CN113655800A - Construction method for unmanned paving and rolling of road surface - Google Patents
Construction method for unmanned paving and rolling of road surface Download PDFInfo
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- 238000005096 rolling process Methods 0.000 title claims abstract description 31
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- 238000005056 compaction Methods 0.000 claims abstract description 18
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention discloses a construction method for unmanned paving and rolling of a road surface; firstly, constructing a set of unmanned pavement construction machine group system through a digital construction cloud platform, a paver and a road roller, and then installing software and hardware devices such as a 3D paving leveling system, a high-precision differential positioning system, a wireless communication system, an active safety obstacle avoidance system, an intelligent compaction system and the like on the paver and the road roller to realize task collaboration, safety collaboration and data sharing among a plurality of unmanned pavers and unmanned road rollers; and technological parameters are set through a base station control center, and the unmanned paver and the unmanned road roller group are instructed to complete the paving operation.
Description
Technical Field
The invention relates to the technical field related to pavement paving and rolling construction, in particular to a pavement unmanned paving and rolling construction method, which is a complete set of pavement construction equipment with high intelligent level developed based on technologies such as Internet of things, automatic driving, artificial intelligence and the like, and is combined with a matched pavement digital construction platform to realize the intelligent construction and whole-course digital management of an unmanned paver and a road roller operating machine group.
Background
The traditional pavement construction has the problems of random manual operation, easy fatigue, backward control mode, incomplete quality management means and the like, the unmanned spreading and pressing construction technology has the advantages which are not possessed by manual operation, high-precision continuous construction can be kept for 24 hours, the construction efficiency and the equipment utilization rate can be improved, the labor material cost can be saved, and the requirements of current road construction and traffic development are met.
Disclosure of Invention
Therefore, in order to solve the above-mentioned disadvantages, the present invention provides a construction method for unmanned pavement paving and rolling; the complete set of pavement construction equipment with high intelligent level, which is developed based on technologies such as Internet of things, automatic driving, artificial intelligence and the like, is combined with a matched pavement digital construction platform to realize intelligent construction and whole-course digital management of working machine groups of unmanned pavers and road rollers.
The invention is realized in this way, construct a road surface and pave and roll the construction method nobody, characterized by that; firstly, constructing a set of unmanned pavement construction machine group system through a digital construction cloud platform, a paver and a road roller, and then installing software and hardware devices such as a 3D paving leveling system, a high-precision differential positioning system, a wireless communication system, an active safety obstacle avoidance system, an intelligent compaction system and the like on the paver and the road roller to realize task collaboration, safety collaboration and data sharing among a plurality of unmanned pavers and unmanned road rollers; and technological parameters are set through a base station control center, and the unmanned paver and the unmanned road roller group are instructed to complete the paving operation.
The construction method for unmanned paving and rolling of the road surface is characterized by comprising the following steps of (1) carrying out construction; the unmanned paver can carry out high-precision unmanned paving operation of different road width of a water stabilization layer; the unmanned paving machine is provided with a 3D laser leveling system, a wireless communication system, a high-precision differential positioning system and a temperature detection system;
the unmanned road roller group mainly comprises an unmanned single steel wheel, an unmanned double steel wheel and an unmanned rubber wheel, and the unmanned road roller is provided with a high-precision differential positioning system, a wireless communication system, an active safety obstacle avoidance system and an intelligent compaction system;
the digital construction cloud platform comprises an engineering center, an equipment center and an application center; the system provides a full-flow, high-quality, rich and practical functional service for the road surface construction by means of a data base consisting of a local area and a cloud end.
