CN112985284B - System for measuring relative deformation of rolled soil layer of road roller in real time - Google Patents
System for measuring relative deformation of rolled soil layer of road roller in real time Download PDFInfo
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- CN112985284B CN112985284B CN202110181943.9A CN202110181943A CN112985284B CN 112985284 B CN112985284 B CN 112985284B CN 202110181943 A CN202110181943 A CN 202110181943A CN 112985284 B CN112985284 B CN 112985284B
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- 239000002689 soil Substances 0.000 title claims abstract description 17
- 238000005096 rolling process Methods 0.000 claims abstract description 41
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 230000001678 irradiating effect Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 239000006185 dispersion Substances 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A system and method for measuring relative deformation of a rolled soil layer of a road roller in real time is characterized in that: the device comprises a mounting rack, a laser scanning device, a satellite positioning device and an airborne signal analyzer; the method comprises the following steps that a mounting support is arranged in the center of a left wheel shaft and a right wheel shaft of a front wheel of the road roller, a laser scanning device is mounted on the mounting support, and a laser ray of the laser scanning device keeps a vertical posture with a soil layer surface; a satellite positioning device is arranged on the top of the road roller, and an airborne signal analyzer is arranged in a driving platform of the road roller; the method has the advantages that the laser scanning device is high in ray speed, photoelectric conversion speed and concentration degree dispersion degree, the distance measuring precision is high, the laser scanning device has the characteristics of rays, reflection lines and other multi-beam when in work, and the difference value of the relative distance between the ground which is rolled on the inner side of the front wheel of the road roller and the ground which is not rolled outside the wheel is measured by the laser scanning device, so that the deformation of the road roller during rolling is judged, the measurement of the rolling precision is improved, the error caused by the vibration state of the road roller is reduced, and the rolling deformation is measured in real time and high efficiently.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly relates to a system for measuring the relative deformation of a rolled soil layer of a road roller in real time.
Background
With the rapid development of the unmanned technology, the unmanned road roller is put into practical use in the engineering of infrastructure, energy, water conservancy and the like. The measurement accuracy of the rolling deformation of the road roller not only influences the advancing operation process of the road roller, but also influences the quality of rolling operation, and is more related to the safety problem. The measurement and control of the rolling deformation of the road roller are key to ensure the normal construction operation of the road roller, so that the technology of the laser scanning device of the road roller for measuring the relative subsidence deformation is indispensable in the unmanned road roller.
In the technical field of rolling deformation measurement, currently, there are several types of measurement platforms based on RSS and the like, and there are sonar sensors, laser sensors and the like in terms of sensor selection. The sonar transducer emits a sound wave and starts timing, the sound wave propagates downwards and collides with a reference object to reflect an echo, the echo collides with a receiver, the sonar transducer 6 stops timing, and the distance S between the transducer and the reference object can be calculated: the distance S is T/2V. The method is used for measuring the rolling deformation of the unmanned road roller, is greatly influenced by temperature, has poor precision and is difficult to achieve effective measurement.
