CN111851208A - Method for automatically adjusting virtual pavement thickness during pavement - Google Patents
Method for automatically adjusting virtual pavement thickness during pavement Download PDFInfo
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- CN111851208A CN111851208A CN202010704853.9A CN202010704853A CN111851208A CN 111851208 A CN111851208 A CN 111851208A CN 202010704853 A CN202010704853 A CN 202010704853A CN 111851208 A CN111851208 A CN 111851208A
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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
- E01C19/12—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 distributing granular or liquid materials
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/13—Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention discloses a method for automatically adjusting the virtual pavement thickness during pavement of a road surface, which comprises the following steps of S1: installing an automatic control system of the paver; step S2: modeling according to the design elevation data and importing the data into an automatic control system of the paver; step S3: measuring real-time positioning information and real-time elevation information of the paver in the working process through an automatic control system of the paver to obtain real-time measurement data; step S4: comparing and analyzing the real-time measurement data and the designed elevation data, correcting the elevation, and issuing an instruction by an automatic control system of the paver according to the corrected data to guide a screed of the paver to adjust; the method for automatically adjusting the virtual pavement thickness during pavement paving can automatically adjust the pavement elevation and the cross slope in real time according to design data during the operation process of the paver, thereby achieving the purpose of automatic construction of the paver, improving the construction quality and efficiency, avoiding rework and saving labor cost.
Description
Technical Field
The invention belongs to the technical field of pavement construction, and particularly relates to a method for automatically adjusting the thickness of a virtual pavement during pavement.
Background
In the technical field of current pavement engineering construction, pavement paving generally controls paving elevation in a traditional hanging line mode, a hanging beam mode and the like, the elevation control process has more artificial influence factors, the paving quality is easily influenced when the conditions of loosening of a steel wire rope, dropping of an aluminum beam and the like occur, a large amount of measuring personnel are invested from the aspect of construction, the influence of the artificial factors is large, the cost is increased, and rework or investment increase is caused for processing after the elevation problem occurs; from the perspective of owners and supervision, data such as pavement paving flatness, thickness, elevation and the like can be obtained only after construction is completed, and the purpose of pre-control cannot be well achieved. Especially in the case of large-scale engineering involving simultaneous construction of a plurality of pavers, the difficulty in controlling the on-site construction quality is high due to the large number of machines and serious cross operation, and problems cannot be found in time.
Aiming at the above situation, how to effectively realize the automatic construction of the paver, reduce the investment of measuring personnel, improve the construction quality control and realize the digital and intelligent construction is the key point of the research of technical personnel in the field.
Disclosure of Invention
The invention aims to provide a method for automatically adjusting the thickness of a virtual pavement during pavement paving, which aims to solve the technical problems that in the prior art, a large amount of measuring personnel is required to be invested, the influence of human factors is large, the cost is increased, rework is caused or investment is increased for processing after the elevation problem occurs, and the data such as pavement paving flatness, thickness, elevation and the like can not be obtained after construction is finished and the pre-control purpose cannot be well achieved; the technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a method for automatically adjusting the thickness of a virtual pavement during pavement, which comprises the following steps,
step S1: installing an automatic control system of the paver;
step S2: modeling according to the design elevation data and importing the data into an automatic control system of the paver;
step S3: measuring real-time positioning information and real-time elevation information of the paver in the working process through an automatic control system of the paver to obtain real-time measurement data;
step S4: and comparing and analyzing the real-time measurement data and the designed elevation data, correcting the elevation, and issuing an instruction by the automatic control system of the paver according to the corrected data to guide the screed of the paver to adjust.
Further, in step S1, the automatic control system of the paver comprises a mechanical guide total station, a surface inspection total station, a prism installed on the paver, a CB460 control box and a hydraulic valve drive control system, the installation process comprises the following steps,
step S1.1: arranging a mechanical guide total station and a surface inspection total station on control points at two sides of a paved roadbed, wherein the mechanical guide total station and the surface inspection total station can automatically adjust vertical angles and automatically search for a prism;
Step S1.2: starting a mechanical guide total station and a surface inspection total station and connecting the mechanical guide total station and the surface inspection total station with a CB460 control box in a communication mode to realize data transmission;
step S1.3: the CB460 control box is in signal connection with the hydraulic valve drive control system.