The construction method for unmanned paving and rolling of the road surface is characterized by comprising the following steps of (1) carrying out construction; in the construction process, the performance, design and standard requirements of the unmanned spreading equipment are combined, and the operation is carried out by multiple detailed measures such as adjustment of processes and working procedures, equipment combination mode, unmanned spreading site construction organization, transportation vehicle matching, adjustment of control parameters of the unmanned spreading equipment, vibration frequency amplitude of a road roller, accuracy control of welt rolling, change speed of a lifting oil cylinder of the paver, site communication mode and the like;
when in implementation: firstly, importing pavement design data into a 3D leveling controller, acquiring real-time centimeter-level 3D point location information of a paver screed in real time by a Beidou satellite positioning receiver through an RTK (carrier phase difference) technology, and calculating corresponding elevation design information; secondly, converting infrared signals received by the 3D point location into electric signals based on a full-automatic measuring robot and an infrared signal receiver, calculating a difference value between an actually measured elevation and a designed elevation according to the magnitude and the change of the electric signals, and controlling a leveling electromagnetic proportional hydraulic directional valve to realize millimeter-level leveling precision; finally, pile-free paving is realized through background data processing, paving errors caused by human intervention are reduced, and construction requirements of frequent slope change and curves are met;
because the final output of the 3D leveling technology is digital information, and the unmanned spreading equipment control system is also in a digital remote control mode, the two can communicate with each other by converting digital signals into the same standard, and therefore the integration of the construction method and the equipment is realized.
The construction method for unmanned paving and rolling of the road surface is characterized by comprising the following steps of (1) carrying out construction; when the method is implemented, the data is automatically collected when no person paves and compacts on the site;
(1) through installing temperature sensor, the rotational speed sensor on the paver, to all current real-time parameters that are in the construction state: collecting and recording the paving temperature, the square amount, the oil consumption, the vibration frequency, the paving speed, the real-time position and the motion trail;
(2) acquiring the real-time running speed of the road roller and the real-time surface temperature of each rolling section in a compaction period on site through an acceleration sensor and a temperature sensor of the unmanned spreading equipment, and displaying the real-time surface temperature in real time through a display screen;
(3) the compaction data is uploaded to a control center for management and storage by using a high-precision vehicle-mounted positioning system and wireless communication, so that the construction process can be checked; and (4) data management: the remote control center records and stores the road construction data, and the database manages the construction data.
The invention has the following advantages:
drawings
FIG. 1 architecture diagram of a road surface unmanned construction machine group system
FIG. 2 unmanned paver
Fig. 3 a driverless compactor.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 3, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
The invention provides a construction method for unmanned pavement paving and rolling through improvement; firstly, constructing a set of unmanned pavement construction machine group system through a digital construction cloud platform, a paver and a road roller, and then installing software and hardware devices such as a 3D paving leveling system, a high-precision differential positioning system, a wireless communication system, an active safety obstacle avoidance system, an intelligent compaction system and the like on the paver and the road roller to realize task collaboration, safety collaboration and data sharing among a plurality of unmanned pavers and unmanned road rollers; and technological parameters are set through a base station control center, and the unmanned paver and the unmanned road roller group are instructed to complete the paving operation.
The working principle of the invention is that; the working principle of the road surface unmanned construction machine group is that software and hardware devices such as a 3D paving leveling system, a high-precision differential positioning system, a wireless communication system, an active safety obstacle avoidance system, an intelligent compaction system and the like are arranged on a paver and a road roller, so that task cooperation, safety cooperation and data sharing among a plurality of unmanned pavers and unmanned road rollers are realized; and technological parameters are set through a base station control center, and the unmanned paver and the unmanned road roller group are instructed to complete the paving operation. FIG. 1 is a schematic diagram of a construction machine group system for a road surface unmanned aerial vehicle.
Unmanned paver: the high-precision unmanned paving operation of different road width of the water stabilization layer can be carried out. The unmanned paving machine is equipped with a 3D laser leveling system, a wireless communication system, a high-precision differential positioning system and a temperature detection system. Fig. 2 shows an unmanned paver.
Unmanned road roller: the unmanned road roller group mainly comprises an unmanned single steel wheel, an unmanned double steel wheel and an unmanned rubber wheel, and the unmanned road roller is provided with a high-precision differential positioning system, a wireless communication system, an active safety obstacle avoidance system and an intelligent compaction system. Fig. 3 a driverless compactor.
Digital construction cloud platform: the digital construction cloud platform comprises an engineering center, an equipment center and an application center. The system provides a full-flow, high-quality, rich and practical functional service for the road surface construction by means of a data base consisting of a local area and a cloud end.
