CN111424499B - Self-feedback intelligent road pressing equipment for thermoplastic road leveling construction - Google Patents
Self-feedback intelligent road pressing equipment for thermoplastic road leveling construction Download PDFInfo
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- CN111424499B CN111424499B CN202010251363.8A CN202010251363A CN111424499B CN 111424499 B CN111424499 B CN 111424499B CN 202010251363 A CN202010251363 A CN 202010251363A CN 111424499 B CN111424499 B CN 111424499B
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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
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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
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
Abstract
The invention discloses self-feedback intelligent road pressing equipment for thermoplastic road leveling construction, which comprises a vehicle body with a front roller and a rear roller, wherein a balancing weight controlled to move in a plane is arranged in the vehicle body; in the implementation of the intelligent road roller, the position of the balancing weight is intelligently adjusted according to the concave-convex characteristic of the road surface, the gravity center of the intelligent road roller equipment is changed, and the flattening operation of the thermoplastic road surface is realized; thermoplastic road pressurized variable and the pressure that receives and the time positive correlation of pressure receive when intelligent road roller equipment is at the uniform velocity marching forward, the position of adjustment balancing weight for the pressure of front roller, back running roller and both ends is different, can have corresponding to carry out the differentiation construction to the road surface.
Description
Technical Field
The invention relates to the field of intelligent manufacturing, in particular to self-feedback intelligent road pressing equipment for thermoplastic road leveling construction.
Background
Thermoplastic roads, especially asphalt roads, need to be rolled continuously by a road rolling device in the laying process, and finally achieve the purpose of rolling. The traditional road roller vehicle rolls the plastic road surface by the self weight, but the uneven spreading of the road material can cause the formation of concave or convex areas which do not meet the flatness standard after the road surface is formed. The pavement is incomplete after the filling by constructors, so that the appearance is not attractive, and the filling position is easy to damage.
In patent publication CN104302839B, a method for planning and carrying out a road compaction process, in particular for compacting asphalt, is disclosed, which comprises the measures: a) defining a ground area (B) to be compacted, wherein at least one width edge region (BRI, Bmin) of the ground area (B) to be compacted is detected by a device prepared for the ground area moving along the ground area (B) to be compacted; b) defining a compaction schedule based on the ground area (B) defined in measure a), the compaction schedule including the number and course of the road roller drives (Vti) in the ground area (B); C) moving at least one roller (10) in the ground area (B) defined in measure a) according to the compaction schedule defined in measure B).
According to the scheme, thermoplastic roads (asphalt) can be compacted in the prior art, the flattening operation is realized through the coordinated planning work of a plurality of road rollers, but thermoplastic material surface construction is carried out on narrow roads, a plurality of road rollers are difficult to cooperatively work, and the gravity center of a single road roller is required to be intelligently adjusted according to the road state.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides self-feedback intelligent road pressing equipment for thermoplastic road leveling construction, which can intelligently adjust the gravity center according to the state of a road surface and realize the pressing operation of the thermoplastic road surface.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the utility model provides a road leveling construction self feedback intelligence road roller equipment is moulded to heat which characterized in that: the device comprises a vehicle body with a front roller and a rear roller, wherein a balancing weight which is controlled to move in a plane is arranged in the vehicle body;
the system comprises a vehicle body, a front camera module and a rear camera module, wherein the front camera module is used for collecting an infrared imaging image of a road surface in the advancing direction of the vehicle body and generating a road surface temperature three-dimensional structure model (RTM);
and adjusting the position of a balancing weight according to the road surface temperature three-dimensional structure model (RTM) and the preset road surface flatness, and rolling the road surface to accord with the preset flatness.