The rolling deformation sensor has higher requirements on the stability of the device and the anti-vibration performance of the machine in the walking process, and if a sonar sensor is used for measuring the rolling deformation of the road roller, larger errors can be generated. The working scene of the road roller has particularity, and the sonar sensor can generate large errors due to various factors such as uneven road surface and operation vibration, so that the requirement on control precision cannot be met.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to: the system is used for measuring the difference value of the relative distance between the ground which is rolled on the inner side of the front wheel of the road roller and the ground which is not rolled outside the wheel by using the characteristics of multiple beams such as ray, straight line, reflection line and the like when the system works, thereby judging the deformation of the road roller when the road roller is rolled, achieving the measurement of improving the rolling precision, reducing the error caused by the vibration state of the road roller and measuring the rolling deformation in real time and high efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a system for real-time measurement road roller rolls soil horizon relative deformation which characterized in that: the device comprises a mounting bracket, a laser scanning device, a GPS/BDS satellite positioning device and an airborne signal analyzer; the method comprises the following steps that a mounting support is arranged in the center of a left wheel shaft and a right wheel shaft of a front wheel of the road roller, a laser scanning device is mounted on the mounting support, and the laser scanning device and a soil layer surface in the front-back direction of the road roller keep a vertical posture; the laser ray of the laser scanning device scans left and right according to the driving direction of the road roller; arranging a GPS/BDS satellite positioning device on the top of a road roller, and arranging an airborne signal analyzer in a driving platform of the road roller;
the laser ray of the laser scanning device converts the real-time relative distance La of the ground surface rolled in the front wheel acquired by left and right scanning of the running direction of the road roller and the difference value of the real-time relative distance Lb of the ground surface not rolled outside the front wheel into electric signals, and transmits the electric signals to an airborne signal analyzer arranged in a driving platform of the road roller, the airborne signal analyzer calculates the deformation amount of a relative deformation space coordinate on line by a built-in program according to the distance of the laser scanning device irradiating the lowest part of the inner surface of the front wheel of the road roller and the difference value of the distance irradiating the ground surface not rolled outside the front wheel, and further corresponds to the output time and position of a GPS/BDS satellite positioning device arranged on the top of the road roller to form the space-time distribution amount of rolling deformation; the soil layer rolling deformation is not related to the installation height of the laser scanning device and the driving vibration state of the road roller;
the method for calculating the rolling deformation of the road roller comprises the following steps:
A) taking the horizontal road surface on which the road roller runs as a reference, setting the rolling deformation amount to be 0, and taking the difference value between the distance of the laser ray irradiating the lowest part of the inner surface of the front wheel of the road roller and the distance irradiating the non-rolled road surface outside the front wheel as an initial value;
B) the road roller is driven to the compacted road surface close to the left side of the just paved road surface, and at the moment, the maximum rolling deformation can be directly measured by a laser scanning device and is specified as the maximum rolling deformation;
C) the onboard signal analyzer calculates the real-time deformation of the road roller through a formula of Delta La, tan and theta a-Lb, tan and theta b;
the formula symbols represent:
delta represents the rolling deformation;
la represents the real-time relative distance of the ground surface rolled in the front wheel;
lb represents the real-time relative distance of the surface of the soil layer not rolled outside the front wheel;
theta a represents an included angle between an inner ray irradiated by the laser ray on the inner surface of the front wheel and a vertical ray;
θ b represents an angle between an outer ray irradiated by the laser ray on the outer surface of the front wheel and a vertical ray.
Drawings
FIG. 1 is a front view of the present invention;
fig. 2 is a rear view of the present invention.
The labels in the figure are: the device comprises a mounting bracket 1, a laser scanning device 2, a road roller 3, an airborne signal analyzer 4 and a GPS/BDS satellite positioning device 5.
The invention has the advantages that: the system for measuring the relative deformation of the ground layer of the road roller in real time utilizes the characteristics of a laser scanning device that the ray speed is high, the photoelectric conversion speed is high, the concentration degree dispersion degree is small, the distance measurement precision is high, and the laser scanning device has multiple beams of rays, straight lines, reflection lines and the like during working, and is used for measuring the difference value of the relative distance between the ground surface which is rolled on the inner side of a front wheel of the road roller and the ground surface which is not rolled outside the wheel, thereby judging the deformation of the road roller during rolling, realizing the measurement of improving the rolling precision, reducing the error caused by the vibration state of the road roller, and measuring the rolling deformation in real time and high efficiency.