The operation process comprises the following steps: the 3D intelligent paving construction method is combined with unmanned paving equipment. In the construction process, the performance, design and standard requirements of the unmanned spreading equipment are combined, and multiple detailed measures such as adjustment of processes and working procedures, equipment combination mode, unmanned spreading site construction organization, transportation vehicle matching, adjustment of control parameters of the unmanned spreading equipment, vibration frequency and amplitude of a road roller, accuracy control of welt rolling, change speed of a lifting oil cylinder of the paver, site communication mode and the like are gradually tested and improved.
When in implementation; fusing a 3D intelligent paving construction method with unmanned paving equipment;
(1) the 3D digital leveling technology is embodied in the following aspects: firstly, importing pavement design data into a 3D leveling controller, acquiring real-time centimeter-level 3D point location information of a paver screed in real time by a Beidou satellite positioning receiver through an RTK (carrier phase difference) technology, and calculating corresponding elevation design information; secondly, converting infrared signals received by the 3D point location into electric signals based on a full-automatic measuring robot and an infrared signal receiver, calculating a difference value between an actually measured elevation and a designed elevation according to the magnitude and the change of the electric signals, and controlling a leveling electromagnetic proportional hydraulic directional valve to realize millimeter-level leveling precision; and finally, pile-free paving is realized through background data processing, paving errors caused by human intervention are reduced, and construction requirements of frequent slope change and curves are met.
(2) Because the final output of the 3D leveling technology is digital information, and the unmanned spreading equipment control system is also in a digital remote control mode, the two can communicate with each other by converting digital signals into the same standard, and therefore the integration of the construction method and the equipment is realized.
Replacing the traditional rolling process by using unmanned rolling equipment; the unmanned rolling equipment can realize unmanned driving of a preset path by utilizing a real-time dynamic differential base station and a laser radar sensing technology, but cannot completely realize cross-crossing type rolling of adjacent equipment in the traditional rolling process due to the limitation of an algorithm, so that the rolling mode is adjusted as follows:
(1) and a road roller regional and fixed-range control mode is adopted to carry out task arrangement of a rolling region, so that no pressure leakage in the whole region is realized.
(2) And (3) organizing road roller groups to be mutually overlapped but not crossed in a rolling propulsion mode of an initial pressure interval, a repressing interval and a final pressure interval to solve the algorithm defect.
(3) The cluster safety scheduling mechanism is optimized, the control platform is used for distributing tasks and dynamically planning construction paths for all the road rollers, the safety distance between the road rollers is controlled, and collision is prevented.
(4) The control priority of the millimeter wave radar and the ultrasonic sensing system is enhanced, so that the safety obstacle avoidance system is higher than the construction control system, the automatic obstacle avoidance and the danger avoidance of the road roller are realized, the road roller automatically brakes when people or objects are detected to be in the surrounding safety range, and the road roller can automatically start when the people or the objects are removed.
(5) In order to solve the problem that the roller does not stick to the wheel and needs manual oil spraying and water spraying control, the water spraying and oil spraying parameters of the unmanned roller are optimized. The safety risk brought by manual oil pumping and cleaning of the rolling wheel is eliminated by remotely adjusting the water sprinkling amount and the oil spraying amount in the construction process.
The problem of automatic acquisition of field unmanned pressure-sharing real-time data is solved:
(1) through installing temperature sensor, the rotational speed sensor on the paver, to all current real-time parameters that are in the construction state: and the paving temperature, the square amount, the oil consumption, the vibration frequency, the paving speed, the real-time position and the motion trail are collected and recorded.
(2) The real-time running speed of the road roller and the real-time surface temperature of each compaction section in the field are acquired through an acceleration sensor and a temperature sensor of the unmanned spreading and pressing equipment, and are displayed in real time through a display screen.
(3) And the compaction data is uploaded to a control center for management and storage by using a high-precision vehicle-mounted positioning system and wireless communication, so that the construction process can be checked.
(4) Data management: the remote control center records and stores the road construction data, and the database manages the construction data.
The problem of man-machine cooperation of manual drive transport skip and unmanned equipment of spreading out pressure is solved:
(1) by carrying out range control on the quantity of the mixture loaded on the transport vehicle, the perceptual quantity is consistent when the transport vehicle is in contact with the unmanned control paver, and the deviation probability of the paver is reduced.
