CN107974904A - The Big Dipper is intelligently compacted terminal handler - Google Patents
The Big Dipper is intelligently compacted terminal handler Download PDFInfo
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- CN107974904A CN107974904A CN201710973155.7A CN201710973155A CN107974904A CN 107974904 A CN107974904 A CN 107974904A CN 201710973155 A CN201710973155 A CN 201710973155A CN 107974904 A CN107974904 A CN 107974904A
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- acceleration
- road roller
- compacted
- compacting
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- 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
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
-
- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
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Abstract
The invention discloses a kind of Big Dipper to be intelligently compacted terminal handler, including：Position computation module, for obtaining the data of base station and movement station, and the longitude and latitude elevation of road roller is calculated accordingly, the data of the base station and movement station are the data of Beidou satellite navigation system, and the method for the longitude and latitude elevation for calculating road roller is to be calculated by carrier phase difference technology；Compactness computing module, for obtaining the data of compacting terminal, and the data to being compacted terminal are handled, obtain compactness, the data of the compacting terminal include acceleration information, the data of described pair of compacting terminal, which carry out processing, to be included the acceleration information in a period of time being segmented according to its peak value, and then each section of acceleration information is handled respectively.A kind of Big Dipper provided by the invention is intelligently compacted terminal handler, and independent of GPS positioning system in positioning, the calculating accuracy higher to compactness, so as to more accurately judge compacting situation, ensures compaction quality.
Description
Technical field
The present invention relates to road construction field, more particularly to a kind of Big Dipper is intelligently compacted terminal handler.
Background technology
In road construction field, compacting is an important component of road construction operation, and compaction quality is to road
Safety has conclusive influence with the service life, and effective compacting can significantly improve the bearing capacity and stability of roadbed, prevents
Only permeate, eliminate depression.
During traditional compacting operation, the working experience of operating personnel is relied primarily on, leakage pressure, the feelings of overvoltage easily occurs
Condition.In the finished, it is also necessary to which the method inspected by random samples using point, carries out the compactness inspection on compacting road surface.Such workflow is deposited
In the realistic problem that detection cycle is long, testing result cannot truly reflect system-wide section compaction quality.
During intelligent compacting operation, positioning to road roller, be compacted the data acquisition of terminal and compacting terminal adopted
The processing of the data collected, can determine accurately detect compacting situation and reliable control compaction quality, so as to avoid under-voltage
And the generation of phenomena such as overvoltage.And it is current can be compacted terminal handler, exist in positioning and excessively depend on GPS positioning system
The problem of, there is the problem of being difficult to accurate judgement compacting situation in the processing of the data collected to compacting terminal.So as to difficult
To ensure compaction quality, cause the problem of the economic benefit is not high.
The content of the invention
In order to solve problem above, the present invention provides a kind of Big Dipper to be intelligently compacted terminal handler.It is provided by the invention
A kind of Big Dipper is intelligently compacted terminal handler, including：
Position computation module, for obtaining the data of base station and movement station, and the longitude and latitude for calculating road roller accordingly is high
Journey, the data of the base station and movement station are the data of Beidou satellite navigation system, the longitude and latitude height for calculating road roller
The method of journey is to be calculated by carrier phase difference technology；
Compactness computing module, for obtaining the data of compacting terminal, and the data to being compacted terminal are handled, and are obtained
Compactness, the data of the compacting terminal include acceleration information, and the data of described pair of compacting terminal, which carry out processing, to be included one
Acceleration information in the section time is segmented according to its peak value, and then each section of acceleration information is handled respectively.
In order to allow the Big Dipper, intelligently compacting terminal handler more accurately obtains the acceleration information of pushing, so as to improve
The accuracy of compactness is calculated, preferable technical solution is the acceleration information, including direction of advance acceleration and height side
To acceleration, obtained by 3 or more acceleration transducer sensors.
The influence of acceleration transducer installation error is reduced in order to allow the Big Dipper to be intelligently compacted terminal handler, more accurately
The angle to acceleration transducer be adjusted to obtain the acceleration information under road roller coordinate system so that improve calculating pressure
The accuracy of solidity, preferable technical solution are the acceleration informations, including direction of advance acceleration and short transverse accelerate
Degree, is also obtained by 3 axle acceleration sensors.