Detailed Description
System for measuring relative deformation of rolled soil layer of road roller in real time
The method is characterized in that: the device comprises a mounting bracket 1, a laser scanning device 2, a GPS/BDS satellite positioning device 5 and an airborne signal analyzer 4; a mounting bracket 1 is arranged in the center of a left wheel shaft and a right wheel shaft of a front wheel of a road roller 3, a laser scanning device is mounted on the mounting bracket 1, and the laser scanning device and the soil layer surface in the front-back direction of the road roller keep a vertical posture; the laser ray of the laser scanning device scans left and right according to the driving direction of the road roller; arranging a GPS/BDS satellite positioning device on the top of a road roller, and arranging an airborne signal analyzer in a driving platform of the road roller;
the laser ray of the laser scanning device converts the difference value of the collected real-time relative distance La of the ground surface rolled in the front wheel and the real-time relative distance Lb of the ground surface not rolled outside the front wheel into an electric signal, and transmits the electric signal to an onboard signal analyzer arranged in a road roller driving platform, and the onboard signal analyzer calculates the rolling deformation amount at the relative deformation space coordinate position on line according to the difference value of the distance from the laser scanning device to the lowest part of the inner surface of the front wheel of the road roller and the distance from the laser scanning device to the ground surface not rolled outside the front wheel, and further corresponds to the output time and the output position of a GPS/BDS satellite positioning device 5 arranged on the top of the road roller to form the space-time distribution amount of the rolling deformation; the soil layer rolling deformation is not related to the installation height of the laser scanning device and the driving vibration state of the road roller;
the method for calculating the rolling deformation of the road roller comprises the following steps:
A) taking the horizontal road surface on which the road roller runs as a reference, setting the rolling deformation amount to be 0, and taking the difference value between the distance of the laser ray irradiating the lowest part of the inner surface of the front wheel of the road roller and the distance irradiating the non-rolled road surface outside the front wheel as an initial value;
B) the road roller is driven to the compacted road surface close to the left side of the just paved road surface, and at the moment, the maximum rolling deformation can be directly measured by a laser scanning device and is specified as the maximum rolling deformation;
C) the airborne signal analyzer calculates the real-time deformation of the road roller through a formula of La.tan theta a-lb.tan theta b or determines the relative deformation by adopting a fitting method;
the formula symbols represent:
delta represents the rolling deformation;
la represents the real-time relative distance of the ground surface rolled in the front wheel;
lb represents the real-time relative distance of the surface of the soil layer not rolled outside the front wheel;
theta a represents an included angle between an inner ray irradiated by the laser ray on the inner surface of the front wheel and a vertical ray;
theta b represents an included angle between an outer ray irradiated on the outer surface of the front wheel by the laser ray and a vertical ray;
the GPS/BDS satellite positioning device and the airborne signal analyzer arranged on the top of the road roller provide relative deformation space coordinates and rolling deformation of the road roller in real time, and a road roller control system adopts a corresponding control strategy according to the rolling deformation state to command the road roller to realize the required rolling times and the work task of starting vibration according to the requirements of construction specifications.