(2) By strengthening the training education of the driver of the transport vehicle before the post, the phenomena of jamming and stopping caused by inconsistent steering of the transport vehicle to the paver during the unloading process are reduced.
(3) Through the seamless cooperation of transport vechicle and unmanned stand out equipment, reduce on-the-spot vehicle commander, reduce the safety risk.
Road surface digital monitoring management:
(1) and (3) real-time monitoring: checking real-time construction animations of the project, real-time states of all equipment, real-time schedules of all operations and the like, and supporting multi-dimensional and multi-parameter monitoring;
(2) quality management: checking the complete history of the project progress and the key quality data, providing a project daily report with rich and comprehensive contents, and further providing detailed quality conditions of each operation under the project, including rolling times, compaction degree, elevation, efficiency, track, paving temperature and the like;
(3) and (3) job playback: the user can select any time period and any operation to replay the construction process and check the dynamic change condition of each quality parameter;
(4) and (3) online acceptance inspection: checking and accepting the operation and the engineering, and outputting a complete quality checking and accepting report;
(5) standardized job creation: the job creation is completed quickly, accurately and conveniently by selecting the job type, configuring equipment, selecting a job area, setting a process and other standard steps.
(6) Equipment monitoring: checking the real-time position, the real-time state, the real-time working condition, the real-time consumption and the like of the equipment;
(7) digital management: the management of various equipment types is supported, and comprehensive position data, use data, working condition records and the like of the equipment are covered;
(8) big data analysis: the health and risk control of the equipment are analyzed and early warned from the aspects of time length, oil consumption, mileage, speed, temperature, online history, alarm records, maintenance records and the like.
The application case is as follows: the unmanned pavement spreading and pressing automatic construction method is characterized in that a water-stable single layer of 5Km and an oil surface layer of 800m are paved on the contract section of Yangxuan Yangxian Biaogao and Tokyo A-LM2 in total, and all indexes paved from the test section of 3-6 months can basically meet the field construction requirements.
Automatic unmanned road surface spreading operation combines a 3D intelligent spreading construction method and years of road surface construction experience of a company with advanced unmanned spreading equipment. The construction method is characterized in that the performance, design and standard requirements of unmanned spreading equipment are combined in construction, and multiple detailed measures such as process adjustment, equipment combination mode, unmanned spreading site construction organization, transportation vehicle matching, adjustment of control parameters of the unmanned spreading equipment, vibration frequency and amplitude of a road roller, accuracy control of welt rolling, change speed of a lifting oil cylinder of the paver, site communication mode and the like are gradually tested and improved. The unmanned spreading equipment can meet the requirements of site construction at present, and the safety performance, the construction efficiency and the construction quality of the unmanned spreading equipment are improved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. An unmanned pavement paving and rolling construction method is characterized in that the method comprises the following steps of (1) carrying out automatic paving and rolling construction on a pavement; firstly, constructing a set of unmanned pavement construction machine group system through a digital construction cloud platform, a paver and a road roller, and then installing software and hardware devices such as a 3D paving leveling system, a high-precision differential positioning system, a wireless communication system, an active safety obstacle avoidance system, an intelligent compaction system and the like on the paver and the road roller to realize task collaboration, safety collaboration and data sharing among a plurality of unmanned pavers and unmanned road rollers; and technological parameters are set through a base station control center, and the unmanned paver and the unmanned road roller group are instructed to complete the paving operation.
2. The construction method for unmanned paving and rolling compaction of road surface according to claim 1 is characterized in that; the unmanned paver can carry out high-precision unmanned paving operation of different road width of a water stabilization layer; the unmanned paving machine is provided with a 3D laser leveling system, a wireless communication system, a high-precision differential positioning system and a temperature detection system;
the unmanned road roller group mainly comprises an unmanned single steel wheel, an unmanned double steel wheel and an unmanned rubber wheel, and the unmanned road roller is provided with a high-precision differential positioning system, a wireless communication system, an active safety obstacle avoidance system and an intelligent compaction system;
the digital construction cloud platform comprises an engineering center, an equipment center and an application center; the system provides a full-flow, high-quality, rich and practical functional service for the road surface construction by means of a data base consisting of a local area and a cloud end.