Further, the adjusting of the position of the balancing weight according to the road surface temperature three-dimensional structure model (RTM) and the preset road surface flatness to roll the road surface to meet the preset flatness specifically comprises,
before the road is rolled for the first time, acquiring an initial road surface three-dimensional structure model (RM0) and a corresponding initial temperature set (T0), establishing an initial road surface temperature three-dimensional structure model (RTM0), judging an initial concave area (Sunken0), an initial Convex area (Convex0) and an initial qualified area (Flat0) according to the comparison between the initial road surface three-dimensional structure model (RM0) and a preset flatness,
and calculating differences between the initial depressed area (Sunken0), the initial raised area (Convex0) and the preset flatness, respectively, as an initial depressed area difference (SD0), an initial raised area (CD0),
further calculating the relative proportion between the initial depressed area difference (SD0) and the initial raised area (CD 0);
adjusting the weight position in real time according to the relative proportion between the initial depressed area difference (SD0) and the initial raised area (CD 0);
and repeating the steps until the pavement is rolled to meet the preset flatness.
Further, before rolling the road for the first time, acquiring an initial road surface three-dimensional structure model (RM0) and a corresponding initial temperature set (T0), establishing an initial road surface temperature three-dimensional structure model (RTM0), and judging an initial concave area (Sunken0), an initial Convex area (Convex0) and an initial qualified area (Flat0) according to the comparison between the initial road surface three-dimensional structure model (RM0) and a preset flatness, specifically comprising,
before a road is rolled for the first time, front camera modules distributed in front of and behind intelligent road rolling equipment acquire an initial road surface three-dimensional structure model (RM0) and a corresponding initial temperature set (T0);
dividing pavement meshes of an initial pavement three-dimensional structure model (RM0), wherein the pavement meshes are in two rows according to the advancing direction of intelligent road roller equipment;
taking the corresponding temperature average value of the pavement in each pavement unit cell in the pavement grid as the temperature of the pavement in the pavement unit cell;
and taking the average value of the road surface height in each road surface cell in the road surface grid as the road surface height in the road surface cell, and comparing the road surface height with the preset flatness to judge an initial concave area (Sunken0), an initial Convex area (Convex0) and an initial qualified area (Flat 0).
Further, the weight block position is adjusted in real time according to the relative proportion of the height difference between the initial sunken area difference value (SD0) and the initial upraised area (CD0), specifically including,
the intelligent road rolling equipment comprises a front roller, a rear roller and a road rolling state detector at the bottom, wherein the road rolling state detector monitors and counts the position of the front roller and the conditions of two road surface cells contacted with the front roller in real time,
adjusting the transverse position of the balancing weight according to the relative proportion of the height difference of the unit grids of the road surface contacted by the front roller;
the road rolling state detector monitors and counts the positions of the rear rollers in real time, monitors the conditions of two road surface cells contacted by the rear rollers and the conditions of adjacent road surface cells along the moving direction and the reverse direction of the road roller,
and adjusting the longitudinal position of the balancing weight according to the relative proportion of the height difference of the two road surface cells contacted by the rear roller and the adjacent road surface cells along the movement direction and the opposite direction of the intelligent road roller equipment.
Further, the steps are repeated until the road surface is rolled to meet the preset flatness, and the method also comprises the following steps,
running state F of balancing weight in rolling process1Establishing the state G of the road surface before rolling0And road surface state G after rolling1Is mapped to
Collecting mapping set after n times of rolling pavement
Inputting the road into a neural network for training, and grinding the road to obtain a road state G1The flatness is ranked, and the high flatness is used as a training sample, wherein,
{Gn-1|n∈N+}、{Fn|n∈N+as an input layer is used for the input layer,
{Gn|n∈N+as an output layer, the layer is,
the neural network is used to control the balancing weight.
And further, inputting the historical data of the intelligent road pressing equipment with the same model into a neural network for training, and directly controlling the trained neural network to control the balancing weight.
Further, the height of the pavement unit cells in the pavement grids is determined according to the vehicle speed of the intelligent device and the operation speed of the system processor.