The influence of acceleration transducer installation error is reduced in order to allow the Big Dipper to be intelligently compacted terminal handler, more accurately
The angle to acceleration transducer be adjusted to obtain the acceleration information under road roller coordinate system so that improve calculating pressure
The accuracy of solidity, further preferred technical solution are additionally operable to calculate inclining for road roller in addition, the position computation module
Angle, the inclination angle by 2 be arranged on road roller or the movement station of more than 2 data and combine the data of base station and obtain
Arrive；
The direction of advance acceleration and short transverse acceleration that the acceleration information includes, by the inclination angle of road roller to 3
The data that axle acceleration sensor obtains obtain after carrying out coordinate conversion, and the conversion method is：
Using the positive forward direction of road roller as X-direction, the short transverse of road roller establishes road roller coordinate system for Y-direction, works as pressure
When road machine is static, 3 are obtained according to the data at the inclination angle of road roller and 3 axle acceleration sensors
Three axis of axle acceleration sensor and the differential seat angle of road roller coordinate system, and with this to 3 axle acceleration sensors
Data carry out coordinate transform, obtain the acceleration information under road roller coordinate system.
In order to avoid the Big Dipper, intelligently compacting terminal handler handles the data of the compacting terminal in non-work progress
And interference data are introduced, preferable technical solution is the compactness computing module, is also obtained in real time under road roller coordinate system
Acceleration information：
When the acceleration of X-direction is more than default first threshold, compactness computing module starts the number to being compacted terminal
According to being handled, obtain compactness, the first threshold be on the occasion of；
When the acceleration of X-direction is less than default second threshold, compactness computing module terminates the number to being compacted terminal
According to being handled, the second threshold is negative value.
In order to enable the Big Dipper to be intelligently compacted the shift value that terminal handler more accurately calculates compacting direction, so as to improve
The accuracy of compactness is calculated, preferable technical solution is that compactness computing module calculates compacting every time, pressure by the first formula
The shift value in real direction, first formula are：
Wherein, dyCompacting every time, is compacted the shift value in direction, k is regulation coefficient, is obtained by experimental data, when no experiment
During data, its default value is 1, ddxThe shift value of the road roller direction of advance obtained for position computation module, daxFor compactness meter
Calculate the shift value for the road roller direction of advance that module is obtained according to acceleration information by time-domain or frequency volume integration, dayFor compacting
The shift value in the compacting direction that degree computing module is obtained according to acceleration information by time-domain or frequency volume integration.
Some beneficial effects of the present invention can include：
A kind of Big Dipper provided by the invention is intelligently compacted terminal handler, right independent of GPS positioning system in positioning
The calculating accuracy higher of compactness, so as to more accurately judge compacting situation, ensures compaction quality.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write
Specifically noted structure is realized and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Attached drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the schematic diagram that a kind of Big Dipper is intelligently compacted terminal handler in the embodiment of the present invention.
Embodiment
The preferred embodiment of the present invention is illustrated below in conjunction with attached drawing, it will be appreciated that described herein preferred real
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Fig. 1 is the schematic diagram that a kind of Big Dipper is intelligently compacted terminal handler in the embodiment of the present invention, as shown in Figure 1, including：
Position computation module, for obtaining the data of base station and movement station, and the longitude and latitude for calculating road roller accordingly is high
Journey, the data of the base station and movement station are the data of Beidou satellite navigation system, the longitude and latitude height for calculating road roller
The method of journey is to be calculated by carrier phase difference technology；
Compactness computing module, for obtaining the data of compacting terminal, and the data to being compacted terminal are handled, and are obtained
Compactness, the data of the compacting terminal include acceleration information, and the data of described pair of compacting terminal, which carry out processing, to be included one
Acceleration information in the section time is segmented according to its peak value, and then each section of acceleration information is handled respectively.
In order to allow the Big Dipper, intelligently compacting terminal handler more accurately obtains the acceleration information of pushing, so as to improve
The accuracy of compactness is calculated, preferable technical solution is the acceleration information, including direction of advance acceleration and height side
To acceleration, obtained by 3 or more acceleration transducer sensors.
The influence of acceleration transducer installation error is reduced in order to allow the Big Dipper to be intelligently compacted terminal handler, more accurately
The angle to acceleration transducer be adjusted to obtain the acceleration information under road roller coordinate system so that improve calculating pressure
The accuracy of solidity, preferable technical solution are the acceleration informations, including direction of advance acceleration and short transverse accelerate
Degree, is also obtained by 3 axle acceleration sensors.
