevation correction formula is as follows:
H B' ＝(H 0 +h+S·sinα)·cosβ
wherein H is B' Beta is the inclination angle of the connecting rod (40) measured by the inclination angle sensor (30) for the corrected paving height, H 0 For the point position elevation at the elevation measurement laser emission module (21), h is the instrument height of the elevation measurement laser emission module (21), S is the inclined distance between the elevation measurement laser emission module (21) and the elevation measurement laser receiving module (20) measured by the elevation measurement laser emission module (21), and alpha is the elevation angle of the laser emitted by the elevation measurement laser receiving module (20) measured by the elevation measurement laser emission module (21).
2. The device according to claim 1, wherein the tilt sensor (30) is mounted in the middle upper part of the connecting rod (40) by means of a fixing element.
3. The device according to claim 1 or 2, characterized in that the connecting rod (40) is made of high-performance carbon fiber.
4. A device according to claim 3, characterized in that the screed (60) is provided with a three-dimensional positioning mechanism (50) symmetrically and vertically on both sides.
5. A device according to claim 3, wherein the fixing means is a bolt.
6. A control method of a paving three-dimensional positioning device suitable for an F2 race track, characterized by comprising:
the plane positioning signal receiving module (10) is used for positioning the plane of the paving surface according to the received plane positioning signal transmitted by the plane positioning signal transmitting module (11);
the elevation measurement laser receiving module (20) is used for positioning the elevation of the paving road surface according to the received elevation positioning signal emitted by the elevation measurement laser emitting module (21);
the elevation of the paving road surface is corrected by using the inclination angle measured by the inclination angle sensor (30), and the elevation correction formula is as follows:
H B' ＝(H 0 +h+S·sinα)·cosβ
wherein H is B' To correct the paving height, H B To correct the elevation of the road surface, beta is the inclination angle of the connecting rod (40) measured by the inclination angle sensor (30), H 0 For the point position elevation at the elevation measurement laser emission module (21), h is the instrument height of the elevation measurement laser emission module (21), S is the inclined distance between the elevation measurement laser emission module (21) and the elevation measurement laser receiving module (20) measured by the elevation measurement laser emission module (21), and alpha is the elevation angle of the laser emitted by the elevation measurement laser receiving module (20) measured by the elevation measurement laser emission module (21).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710144301.5A CN106918337B (en) | 2017-03-12 | 2017-03-12 | Paving three-dimensional positioning device suitable for F2 race track and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710144301.5A CN106918337B (en) | 2017-03-12 | 2017-03-12 | Paving three-dimensional positioning device suitable for F2 race track and control method thereof |
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| CN106918337B true CN106918337B (en) | 2024-02-09 |
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| CN116026285B (en) * | 2023-03-29 | 2023-06-13 | 西安兴唐物联科技有限公司 | 3D paving control algorithm based on laser gradient automatic adjustable positioning system |
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Address after: Wangjiang Road in Baohe District of Hefei city of Anhui Province, No. 96 230023 Applicant after: CHINA TIESIJU CIVIL ENGINEERING Group Applicant after: THE FIRST ENGINEERING CO., LTD. OF CTCE Group Address before: 230022 technical center of China Railway four Bureau, No. 96 Wangjiang East Road, Anhui, 618, Hefei Applicant before: CHINA TIESIJU CIVIL ENGINEERING Group Applicant before: THE FIRST ENGINEERING CO., LTD. OF CTCE Group |
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Inventor after: Wang Hongming Inventor after: Zhang Jiesheng Inventor after: Ding Shengwen Inventor after: Shen Zhiqiang Inventor after: Hu Zhukui Inventor after: Xu Jinggan Inventor after: Zhang Liyao Inventor after: Chen Qi Inventor after: Hu Xiumei Inventor before: Zhang Jiesheng Inventor before: Ding Shengwen Inventor before: Shen Zhiqiang Inventor before: Hu Zhukui Inventor before: Xu Jinggan Inventor before: Zhang Liyao Inventor before: Chen Qi Inventor before: Hu Xiumei |