CN111455791B - Control method of milling machine macro flatness control device - Google Patents
Control method of milling machine macro flatness control device Download PDFInfo
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- CN111455791B CN111455791B CN202010270233.9A CN202010270233A CN111455791B CN 111455791 B CN111455791 B CN 111455791B CN 202010270233 A CN202010270233 A CN 202010270233A CN 111455791 B CN111455791 B CN 111455791B
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- 238000003801 milling Methods 0.000 title claims abstract description 164
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 8
- 238000012423 maintenance Methods 0.000 description 8
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009418 renovation Methods 0.000 description 2
- 239000011384 asphalt concrete Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
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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
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
Abstract
The invention discloses a milling machine macro-flatness control device and a control method, wherein an inclination angle sensor arranged on a milling machine body is used for measuring a longitudinal included angle between the milling machine body and a horizontal plane, a laser receiver a and a laser receiver b are fixed at the bottom of the rear side of the milling machine body and are positioned on the same horizontal plane, the laser receiver a and the laser receiver b are used for receiving laser signals transmitted by a laser planometer, a macro-flatness controller arranged on the rear side of the milling machine body collects data of the laser receiver a, the laser receiver b and the inclination angle sensor to calculate real-time milling elevation and milling distance of a milling machine, and a front support leg of the milling machine is adjusted according to the milling distance by using quasi-elevation data built in a milling machine controller arranged on the front side of the milling machine body to realize road surface macro-flatness control. The invention realizes the control mode of automatically controlling the milling depth of the milling machine without depending on the original flatness and elevation of the road surface, and effectively improves the milling construction quality of the milling machine.
Description
Technical Field
The invention belongs to the technical field of milling machine control devices and control methods, and particularly relates to a control method of a milling machine macro-flatness control device.
Background
The pavement milling machine is mainly used for excavating and renovating asphalt concrete surface courses of highways, town roads, airports, goods yards and the like, can also be used for removing the defects of pavement upheaval, oil wave, reticulate patterns, ruts and the like, and is widely applied to maintenance construction engineering of municipal roads and highways. The planeness of the road surface milled by the milling machine is an important parameter for evaluating milling quality, and directly influences the quality of subsequent construction and maintenance engineering. At present, a milling depth control system of a milling machine is greatly influenced by local parts of a road surface. The traditional control mode is that the milling depth is adjusted by the lifting of a front supporting leg, and milling depth data is fed back to a depth controller by a pull rope sensor connected to a sliding shoe. The milling reference surface is usually the road surface contacted by the plane under the skid shoe, so the milling depth control is greatly influenced by the flatness of the original road surface. The working environment of the milling machine is usually the reconstruction or renovation of the old road surface, and the flatness of the road surface of the lower plane of the supporting skid shoe cannot be ensured. In addition, during the renovation of the original road surface, the macroscopic flatness data different from the original road surface can be adopted, and in this case, the traditional milling method is not always in accordance with the established requirements. This phenomenon is even more pronounced when the lateral flatness of the road surface is not ideal. Particularly, with the continuous improvement and development of road maintenance technology and construction method, the requirement on the road milling construction quality is higher and higher. For example, in the composite regeneration process of the embedded road, the paver strictly carries out embedded paving according to the milling thickness of the milled road surface. Once the original pavement does not meet the quality requirement on the macroscopic flatness, large-area reworking can be caused. Particularly, the rework of fine milling can prolong the construction period, increase the cost and influence the traffic; meanwhile, a large amount of dust is generated, and the air environment is polluted.
Therefore, the design of a milling machine macro-flatness control device aiming at the existing highway maintenance process engineering method is an urgent need at present, and the invention aims to solve the defects in the background technology and provide the milling machine macro-flatness control device and the control method.
Disclosure of Invention
The invention solves the technical problem of providing the milling machine macro-flatness control device and the milling machine macro-flatness control method which are low in cost, simple in structure, convenient to use and high in control precision.
The invention adopts the following technical scheme to solve the technical problems, the milling machine macro-flatness control device is characterized by comprising an inclination angle sensor, a laser receiver a, a laser receiver b, a macro-flatness controller, a milling machine controller and a laser leveling instrument with a self-leveling function, wherein the inclination angle sensor is arranged on the tail part of the milling machine body and is used for measuring the longitudinal included angle between the milling machine body and the horizontal plane, the laser receiver a and the laser receiver b are fixed at the bottom of the rear side of the milling machine body, the laser receiver a and the laser receiver b are positioned on the same horizontal plane, the laser receiver a and the laser receiver b are used for receiving laser signals transmitted by the laser leveling instrument, the macro-flatness controller arranged on the rear side of the milling machine body collects the data of the laser receiver a, the laser receiver b and the inclination angle sensor to calculate the real-time milling height and milling distance of the milling machine, and according to the milling distance, the front support leg of the milling machine is adjusted by the preset elevation data arranged in the milling machine controller arranged on the front side of the milling machine body to realize the control of the macroscopic flatness of the road surface, and the laser leveling instrument is arranged on a tripod with adjustable height through a horizontal adjusting seat.