Further, step S2 includes the steps of,
step S2.1: converting a designed two-dimensional drawing into a three-dimensional model capable of reflecting data such as elevations, transverse slopes and the like at different position information, and adding a virtual pavement thickness consideration to a pavement structure layer of construction operation in the design process of the three-dimensional model;
step S2.2: and the designed three-dimensional model data is remotely transmitted to a CB460 control box through an interconnection construction site reference station to serve as basic data for controlling the paver.
Further, in step S3, the mechanical guidance total station and the surface inspection total station erected on the control point during construction automatically track the prism, and transmit the captured MT900 coordinate to the CB460 control box of the paver control system in real time through the data station, and obtain elevation correction information after comparing with the design data.
Further, in step S3, the real-time positioning information obtains position information of the paver in the construction process, including geodetic coordinates of the paver in the construction process, and the position information of the paver is determined based on the relative coordinates by converting the geodetic coordinates into relative coordinates of a construction area; the surface inspection total station is used for carrying out surface inspection on the paving surface behind the paver and monitoring whether the deviation of the virtual paving surface and the design surface exceeds a preset deviation range or not.
Further, in step S4, the paver performs construction based on the three-dimensional model data, and the CB460 control box sends an instruction according to the elevation correction information, and the hydraulic valve drives the control system to cause the large traction arm to generate a quantitative displacement, and the change of the positions of the left and right traction points causes a vertical movement of the screed plate in a corresponding direction, so that the slope and elevation changes are generated in the filling, the pavement fluctuation is compensated, and the required pavement flatness is realized.
Furthermore, the hydraulic valve driving control system is a hydraulic oil cylinder of the paver connected with the CB460 control box, and after the CB460 sends an instruction, the hydraulic valve driving control system controls the hydraulic oil cylinder of the paver to enable the large traction arm to generate quantitative displacement, and the position change of the left traction point and the right traction point causes the vertical movement of the screed in the corresponding direction.
Further, the reference station employs a GPS satellite receiving system as an internet base station for receiving and transmitting data.
Further, paver automatic control system installs the display that is used for realizing visual function, the display is connected with paver automatic control system, and the display is used for reflecting paver speed of paving, paving elevation, paving surface cross slope, design face elevation, design face cross slope in real time.
Further, the mechanical guide total station and the surface inspection total station adopt an SPS930 model, and the arrangement effective distance of the total station is controlled within 150 m.
The method for automatically adjusting the thickness of the virtual pavement during pavement has the beneficial effects that:
the method for automatically adjusting the virtual pavement thickness during pavement paving can automatically adjust the pavement elevation and the cross slope in real time according to design data during the operation process of the paver, thereby achieving the purpose of automatic construction of the paver, improving the construction quality and efficiency, avoiding rework and saving labor cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic view of the installation of the automatic control system of the paver of the present invention;
FIG. 2 is a schematic flow chart of the method for automatically adjusting the virtual pavement thickness in paving a pavement according to the present invention;
Fig. 3 is a schematic view of a paving flow of the paver of the present invention during operation;
fig. 4 is a schematic view of a paving station in embodiment 3 of the present invention.
In the figure 1-mechanical guidance total station, 2-surface inspection total station, 3-prism, 4-CB460 control box, 5-hydraulic valve drive control system.
Detailed Description
Hereinafter, an embodiment of the method for automatically adjusting the virtual pavement thickness in road paving according to the present invention will be described with reference to the accompanying drawings.
The examples described herein are specific embodiments of the present invention, are intended to be illustrative and exemplary in nature, and are not to be construed as limiting the scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include technical solutions which make any obvious replacement or modification for the embodiments described herein.