Furthermore, two or more intelligent road rolling devices are simultaneously and adjacently constructed, the road surface state information and the motion states of respective balancing weights are shared through mutual communication, and the adjacent intelligent road rolling devices cooperatively perform road rolling operation.
Furthermore, the road surface heat-insulation device also comprises a heating device positioned on the front roller or/and the rear roller, and the road surface is kept in a constant temperature range suitable for construction.
Furthermore, a sliding rod penetrates through the balancing weight movably, two ends of the sliding rod are controlled to move by a lead screw arranged in parallel, the balancing weight is controlled to move by friction of a transmission belt, and the direction of the lead screw controlled movement is not parallel to the direction of the friction controlled movement of the transmission belt.
Further, the direction of the screw rod control movement is perpendicular to the direction of the transmission belt friction control movement.
The benefit effects of the invention are:
the equipment intelligently adjusts the position of the balancing weight according to the concave-convex characteristic of the road surface, changes the gravity center of the intelligent road roller equipment and realizes the flattening operation of the thermoplastic road surface; the thermoplastic road surface has plasticity under the condition of keeping the construction temperature, the compression type variable of the thermoplastic road surface is positively correlated with the pressure and the time of the pressure, when the intelligent road roller equipment moves forwards at a constant speed, the position of the balancing weight is adjusted, so that the pressure of the front roller, the pressure of the rear roller and the pressure of the two ends of the front roller and the rear roller are different, and differential construction can be carried out on the road surface in a targeted manner.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a working method of intelligent road rolling equipment according to the invention;
FIG. 2 is a schematic view of a specific process of adjusting the position of a weight according to RTM and a predetermined road flatness;
fig. 3 is a first perspective view of the intelligent road rolling equipment according to the present invention;
fig. 4 is a perspective view schematically illustrating a second perspective view of the intelligent road rolling equipment according to the present invention;
FIG. 5 is a first schematic perspective view of the counterweight block and the related driving assembly according to the present invention;
FIG. 6 is a second schematic perspective view of the counterweight block and the related driving assembly according to the present invention;
number in the figure:
1-front roller, 2-back roller, 3-front shooting module, 4-back shooting module, 5-road rolling state detector, 6-counterweight block, 7-slide bar, 8-lead screw and 9-transmission belt.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in FIGS. 1, 3 and 4, the first embodiment
A self-feedback intelligent road pressing device for thermoplastic road leveling construction comprises a vehicle body with a front roller and a rear roller, wherein a balancing weight controlled to move in a plane is arranged in the vehicle body;
the system comprises a vehicle body, a front camera module and a rear camera module, wherein the front camera module is used for collecting an infrared imaging image of a road surface in the advancing direction of the vehicle body and generating a road surface temperature three-dimensional structure model (RTM);
and adjusting the position of a balancing weight according to the road surface temperature three-dimensional structure model (RTM) and the preset road surface flatness, and rolling the road surface to accord with the preset flatness.
The thermoplastic road surface has plasticity under the condition of keeping the construction temperature, the compression type variable of the thermoplastic road surface is positively correlated with the pressure and the time of the pressure, when the intelligent road roller equipment moves forwards at a constant speed, the position of the balancing weight is adjusted, so that the pressure of the front roller, the pressure of the rear roller and the pressure of the two ends of the front roller and the rear roller are different, and differential construction can be carried out on the road surface in a targeted manner.
In the above-mentioned operation, traditional road roller is compared and is rolled repeatedly and artifical add the material subtract material, and this equipment is according to the unsmooth characteristic on road surface, and the focus of intelligent road roller equipment is changed to the position of intelligent balancing weight, realizes the operation of flattening to the road surface of moulding plastics.