The influence of acceleration transducer installation error is reduced in order to allow the Big Dipper to be intelligently compacted terminal handler, more accurately
The angle to acceleration transducer be adjusted to obtain the acceleration information under road roller coordinate system so that improve calculating pressure
The accuracy of solidity, further preferred technical solution are additionally operable to calculate inclining for road roller in addition, the position computation module
Angle, the inclination angle by 2 be arranged on road roller or the movement station of more than 2 data and combine the data of base station and obtain
Arrive；
The direction of advance acceleration and short transverse acceleration that the acceleration information includes, by the inclination angle of road roller to 3
The data that axle acceleration sensor obtains obtain after carrying out coordinate conversion, and the conversion method is：
Using the positive forward direction of road roller as X-direction, the short transverse of road roller establishes road roller coordinate system for Y-direction, works as pressure
When road machine is static, 3 are obtained according to the data at the inclination angle of road roller and 3 axle acceleration sensors
Three axis of axle acceleration sensor and the differential seat angle of road roller coordinate system, and with this to 3 axle acceleration sensors
Data carry out coordinate transform, obtain the acceleration information under road roller coordinate system.
In order to avoid the Big Dipper, intelligently compacting terminal handler handles the data of the compacting terminal in non-work progress
And interference data are introduced, preferable technical solution is the compactness computing module, is also obtained in real time under road roller coordinate system
Acceleration information：
When the acceleration of X-direction is more than default first threshold, compactness computing module starts the number to being compacted terminal
According to being handled, obtain compactness, the first threshold be on the occasion of；
When the acceleration of X-direction is less than default second threshold, compactness computing module terminates the number to being compacted terminal
According to being handled, the second threshold is negative value.
In order to enable the Big Dipper to be intelligently compacted the shift value that terminal handler more accurately calculates compacting direction, so as to improve
The accuracy of compactness is calculated, preferable technical solution is that compactness computing module calculates compacting every time, pressure by the first formula
The shift value in real direction, first formula are：
Wherein, dyCompacting every time, is compacted the shift value in direction, and k is regulation coefficient, is calculated for reducing by integrated acceleration
The error of speed, is obtained by experimental data, and when no experimental data, its default value is 1, ddxThe pressure obtained for position computation module
The shift value of road machine direction of advance, daxObtained for compactness computing module according to acceleration information by time-domain or frequency volume integration
Road roller direction of advance shift value, dayFor compactness computing module according to acceleration information by time-domain or frequency volume integration
The shift value in obtained compacting direction.
In one embodiment of the invention, wherein, k 1.2, ddxThe road roller advance side obtained for position computation module
To shift value, be 50 meters, daxBefore the road roller obtained for compactness computing module according to acceleration information by time volume integration
It is 45m, d into the shift value in directionayThe compacting side obtained for compactness computing module according to acceleration information by time volume integration
To shift value, be 10mm, according to the first formula obtain compacting direction shift value
Some beneficial effects of the present invention can include：
A kind of Big Dipper provided by the invention is intelligently compacted terminal handler, right independent of GPS positioning system in positioning
The calculating accuracy higher of compactness, so as to more accurately judge compacting situation, ensures compaction quality.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or square frame in journey and/or square frame and flowchart and/or the block diagram.These computer programs can be provided
The processors of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw engineering machinery so that the instruction performed by computer or the processor of other programmable data processing devices produces use
In the dress for realizing the function of being specified in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames
Put.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided and is used for realization in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a square frame or multiple square frames.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and scope.In this way, if these modifications and changes of the present invention belongs to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these modification and variations.
Claims (6)
1. a kind of Big Dipper is intelligently compacted terminal handler, it is characterised in that including：
Position computation module, for obtaining the data of base station and movement station, and calculates the longitude and latitude elevation of road roller, institute accordingly
The data for stating base station and movement station are the data of Beidou satellite navigation system, the side of the longitude and latitude elevation for calculating road roller
Method is to be calculated by carrier phase difference technology；
Compactness computing module, for obtaining the data of compacting terminal, and the data to being compacted terminal are handled, and are compacted
Degree, the data of the compacting terminal include acceleration information, when the data of described pair of compacting terminal carry out processing including by one section
Interior acceleration information is segmented according to its peak value, and then each section of acceleration information is handled respectively.
2. a kind of Big Dipper according to claim 1 is intelligently compacted terminal handler, it is characterised in that the acceleration number of degrees
According to, including direction of advance acceleration and short transverse acceleration, obtained by 3 or more acceleration transducer sensors.
3. a kind of Big Dipper according to claim 2 is intelligently compacted terminal handler, it is characterised in that the acceleration number of degrees
According to, including direction of advance acceleration and short transverse acceleration, also obtained by 3 axle acceleration sensors.