The invention relates to a control method of a milling machine macro flatness control device, which is characterized by comprising the following specific steps:
s1: respectively fixing a laser receiver a and a laser receiver b at the bottom of the rear side of the milling machine body, wherein the installation heights of the laser receiver a and the laser receiver b are the same, and the distance between the laser receiver a and the laser receiver b is L;
s2: installing a macro flatness controller on a milling machine body and electrically connecting the macro flatness controller with a laser receiver a and a laser receiver b;
s3: mounting an inclination angle sensor on the milling machine body and enabling a measuring plane of the inclination angle sensor to be parallel to the milling machine body;
s4: measuring a fixed distance L between the laser receiver a and the laser receiver b, and the height H between the center line of the laser receiver and the milling plane when the milling machine is horizontally placed and trimmed through data fed back by the tilt angle sensor;
s5: the macroscopic flatness controller is connected with a milling machine controller arranged on a milling machine body through a CAN bus;
s6: installing a laser leveling instrument with a self-leveling function on a tripod behind a milling vehicle, adjusting the height of the laser leveling instrument from a milling plane to be H, and counting the distance from the working starting point of the milling machine to be S, wherein the value of S is usually 3-5 m;
s7: importing the macroscopically flatness three-dimensional data into a macroscopically flatness controller through a computer:
s8: starting the milling machine to start milling operation;
in the operation process, the rotating speed of a laser beam emitted by a laser swinger is kept constant, the angular speed is phi, the time interval between the laser receiver a and the laser receiver b which are collected by a macro flatness controller and receive signals of the laser swinger is delta t, and the laser receiver a, the laser receiver b and the laser swinger form an isosceles triangle which takes the laser swinger as the vertex and has an included angle theta, wherein the angle theta is phi multiplied by delta t;
the distance S between the milling machine and the laser planometer is equal to span beta multiplied by L/2, and beta is equal to theta/2, the macroscopic flatness controller calculates the height of the fine milling drum according to the inclination angle data delta a of the inclination angle sensor, the height data delta h measured by the laser receiver a and the laser receiver b, and the distance delta c between the laser receiver a and the milling drum:
Δh1＝sinΔa×Δc+Δh
the macro flatness controller sends a support leg stretching and retracting adjusting command to the milling machine controller according to the difference between the elevation data obtained by the calculation of the formula and the macro flatness data imported by the computer;
and when the milling machine controller cannot receive the support leg adjusting command sent by the macro flatness controller within one second, the depth control mode of the traditional milling machine is automatically switched back.
Compared with the prior art, the invention has the following beneficial effects: the differential milling machine can perform differential milling on the old pavement according to the preset pavement elevation data, and can correct the milling depth of the milling machine in real time in the milling process so as to recover or correct the flatness of the original pavement; the control method for automatically controlling the milling depth of the milling machine without depending on the original flatness and elevation of the road surface is realized, and the precision of the depth control of the milling machine and the milling construction quality are effectively improved. Because the milling depth is not influenced by the local flatness of the original road surface, the application of the milling machine in the field of road maintenance is expanded, and the more environment-friendly road maintenance process is implemented.
Drawings
Fig. 1 is a schematic structural diagram of a milling machine macro-flatness control device according to the present invention;
fig. 2 is a top view of fig. 1.
In the figure: 1-milling machine, 2-macroscopic flatness controller, 3-laser receiver a, 4-laser receiver b, 5-tilt angle sensor, 6-laser swinger, 7-tripod and 8-milling machine controller.
Detailed Description
The technical scheme of the invention is described in detail with reference to the accompanying drawings, and the milling machine macro-flatness control device comprises an inclination angle sensor 5, a laser receiver a 3, a laser receiver b 4, a macro-flatness controller 2, a milling machine controller 8 and a laser leveling instrument 6 which is arranged behind a milling machine 1 and has a self-leveling function, wherein the inclination angle sensor 5 is arranged at the tail of the milling machine 1 and is used for measuring the longitudinal included angle between the milling machine 1 and the horizontal plane, the laser receiver a 3 and the laser receiver b 4 are fixed at the bottom of the rear side of the milling machine 1, the laser receiver a 3 and the laser receiver b 4 are positioned on the same horizontal plane, the laser receiver a 3 and the laser receiver b 4 are used for receiving laser signals emitted by the laser leveling instrument 6, and the macro-flatness controller 2 arranged at the rear side of the milling machine 1 and is used for collecting the laser receiver a 3 and the laser receiver b 4 and the inclination angle sensor 5, calculating the real-time milling elevation and milling distance of the milling machine 1, adjusting the front supporting leg of the milling machine 1 according to the milling distance by using the planned elevation data built in a milling machine controller 8 arranged on the front side of the milling machine 1 vehicle body to realize the control of the macroscopic flatness of the road surface, and installing the laser planometer 6 on a tripod 7 with adjustable height through a horizontal adjusting seat.