As shown in FIGS. 1-6 for the second embodiment
A self-feedback intelligent road pressing device for thermoplastic road leveling construction comprises a vehicle body with a front roller and a rear roller, wherein a balancing weight controlled to move in a plane is arranged in the vehicle body;
the system comprises a vehicle body, a front camera module and a rear camera module, wherein the front camera module is used for collecting an infrared imaging image of a road surface in the advancing direction of the vehicle body and generating a road surface temperature three-dimensional structure model (RTM);
before a road is rolled for the first time, front camera modules distributed in front of and behind intelligent road rolling equipment acquire an initial road surface three-dimensional structure model (RM0) and a corresponding initial temperature set (T0);
dividing a pavement mesh of an initial pavement three-dimensional structure model (RM0), wherein the pavement meshes are in two rows according to the advancing direction of intelligent road pressing equipment, and the height of pavement cells in the pavement meshes is determined according to the vehicle speed of the intelligent equipment and the operation speed of a system processor;
taking the corresponding temperature average value of the pavement in each pavement unit cell in the pavement grid as the temperature of the pavement in the pavement unit cell;
taking the average value of the road surface height in each road surface cell in the road surface grid as the road surface height in the road surface cell, comparing the road surface height with the preset flatness, judging an initial concave area (Sunken0), an initial Convex area (Convex0) and an initial qualified area (Flat0),
and calculating differences between the initial depressed area (Sunken0), the initial raised area (Convex0) and the preset flatness, respectively, as an initial depressed area difference (SD0), an initial raised area (CD0),
further calculating the relative proportion between the initial depressed area difference (SD0) and the initial raised area (CD 0);
the intelligent road rolling equipment comprises a front roller, a rear roller and a road rolling state detector at the bottom, wherein the road rolling state detector monitors and counts the position of the front roller and the conditions of two road surface cells contacted with the front roller in real time,
adjusting the transverse position of the balancing weight according to the relative proportion of the height difference of the unit grids of the road surface contacted by the front roller;
the road rolling state detector monitors and counts the positions of the rear rollers in real time, monitors the conditions of two road surface cells contacted by the rear rollers and the conditions of adjacent road surface cells along the moving direction and the reverse direction of the road roller,
adjusting the longitudinal position of the balancing weight according to the relative proportion of the height difference of two road surface cells contacted by the rear roller and the adjacent road surface cells along the movement direction and the opposite direction of the intelligent road roller equipment;
repeating the steps, namely repeatedly rolling the pavement until the pavement is rolled to meet the preset flatness, and keeping the temperature of the pavement relatively constant in the rolling process and in a temperature interval suitable for construction;
running state set F of balancing weight in rolling process1The running state comprises the longitudinal and transverse coordinates of the balancing weight,
set G for establishing road surface state before rolling0Set of road surface states G after rolling1Is mapped to
Collecting mapping set after n times of rolling pavement
Inputting the road into a neural network for training, and grinding the road to obtain a road state G1The flatness is ranked, and the high flatness is used as a training sample, wherein,
{Gn-1|n∈N+and { F }n-1|n∈N+As an input layer, i.e. before rollingAs well as the motion state of the clump weight as the input layer of the neural network,
{Gn|n∈N+taking the road state after rolling as an output layer of the neural network,
in the artificial neural network, the mapping set after n times of rolling the road surface
As input-output mapping of neural network, each corresponding FnFor the intervention entries of the mapping, for a given G, there are other minor interference factors during the rolling processn-1And FnIs not necessarily strictly equal to GnBy utilizing the characteristics of the neural network, the fuzzy corresponding relation can be judged, and the set G suitable for the road state at the time can be selectedn-1Set of operating states of the counterweight Fn。
The trained neural network can be quickly matched with a proper movement state of the balancing weight according to a road state, the balancing weight is controlled by using the neural network, the assumed rolling effect is achieved, and the neural network after multiple times of training can be used;
inputting the historical data of the intelligent road pressing equipment of the same model for training the neural network, and directly controlling the balancing weight by the trained neural network.
Two or more intelligent road rolling equipment are adjacently constructed at the same time, the road surface state information and the motion states of respective balancing weights are shared through mutual communication, and the adjacent intelligent road rolling equipment cooperatively performs road rolling operation.