The drawings in the present specification are schematic views to assist in explaining the concept of the present invention, and schematically show the shapes of respective portions and their mutual relationships. It is noted that the drawings are not necessarily to the same scale so as to clearly illustrate the structures of the various elements of the embodiments of the invention. Like reference numerals are used to denote like parts.
Example 1:
fig. 1-3 illustrate a method for automatically adjusting the virtual pavement thickness in road paving according to one embodiment of the present invention, including the steps of,
step S1: installing an automatic control system of the paver;
the automatic control system of the paver comprises a mechanical guide total station 1, a surface inspection total station 2, a prism 3, a CB460 control box 4 and a hydraulic valve drive control system 5 which are additionally arranged on the paver, the installation process comprises the following steps,
step S1.1: arranging a mechanical guide total station 1 and a surface inspection total station 2 on control points at two sides of a paved roadbed, wherein the mechanical guide total station 1 and the surface inspection total station 2 can automatically adjust vertical angles and automatically search a prism 3;
step S1.2: starting the mechanical guide total station 1 and the surface inspection total station 2 and connecting the mechanical guide total station and the surface inspection total station with the CB460 control box 4 in a communication mode to realize data transmission;
step S1.3: the CB460 control box 4 is in signal connection with a hydraulic valve drive control system 5;
the automatic control system of the spreading machine can adopt a Tianbao PCS900 system, site field software of the Tianbao SCS900 system is specially designed for a construction site, has a powerful graphic display interface function and is simple and convenient to operate, and visual graphic display and operation enable project supervisors, surveyors and site engineers to efficiently complete tasks such as site inspection, measurement and lofting; the paver can be an ABG8620 paver, and the CB460 control box 4 can be cooperatively controlled with the CB440 control box;
Step S2: modeling according to the design elevation data and importing the data into an automatic control system of the paver;
step S2.1: converting a designed two-dimensional drawing into a three-dimensional model capable of reflecting data such as elevations, transverse slopes and the like at different position information, and adding a virtual pavement thickness consideration to a pavement structure layer of construction operation in the design process of the three-dimensional model;
step S2.2: remotely sending the designed three-dimensional model data to the CB460 control box 4 through an interconnection site reference station, and taking the data as basic data for paving machine control;
it is worth to be noted that a designed two-dimensional drawing can be converted into a three-dimensional model through a BC-HCE software system, the BC-HCE software system is responsible for processing all two-dimensional data conversion, managing three-dimensional design data, processing measurement and mechanical control tasks, analyzing and the like, and by means of the BC-HCE software system, a user can import, review and analyze graphical design information and can easily distribute, manage and track construction information during the whole project;
step S3: measuring real-time positioning information and real-time elevation information of the paver in the working process through an automatic control system of the paver to obtain real-time measurement data; the mechanical guide total station 1 and the surface inspection total station 2 erected on a control point during construction automatically track the prism 3, transmit the captured MT900 coordinates to a CB460 control box 4 of a paver control system in real time through a data radio station, and obtain elevation correction information after comparing with design data; the method comprises the steps that position information of a paver in the construction process is obtained through real-time positioning information, the position information comprises geodetic coordinates of the paver in the construction process, the geodetic coordinates are converted into relative coordinates of a construction area, and the position information of the paver is determined based on the relative coordinates;
Step S4: comparing and analyzing the real-time measurement data and the designed elevation data, correcting the elevation, and issuing an instruction by an automatic control system of the paver according to the corrected data to guide a screed of the paver to adjust; the paver carries out construction on the basis of three-dimensional model data, meanwhile, the CB460 control box 4 sends out an instruction according to elevation correction information, the hydraulic valve drives the control system 5 to enable the traction big arm to generate quantitative displacement, and the position change of the left traction point and the right traction point causes the vertical movement of the screed in the corresponding direction, so that the slope and the elevation change of filling are generated, the road surface fluctuation is compensated, and the required road surface flatness is realized, wherein the elevation correction information comprises the correction of a virtual paving coefficient.