The invention relates to a control method of a milling machine macro flatness control device, which comprises the following specific steps:
s1: respectively fixing a laser receiver a and a laser receiver b at the bottom of the rear side of the milling machine body, wherein the installation heights of the laser receiver a and the laser receiver b are the same, and the distance between the laser receiver a and the laser receiver b is L;
s2: installing a macro flatness controller on a milling machine body and electrically connecting the macro flatness controller with a laser receiver a and a laser receiver b;
s3: mounting an inclination angle sensor on the milling machine body and enabling a measuring plane of the inclination angle sensor to be parallel to the milling machine body;
s4: measuring a fixed distance L between the laser receiver a and the laser receiver b, and the height H between the center line of the laser receiver and the milling plane when the milling machine is horizontally placed and trimmed through data fed back by the tilt angle sensor;
s5: the macroscopic flatness controller is connected with a milling machine controller arranged on a milling machine body through a CAN bus;
s6: installing a laser leveling instrument with a self-leveling function on a tripod behind a milling vehicle, adjusting the height of the laser leveling instrument from a milling plane to be H, and counting the distance from the working starting point of the milling machine to be S, wherein the value of S is usually 3-5 m;
s7: importing the macroscopically flatness three-dimensional data into a macroscopically flatness controller through a computer:
s8: starting the milling machine to start milling operation;
in the operation process, the rotating speed of a laser beam emitted by a laser swinger is kept constant, the angular speed is phi, the time interval between the laser receiver a and the laser receiver b which are collected by a macro flatness controller and receive signals of the laser swinger is delta t, and the laser receiver a, the laser receiver b and the laser swinger form an isosceles triangle which takes the laser swinger as the vertex and has an included angle theta, wherein the angle theta is phi multiplied by delta t;
the distance S between the milling machine and the laser planometer is equal to span beta multiplied by L/2, and beta is equal to theta/2, the macroscopic flatness controller calculates the height of the fine milling drum according to the inclination angle data delta a of the inclination angle sensor, the height data delta h measured by the laser receiver a and the laser receiver b, and the distance delta c between the laser receiver a and the milling drum:
Δh1＝sinΔa×Δc+Δh
the macro flatness controller sends a support leg stretching and retracting adjusting command to the milling machine controller according to the difference between the elevation data obtained by the calculation of the formula and the macro flatness data imported by the computer;
and when the milling machine controller cannot receive the support leg adjusting command sent by the macro flatness controller within one second, the depth control mode of the traditional milling machine is automatically switched back.
The differential milling machine can perform differential milling on the old pavement according to the preset pavement elevation data, and can correct the milling depth of the milling machine in real time in the milling process so as to recover or correct the flatness of the original pavement; the control method for automatically controlling the milling depth of the milling machine without depending on the original flatness and elevation of the road surface is realized, and the precision of the depth control of the milling machine and the milling construction quality are effectively improved. Because the milling depth is not influenced by the local flatness of the original road surface, the application of the milling machine in the field of road maintenance is expanded, and the more environment-friendly road maintenance process is implemented.
While there have been shown and described what are at present considered the fundamental principles of the invention, its essential features and advantages, the invention further resides in various changes and modifications which fall within the scope of the invention as claimed.