The road surface heating device further comprises a heating device positioned on the front roller or/and the rear roller, so that the road surface is kept in a constant temperature range suitable for construction, and the condition that the road surface is excessively hardened to cause incapability of construction is avoided.
As shown in fig. 5-6:
the balancing weight is movably penetrated with a sliding rod, two ends of the sliding rod are controlled to move by a lead screw arranged in parallel, the balancing weight is also controlled to move by friction of a transmission belt, and the motion directions of the lead screw and the transmission belt are mutually vertical.
In the operation, compared with the traditional mode, the position of the balancing weight is intelligently adjusted according to the concave-convex characteristic of the road surface, the gravity center of the intelligent road roller equipment is changed, and the flattening operation of the thermoplastic road surface is realized; and utilize the sample as of rolling effect to train neural network, reachd best balancing weight control state, further promote the road and roll the roughness.
In the description herein, references to the terms "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The utility model provides a road leveling construction self feedback intelligence road roller equipment is moulded to heat which characterized in that: the device comprises a vehicle body with a front roller and a rear roller, wherein a balancing weight which is controlled to move in a plane is arranged in the vehicle body;
the system comprises a vehicle body, a front camera module and a rear camera module, wherein the front camera module is used for collecting an infrared imaging image of a road surface in the advancing direction of the vehicle body and generating a road surface temperature three-dimensional structure model (RTM);
adjusting the position of a balancing weight according to the road surface temperature three-dimensional structure model (RTM) and the preset road surface flatness, and rolling the road surface to meet the preset flatness;
the method for rolling the road surface to accord with the preset flatness by adjusting the position of the balancing weight according to the road surface temperature three-dimensional structure model (RTM) and the preset road surface flatness specifically comprises the following steps,
before the road is rolled for the first time, acquiring an initial road surface three-dimensional structure model (RM0) and a corresponding initial temperature set (T0), establishing an initial road surface temperature three-dimensional structure model (RTM0), judging an initial concave area (Sunken0), an initial Convex area (Convex0) and an initial qualified area (Flat0) according to the comparison between the initial road surface three-dimensional structure model (RM0) and a preset flatness,
and calculating differences between the initial depressed area (Sunken0), the initial raised area (Convex0) and the preset flatness, respectively, as an initial depressed area difference (SD0), an initial raised area (CD0),
further calculating the relative proportion between the initial depressed area difference (SD0) and the initial raised area (CD 0);
adjusting the weight position in real time according to the relative proportion between the initial depressed area difference (SD0) and the initial raised area (CD 0);
repeating the steps until the pavement is rolled to meet the preset flatness;
the weight block position is adjusted in real time according to the relative proportion of the height difference between the initial depressed area difference value (SD0) and the initial raised area (CD0), specifically comprising,
the intelligent road rolling equipment comprises a front roller, a rear roller and a road rolling state detector at the bottom, wherein the road rolling state detector monitors and counts the position of the front roller and the conditions of two road surface cells contacted with the front roller in real time,
adjusting the transverse position of the balancing weight according to the relative proportion of the height difference of the unit grids of the road surface contacted by the front roller;
the road rolling state detector monitors and counts the positions of the rear rollers in real time, monitors the conditions of two road surface cells contacted by the rear rollers and the conditions of adjacent road surface cells along the moving direction and the reverse direction of the road roller,
and adjusting the longitudinal position of the balancing weight according to the relative proportion of the height difference of the two road surface cells contacted by the rear roller and the adjacent road surface cells along the movement direction and the opposite direction of the intelligent road roller equipment.