Through digital paving system's application, no longer need traditional pile hanging wire, frame aluminium roof beam, the paver can directly be guided by mechanical guide total powerstation 1 to be under construction according to three-dimensional design data, at the paver back, accessible surface inspection total powerstation 2 paves the surface inspection fast simultaneously, guarantees that the precision of paving satisfies the engineering requirement, and the original data of surface inspection can be directly synchronous to the computer on, archives.
Example 2:
The method for automatically adjusting the virtual paving thickness during pavement paving of the embodiment of the invention can be further improved as follows, the hydraulic valve driving control system 5 is a hydraulic oil cylinder of the paver, which is connected with the CB460 control box 4, after the CB460 sends an instruction, the hydraulic valve driving control system 5 controls the hydraulic oil cylinder of the paver to enable the large traction arm to generate quantitative displacement, and the position change of the left and right traction points causes the vertical movement of the screed plate in the corresponding direction; the reference station adopts a GPS satellite receiving system as an internet base station and is used for receiving and sending data; the automatic control system of the paver is provided with a display for realizing the visualization function, the display is connected with the automatic control system of the paver and is used for reflecting the paving speed, the paving elevation, the paving surface cross slope, the design surface elevation and the design surface cross slope of the paver in real time; the mechanical guide total station 1 and the surface inspection total station 2 are of SPS930 type, in order to guarantee accuracy and precision requirements of information, arrangement effective distance of the total stations is controlled within 150m, factors such as wide and unshaded visual field, no influence on construction and the like need to be considered, and for the condition that a plurality of pavers operate simultaneously, the total stations are evenly arranged on the two sides and the periphery of a construction area.
Example 3:
the embodiment further explains the concrete implementation steps of the method for automatically adjusting the virtual pavement thickness during pavement paving by combining with a certain airport runway paving project constructed by the method, as shown in figure 4,
(1) brief introduction to the basic test section
A basic layer of a main runway of an airport project is 20cm of cement stabilized macadam, the actual condition of the project and the performance of a paver are combined, 20cm of pavement is planned to be adopted by an urban construction party, and 2 ABG8820 pavers and 1 paver are planned to be adopted for simultaneous construction.
The test section is planned to be P182+00-P185+00, the paving length is 120m, and the design width is 61 m. The paving direction is from the P185 → P100 direction, i.e. south → north.
Simple introduction of the digital construction scheme
According to the paving requirements of the test section and the communication with urban construction parties and construction parties, a construction scheme is drawn up, namely three continuous paving modes are adopted for paving, the paving sequence is carried out from south to north and from west to east, each paver is spaced by 20 meters, and 3 pavers are provided with automatic paver control systems for automatic elevation control. Wherein the return values in the CB460 control box 4 and the surface inspection handbook are: 0.14 (i.e. a virtual tiling factor of 1.25).
Mechanical guidance and surface inspection work was performed using 6 total stations. Wherein 3 are used as mechanical guide, 3 are used for surface inspection, and the specific instrument erection position is shown in figure 4;
And (5) completely setting 6 total stations before the paver starts to pave. G1, G2 and G3 are used for surface inspection, and U1, U2 and U3 are used for mechanical control of No. 3, No. 4 and No. three pavers; in the paving process, the distance between the pavers is reasonably controlled, and the total station is prevented from being shielded by machinery and vehicles.
(3) In the paving process, the concrete requirements are as follows:
firstly, before the paver starts, a surface inspection centering rod is used for measuring the elevation of the square timber padded by the paver during the starting, and the height of the square timber is ensured to be within +5 mm;
secondly, activating UTS guide after the paver falls off the plate, and setting the standby UTS state as tracking if 2 mechanical UTS guides exist;
measuring the elevation of the reference point in time after the paver starts, performing reference correction in a control box, and performing cross slope calibration in time if the cross slope is not correct;
fourthly, the centering rod is used for surface inspection, the virtual paved surface is inspected and recorded, if abnormity is found, field personnel are informed in time, and the step three is repeated;
and fifthly, in the paving process, controlling the distance between the pavers to ensure that the total station 1 is not shielded from guiding the mechanical guide to track the pavers.