Claims (1)
1. The utility model provides a system for real-time measurement road roller rolls soil horizon relative deformation which characterized in that: the device comprises a mounting bracket (1), a laser scanning device (2), a GPS/BDS satellite positioning device (5) and an airborne signal analyzer (4); a mounting bracket (1) is arranged in the center of a left wheel shaft and a right wheel shaft of a front wheel of a road roller (3), a laser scanning device is mounted on the mounting bracket (1), and the laser scanning device and the soil layer surface of the road roller in the front-back direction keep a vertical posture; the laser ray of the laser scanning device scans left and right according to the driving direction of the road roller; arranging a GPS/BDS satellite positioning device on the top of a road roller, and arranging an airborne signal analyzer in a driving platform of the road roller;
the laser ray of the laser scanning device converts the real-time relative distance La of the ground surface rolled in the front wheel acquired by left and right scanning of the running direction of the road roller and the difference value of the real-time relative distance Lb of the ground surface not rolled outside the front wheel into electric signals, and transmits the electric signals to an airborne signal analyzer arranged in a driving platform of the road roller, the airborne signal analyzer calculates the deformation amount of a relative deformation space coordinate on line by a built-in program according to the distance of the laser scanning device irradiating the lowest part of the inner surface of the front wheel of the road roller and the difference value of the distance irradiating the ground surface not rolled outside the front wheel, and further corresponds to the output time and position of a GPS/BDS satellite positioning device (5) arranged on the top of the road roller to form the space-time distribution amount of rolling deformation; the rolling deformation is not related to the installation height of the laser scanning device and the driving vibration state of the road roller;
a system for measuring the relative deformation of a road roller rolling soil layer in real time further comprises a method for calculating the rolling deformation of the road roller:
A) taking the horizontal road surface on which the road roller runs as a reference, setting the rolling deformation amount to be 0, and taking the difference value between the distance of the laser ray irradiating the lowest part of the inner surface of the front wheel of the road roller and the distance irradiating the non-rolled road surface outside the front wheel as an initial value;
B) the road roller is driven to the compacted road surface close to the left side of the just paved road surface, and at the moment, the maximum rolling deformation is directly measured by a laser scanning device and is specified as the maximum rolling deformation;
C) the onboard signal analyzer calculates the real-time deformation of the road roller through a formula of Delta La, tan and theta a-Lb, tan and theta b;
the formula symbols represent:
delta represents the rolling deformation;
la represents the real-time relative distance of the ground surface rolled in the front wheel;
lb represents the real-time relative distance of the surface of the soil layer not rolled outside the front wheel;
theta a represents an included angle between an inner ray irradiated by the laser ray on the inner surface of the front wheel and a vertical ray;
θ b represents an angle between an outer ray irradiated by the laser ray on the outer surface of the front wheel and a vertical ray.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110181943.9A CN112985284B (en) | 2021-02-09 | 2021-02-09 | System for measuring relative deformation of rolled soil layer of road roller in real time |
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| CN202110181943.9A CN112985284B (en) | 2021-02-09 | 2021-02-09 | System for measuring relative deformation of rolled soil layer of road roller in real time |
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| CN112985284B true CN112985284B (en) | 2022-04-26 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101644023A (en) * | 2009-08-21 | 2010-02-10 | 赵怀志 | Detection method of road-surface evenness |
| CN204589767U (en) * | 2015-05-06 | 2015-08-26 | 葛洲坝集团项目管理有限公司 | A kind of automatic leveling system for pitch core wall paver |
| CN105178150A (en) * | 2015-11-03 | 2015-12-23 | 哈尔滨工业大学 | Fiber grating sensing-based asphalt pavement compaction monitoring method |
| 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 |
| CN110219297A (en) * | 2019-07-04 | 2019-09-10 | 青岛理工大学 | Real-time measuring device for soil thickness |
-
2021
- 2021-02-09 CN CN202110181943.9A patent/CN112985284B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101644023A (en) * | 2009-08-21 | 2010-02-10 | 赵怀志 | Detection method of road-surface evenness |
| CN204589767U (en) * | 2015-05-06 | 2015-08-26 | 葛洲坝集团项目管理有限公司 | A kind of automatic leveling system for pitch core wall paver |
| CN105178150A (en) * | 2015-11-03 | 2015-12-23 | 哈尔滨工业大学 | Fiber grating sensing-based asphalt pavement compaction monitoring method |
| 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 |
| CN110219297A (en) * | 2019-07-04 | 2019-09-10 | 青岛理工大学 | Real-time measuring device for soil thickness |
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| CN112985284A (en) | 2021-06-18 |
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Effective date of registration: 20230829 Address after: 100084 No. 1 Tsinghua Yuan, Beijing, Haidian District Patentee after: TSINGHUA University Patentee after: Huanghe Hydropower Development Co., Ltd. Address before: 100084 No. 1 Tsinghua Yuan, Beijing, Haidian District Patentee before: TSINGHUA University |