2. The intelligent road roller apparatus of claim 1, wherein: before the road is rolled for the first time, acquiring an initial road surface three-dimensional structure model (RM0) and a corresponding initial temperature set (T0), establishing an initial road surface temperature three-dimensional structure model (RTM0), and judging an initial concave area (Sunken0), an initial Convex area (Convex0) and an initial qualified area (Flat0) according to the comparison between the initial road surface three-dimensional structure model (RM0) and a preset flatness,
before a road is rolled for the first time, front camera modules distributed in front of and behind intelligent road rolling equipment acquire an initial road surface three-dimensional structure model (RM0) and a corresponding initial temperature set (T0);
dividing pavement meshes of an initial pavement three-dimensional structure model (RM0), wherein the pavement meshes are in two rows according to the advancing direction of intelligent road roller equipment;
taking the corresponding temperature average value of the pavement in each pavement unit cell in the pavement grid as the temperature of the pavement in the pavement unit cell;
and taking the average value of the road surface height in each road surface cell in the road surface grid as the road surface height in the road surface cell, and comparing the road surface height with the preset flatness to judge an initial concave area (Sunken0), an initial Convex area (Convex0) and an initial qualified area (Flat 0).
3. The intelligent road roller apparatus of claim 1, wherein: the steps are repeated until the road surface is rolled to meet the preset flatness, and the method also comprises the following steps,
running state F of balancing weight in rolling process1Establishing the state G of the road surface before rolling0And road surface state G after rolling1Is mapped to
Collecting mapping set after n times of rolling pavement
Inputting the road into a neural network for training, and grinding the road to obtain a road state G1The flatness is ranked, and the high flatness is used as a training sample, wherein,
{Gn-1|n∈N+and { F }n|n∈N+As an input layer is used for the input layer,
{Gn|n∈N+as an output layer, the layer is,
the neural network is used to control the balancing weight.
4. The intelligent road roller apparatus of claim 3, wherein:
inputting the historical data of the intelligent road pressing equipment of the same model for training the neural network, and directly controlling the balancing weight by the trained neural network.
5. The intelligent road roller apparatus of claim 2, wherein: and the height of the pavement unit cells in the pavement grids is determined according to the vehicle speed of the intelligent equipment and the operation speed of the system processor.
6. The intelligent road roller apparatus of claim 1, wherein: two or more intelligent road rolling equipment are adjacently constructed at the same time, the road surface state information and the motion states of respective balancing weights are shared through mutual communication, and the adjacent intelligent road rolling equipment cooperatively performs road rolling operation.
7. The intelligent road roller apparatus of claim 1, wherein: the road surface heat insulation device also comprises a heating device positioned on the front roller or/and the rear roller, and the road surface is kept in a constant temperature range suitable for construction.
8. The intelligent road roller apparatus of claim 1, wherein: the balancing weight is movably penetrated with a sliding rod, two ends of the sliding rod are controlled to move by a lead screw arranged in parallel, the balancing weight is also controlled to move by friction of a transmission belt, and the direction of the lead screw controlled movement is not parallel to the direction of the friction controlled movement of the transmission belt.
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| CN202010251363.8A CN111424499B (en) | 2020-04-01 | 2020-04-01 | Self-feedback intelligent road pressing equipment for thermoplastic road leveling construction |
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| CN113833275A (en) * | 2021-09-11 | 2021-12-24 | 泽庆建设工程有限公司 | Pressure self-adaptive house ground leveling machine |
| CN114322856B (en) * | 2021-12-16 | 2023-09-15 | 青岛慧拓智能机器有限公司 | Mining area pavement evenness detection method, device, storage medium and equipment |
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| 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 |
| CN109356003A (en) * | 2018-09-18 | 2019-02-19 | 北京龙马智行科技有限公司 | A kind of subgrade and pavement intelligence rcc system |
| CN109989321A (en) * | 2019-04-24 | 2019-07-09 | 楼凤高 | The centre-of gravity shift mechanism of the hot drum roll of asphalt roads construction |
| CN110376611A (en) * | 2019-07-17 | 2019-10-25 | 长安大学 | A kind of method and apparatus of automatic identification road roller number of rolling |
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