In the digital paving process, a mechanical guide total station 1 is used for guiding a paver to move forwards, a surface inspection total station 2 is used for carrying out surface inspection on a paving surface behind the paver, deviation between a virtual paving surface and a design surface is controlled according to-5 mm to +5mm, and technicians behind the paver need to immediately carry out fine adjustment through CB460 and CB440 to ensure the quality of the virtual paving surface if the deviation between the surface and the design surface exceeds +/-5 mm; meanwhile, the road roller compacts the virtual pavement surface of the paver, after compaction is finished, a measurer can measure the surface which is paved and compacted on the same day, the compacted surface can be generated after the data of the compacted surface is imported into the TBC, and whether the virtual pavement coefficient is proper or not can be determined according to the analysis of the compacted surface and the virtual pavement generated by the TBC.
Basically, all the working surfaces which can be constructed digitally in the airport project are paved by a digital system, and the traditional aluminum beam paving mode is mainly used for the connection part of the communication road and the main runway (because the communication road is widened), and the partial area, especially the edge, of the G/H communication road is widened. In the process of paving the water-stable macadam base layer of the main runway, paving the connecting area (one plate, about 8m wide) of the connecting road and the runway in a traditional aluminum beam erecting mode, and paving the main runway by adopting 3 pavers provided with a digital system; for this case, personnel used in the two modes, paving accuracy, and the like were compared as shown in tables 1 to 3.
TABLE 1 comparison table for digital construction of airport project and aluminum beam construction personnel
TABLE 2 comparison table of digital construction and paving effect of aluminum beam
TABLE 3 efficiency analysis of automatic control system of paver
Through the comparison, in the paving process, compared with the traditional aluminum beam construction, the digital construction can save 7-10 people, improve the paving precision by 12-59 percent, effectively ensure the construction quality, avoid reworking and save the labor cost;
the use of the paver provided with the intelligent paving system not only greatly saves the personnel investment in the paving process of the lower bearing layer, but also ensures the paving precision and provides powerful guarantee for the construction quality of the lower bearing layer. Meanwhile, compared with the traditional aluminum beam construction, the construction speed is greatly improved, and the guarantee is provided for the project completion in due course.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method for automatically adjusting the thickness of a virtual pavement during pavement is characterized by comprising the following steps,
step S1: installing an automatic control system of the paver;
step S2: modeling according to the design elevation data and importing the data into an automatic control system of the paver;
step S3: measuring real-time positioning information and real-time elevation information of the paver in the working process through an automatic control system of the paver to obtain real-time measurement data;
step S4: and comparing and analyzing the real-time measurement data and the designed elevation data, correcting the elevation, and issuing an instruction by the automatic control system of the paver according to the corrected data to guide the screed of the paver to adjust.
2. The method for automatically adjusting the virtual pavement thickness during paving of a pavement according to claim 1, wherein in the step S1, the automatic control system of the paving machine comprises a mechanical guide total station (1), a surface inspection total station (2), a prism (3) additionally arranged on the paving machine, a CB460 control box (4) and a hydraulic valve drive control system (5), and the installation process comprises the following steps,
Step S1.1: arranging a mechanical guide total station (1) and a surface inspection total station (2) on control points at two sides of a paved roadbed, wherein the mechanical guide total station (1) and the surface inspection total station (2) can automatically adjust vertical angles and automatically find a prism (3);
step S1.2: starting a mechanical guide total station (1) and a surface inspection total station (2) and connecting the mechanical guide total station and the surface inspection total station with a CB460 control box (4) in a communication mode to realize data transmission;
step S1.3: and the CB460 control box (4) is in signal connection with a hydraulic valve drive control system (5).
3. The method for automatically adjusting the virtual pavement thickness during paving of a pavement according to claim 1, wherein the step S2 comprises the steps of,
step S2.1: converting a designed two-dimensional drawing into a three-dimensional model capable of reflecting data such as elevations, transverse slopes and the like at different position information, and adding a virtual pavement thickness consideration to a pavement structure layer of construction operation in the design process of the three-dimensional model;
step S2.2: and (3) remotely transmitting the designed three-dimensional model data to a CB460 control box (4) through an interconnection site reference station, and taking the data as basic data of paver control.