4. a kind of Big Dipper according to claim 3 is intelligently compacted terminal handler, it is characterised in that：
The position computation module, is additionally operable to calculate the inclination angle of road roller, the inclination angle is by be arranged on road roller 2 or 2
The data of the movement station of a above are simultaneously obtained with reference to the data of base station；
The direction of advance acceleration and short transverse acceleration that the acceleration information includes, add 3 axis by the inclination angle of road roller
The data that velocity sensor obtains obtain after carrying out coordinate conversion, and the conversion method is：
Using the positive forward direction of road roller as X-direction, the short transverse of road roller establishes road roller coordinate system for Y-direction, works as road roller
When static, three axis and pressure of 3 axle acceleration sensors are obtained according to the data at the inclination angle of road roller and 3 axle acceleration sensors
The differential seat angle of road machine coordinate system, and coordinate transform is carried out with this data to 3 axle acceleration sensors, obtain road roller coordinate system
Under acceleration information.
5. a kind of Big Dipper according to claim 4 is intelligently compacted terminal handler, it is characterised in that including：
The compactness computing module, also obtains the acceleration information under road roller coordinate system in real time：
When the acceleration of X-direction is more than default first threshold, compactness computing module start to be compacted terminal data into
Row processing, obtains compactness, the first threshold be on the occasion of；
When the acceleration of X-direction is less than default second threshold, compactness computing module terminate to be compacted terminal data into
Row processing, the second threshold is negative value.
6. a kind of Big Dipper according to claim 4 is intelligently compacted terminal handler, it is characterised in that including：
Compactness computing module calculates compacting every time by the first formula, is compacted the shift value in direction, and first formula is：
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Wherein, dyCompacting every time, is compacted the shift value in direction, k is regulation coefficient, is obtained by experimental data, when no experimental data
When, its default value is 1, ddxThe shift value of the road roller direction of advance obtained for position computation module, daxMould is calculated for compactness
The shift value for the road roller direction of advance that root tuber is obtained according to acceleration information by time-domain or frequency volume integration, dayFor compactness meter
Calculate the shift value in the compacting direction that module is obtained according to acceleration information by time-domain or frequency volume integration.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710973155.7A CN107974904B (en) | 2017-10-18 | 2017-10-18 | Beidou intelligent compaction terminal processor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710973155.7A CN107974904B (en) | 2017-10-18 | 2017-10-18 | Beidou intelligent compaction terminal processor |
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| Publication Number | Publication Date |
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| CN107974904A true CN107974904A (en) | 2018-05-01 |
| CN107974904B CN107974904B (en) | 2020-04-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115491952A (en) * | 2022-09-30 | 2022-12-20 | 湖南交通国际经济工程合作有限公司 | Highway subgrade road surface wisdom compaction monitored control system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101694084A (en) * | 2009-10-14 | 2010-04-14 | 武汉武大卓越科技有限责任公司 | Ground on-vehicle mobile detecting system |
| WO2016122834A1 (en) * | 2015-01-30 | 2016-08-04 | Caterpillar Paving Products Inc. | Systems and methods for guiding a compacting machine |
| CN106501830A (en) * | 2016-09-13 | 2017-03-15 | 长安大学 | A kind of roadbed roller compaction construction dynamic process method for real-time monitoring |
| CN107169041A (en) * | 2017-04-24 | 2017-09-15 | 江苏中路信息科技有限公司 | Subgrade and pavement compacting counting monitoring device and method based on grid graph |
-
2017
- 2017-10-18 CN CN201710973155.7A patent/CN107974904B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101694084A (en) * | 2009-10-14 | 2010-04-14 | 武汉武大卓越科技有限责任公司 | Ground on-vehicle mobile detecting system |
| WO2016122834A1 (en) * | 2015-01-30 | 2016-08-04 | Caterpillar Paving Products Inc. | Systems and methods for guiding a compacting machine |
| CN106501830A (en) * | 2016-09-13 | 2017-03-15 | 长安大学 | A kind of roadbed roller compaction construction dynamic process method for real-time monitoring |
| CN107169041A (en) * | 2017-04-24 | 2017-09-15 | 江苏中路信息科技有限公司 | Subgrade and pavement compacting counting monitoring device and method based on grid graph |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115491952A (en) * | 2022-09-30 | 2022-12-20 | 湖南交通国际经济工程合作有限公司 | Highway subgrade road surface wisdom compaction monitored control system |
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