Claims (1)
1. The control method of the milling machine macro flatness control device is characterized in that:
the milling machine macro-flatness control device comprises an inclination angle sensor, a laser receiver a, a laser receiver b, a macro-flatness controller, a milling machine controller and a laser leveling instrument which is arranged behind a milling machine and has a self-leveling function, wherein the inclination angle sensor arranged at the tail of the milling machine body is used for measuring a longitudinal included angle between the milling machine body and a horizontal plane, the laser receiver a and the laser receiver b are fixed at the bottom of the rear side of the milling machine body, the laser receiver a and the laser receiver b are positioned on the same horizontal plane, the laser receiver a and the laser receiver b are used for receiving laser signals transmitted by the laser leveling instrument, and the macro-flatness controller arranged at the rear side of the milling machine body collects data of the laser receiver a and the laser receiver b and the inclination angle sensor to calculate the real-time milling elevation and milling distance of the milling machine, the front support legs of the milling machine are adjusted according to milling distance by the preset elevation data arranged in a milling machine controller arranged on the front side of the milling machine body to realize the control of the macroscopic flatness of the road surface, and the laser leveling instrument is arranged on a tripod with adjustable height through a horizontal adjusting seat;
the specific control steps are as follows:
s1: respectively fixing a laser receiver a and a laser receiver b at the bottom of the rear side of the milling machine body, wherein the installation heights of the laser receiver a and the laser receiver b are the same, and the distance between the laser receiver a and the laser receiver b is L;
s2: installing a macro flatness controller on a milling machine body and electrically connecting the macro flatness controller with a laser receiver a and a laser receiver b;
s3: mounting an inclination angle sensor on the milling machine body and enabling a measuring plane of the inclination angle sensor to be parallel to the milling machine body;
s4: measuring a fixed distance L between the laser receiver a and the laser receiver b, and the height H between the center line of the laser receiver and the milling plane when the milling machine is horizontally placed and trimmed through data fed back by the tilt angle sensor;
s5: the macroscopic flatness controller is connected with a milling machine controller arranged on a milling machine body through a CAN bus;
s6: installing a laser leveling instrument with a self-leveling function on a tripod behind the milling vehicle, adjusting the height of the laser leveling instrument from the milling plane to be H, and placing the laser leveling instrument from the working starting point of the milling machine to be counted as S;
s7: importing the macroscopically flatness three-dimensional data into a macroscopically flatness controller through a computer:
s8: starting the milling machine to start milling operation; in the operation process, the rotating speed of a laser beam emitted by a laser swinger is kept constant, the angular speed is phi, the time interval between the laser receiver a and the laser receiver b which are collected by a macro flatness controller and receive signals of the laser swinger is delta t, and the laser receiver a, the laser receiver b and the laser swinger form an isosceles triangle which takes the laser swinger as the vertex and has an included angle theta, wherein the angle theta is phi multiplied by delta t;
the distance S between the milling machine and the laser planometer is equal to span beta multiplied by L/2, and beta is equal to theta/2, the macroscopic flatness controller calculates the height of the fine milling drum according to the inclination angle data delta a of the inclination angle sensor, the height data delta h measured by the laser receiver a and the laser receiver b, and the distance delta c between the laser receiver a and the milling drum:
Δh1＝sinΔa×Δc+Δh
the macro flatness controller sends a support leg stretching and retracting adjusting command to the milling machine controller according to the difference between the elevation data obtained by the calculation of the formula and the macro flatness data imported by the computer;
and when the milling machine controller cannot receive the support leg adjusting command sent by the macro flatness controller within one second, the depth control mode of the traditional milling machine is automatically switched back.
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| CN113026505A (en) * | 2021-04-01 | 2021-06-25 | 交通运输部公路科学研究所 | Concrete pavement high-flatness high-skid-resistance longitudinal milling machine |
| CN114150560B (en) * | 2021-12-03 | 2023-02-03 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
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| CN102776827A (en) * | 2012-08-09 | 2012-11-14 | 三一重工股份有限公司 | Milling machine and milling depth monitoring device thereof |
| CN103931290A (en) * | 2013-04-19 | 2014-07-23 | 常州华达科捷光电仪器有限公司 | Laser land leveler and control system thereof |
| CN204771905U (en) * | 2015-05-25 | 2015-11-18 | 江苏科瑞欣机械有限公司 | Ground laser grinds machine |
| CN109733492A (en) * | 2018-12-29 | 2019-05-10 | 长安大学 | A kind of milling and planing system method for automatically leveling |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE10060903C2 (en) * | 2000-12-07 | 2002-10-31 | Moba Mobile Automation Gmbh | Laser height control device for a construction machine |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102776827A (en) * | 2012-08-09 | 2012-11-14 | 三一重工股份有限公司 | Milling machine and milling depth monitoring device thereof |
| CN103931290A (en) * | 2013-04-19 | 2014-07-23 | 常州华达科捷光电仪器有限公司 | Laser land leveler and control system thereof |
| CN204771905U (en) * | 2015-05-25 | 2015-11-18 | 江苏科瑞欣机械有限公司 | Ground laser grinds machine |
| CN109733492A (en) * | 2018-12-29 | 2019-05-10 | 长安大学 | A kind of milling and planing system method for automatically leveling |
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Denomination of invention: Control method of macro flatness control device for milling machine Effective date of registration: 20231212 Granted publication date: 20211008 Pledgee: Limited by Share Ltd. Xinxiang branch Pledgor: HENAN GAOYUAN MAINTENANCE TECHNOLOGY OF HIGHWAY Co.,Ltd. Registration number: Y2023980070864 |
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