4. The method for automatically adjusting the virtual pavement thickness during paving of a road surface according to claim 2, wherein in step S3, the mechanical guiding total station (1) and the surface inspection total station (2) erected on the control points during construction automatically track the prism (3) and transmit the captured MT900 coordinate to the CB460 control box (4) of the paving machine control system in real time through the data station, and the elevation correction information is obtained after comparison with the design data.
5. The method for automatically adjusting the virtual paving thickness during paving of the pavement of claim 4, wherein in the step S3, the real-time positioning information obtains position information of the paver during the construction process, the position information comprises geodetic coordinates of the paver during the construction process, the geodetic coordinates are converted into relative coordinates of a construction area, and the position information of the paver is determined based on the relative coordinates.
6. The method for automatically adjusting the virtual pavement thickness during paving the pavement according to claim 2, wherein in step S4, the paver performs construction based on three-dimensional model data, and the CB460 control box (4) sends out an instruction according to elevation correction information, and the hydraulic valve drives the control system (5) to make the traction boom generate quantitative displacement, and the position of the left and right traction points change to cause vertical movement of the screed in the corresponding direction, so that slope and elevation changes are generated during filling, pavement fluctuation is compensated, and the required pavement flatness is realized.
7. The method for automatically adjusting the virtual pavement thickness during pavement paving according to claim 1, wherein the hydraulic valve driving control system (5) is a hydraulic oil cylinder of the paving machine connected with the CB460 control box (4), and after the CB460 control box (4) sends an instruction, the hydraulic valve driving control system (5) controls the hydraulic oil cylinder of the paving machine to enable the large traction arm to generate quantitative displacement, and the position change of the left and right traction points causes the vertical movement of the screed plate in the corresponding direction.
8. The method for automatically adjusting the thickness of a paving mat as set forth in claim 3, wherein the reference station employs a GPS satellite receiving system as an Internet base station for receiving and transmitting data.
9. The method for automatically adjusting the virtual paving thickness during pavement paving according to claim 1, wherein a display for realizing a visualization function is installed on the automatic control system of the paving machine, the display is connected with the automatic control system of the paving machine, and the display is used for reflecting the paving speed, the paving elevation, the paving surface cross slope, the design surface elevation and the design surface cross slope of the paving machine in real time.
10. Method for automatic adjustment of the false pavement thickness for road paving according to claim 2, characterized in that the mechanical guiding total station (1) and the surface inspection total station (2) are of SPS930 type, the total station arrangement effective distance being controlled within 150 m.
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| 刘付旭: "浅谈3D自动化摊铺系统在公路工程施工的应用", 《西部交通科技》 * |
| 刘飞等: "3D数字化测量技术在机场跑道施工中的应用", 《市政技术》 * |
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| CN112575686A (en) * | 2020-12-09 | 2021-03-30 | 中交二公局第三工程有限公司 | UHPC bridge deck transverse bridge unequal-thickness asphalt paving construction process |
| CN112749437A (en) * | 2021-01-21 | 2021-05-04 | 天津大学 | Method for intelligently controlling paving quality of earth and rockfill dam |
| CN112784352A (en) * | 2021-04-13 | 2021-05-11 | 西南交通大学 | Intelligent paving guidance system based on Beidou and three-dimensional self-perception positioning technology |
| CN113655800A (en) * | 2021-08-23 | 2021-11-16 | 四川公路桥梁建设集团有限公司 | Construction method for unmanned paving and rolling of road surface |
| CN113739744A (en) * | 2021-08-30 | 2021-12-03 | 中国二十二冶集团有限公司 | Construction method for drainage and slope finding in garden road construction |
| CN114892481A (en) * | 2022-06-15 | 2022-08-12 | 四川公路桥梁建设集团有限公司 | Pavement 3D intelligent paving control method, equipment and system |
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