3. The construction method for unmanned paving and rolling compaction of road surface according to claim 1 is characterized in that; in the construction process, the performance, design and standard requirements of the unmanned spreading equipment are combined, and the operation is carried out by multiple detailed measures such as adjustment of processes and working procedures, equipment combination mode, unmanned spreading site construction organization, transportation vehicle matching, adjustment of control parameters of the unmanned spreading equipment, vibration frequency amplitude of a road roller, accuracy control of welt rolling, change speed of a lifting oil cylinder of the paver, site communication mode and the like;
when in implementation: firstly, importing pavement design data into a 3D leveling controller, acquiring real-time centimeter-level 3D point location information of a paver screed in real time by a Beidou satellite positioning receiver through an RTK (carrier phase difference) technology, and calculating corresponding elevation design information; secondly, converting infrared signals received by the 3D point location into electric signals based on a full-automatic measuring robot and an infrared signal receiver, calculating a difference value between an actually measured elevation and a designed elevation according to the magnitude and the change of the electric signals, and controlling a leveling electromagnetic proportional hydraulic directional valve to realize millimeter-level leveling precision; finally, pile-free paving is realized through background data processing, paving errors caused by human intervention are reduced, and construction requirements of frequent slope change and curves are met;
because the final output of the 3D leveling technology is digital information, and the unmanned spreading equipment control system is also in a digital remote control mode, the two can communicate with each other by converting digital signals into the same standard, and therefore the integration of the construction method and the equipment is realized.
4. The construction method for unmanned paving and rolling compaction of road surface according to claim 1 is characterized in that; when the method is implemented, the data is automatically collected when no person paves and compacts on the site;
(1) through installing temperature sensor, the rotational speed sensor on the paver, to all current real-time parameters that are in the construction state: collecting and recording the paving temperature, the square amount, the oil consumption, the vibration frequency, the paving speed, the real-time position and the motion trail;
(2) acquiring the real-time running speed of the road roller and the real-time surface temperature of each rolling section in a compaction period on site through an acceleration sensor and a temperature sensor of the unmanned spreading equipment, and displaying the real-time surface temperature in real time through a display screen;
(3) the compaction data is uploaded to a control center for management and storage by using a high-precision vehicle-mounted positioning system and wireless communication, so that the construction process can be checked; and (4) data management: the remote control center records and stores the road construction data, and the database manages the construction data.
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|---|---|---|---|---|
| CN114115267A (en) * | 2021-11-24 | 2022-03-01 | 清华大学 | Unmanned intelligent paver |
| CN116772882A (en) * | 2023-06-13 | 2023-09-19 | 河海大学 | Dynamic road construction route planning method based on multi-machine cooperation |
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| CN108344459A (en) * | 2018-05-11 | 2018-07-31 | 中交第二航务工程局有限公司 | Pressure monitoring system is ground on road surface and remote monitoring system is rolled on road surface |
| 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 |
| CN110258260A (en) * | 2019-06-19 | 2019-09-20 | 四川川交路桥有限责任公司 | Unmanned road roller rcc system in tunnel without satellite-signal |
| CN110258259A (en) * | 2019-06-19 | 2019-09-20 | 四川川交路桥有限责任公司 | Unmanned road roller rcc system |
| CN111926657A (en) * | 2020-07-16 | 2020-11-13 | 柳工无锡路面机械有限公司 | Intelligent unmanned system of paver |
| CN111851208A (en) * | 2020-07-21 | 2020-10-30 | 北京城建华晟交通建设有限公司 | Method for automatically adjusting virtual pavement thickness during pavement |
| CN112738757A (en) * | 2021-02-05 | 2021-04-30 | 四川川交路桥有限责任公司 | Road surface rolling operation supervisory systems based on thing networking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114115267A (en) * | 2021-11-24 | 2022-03-01 | 清华大学 | Unmanned intelligent paver |
| CN116772882A (en) * | 2023-06-13 | 2023-09-19 | 河海大学 | Dynamic road construction route planning method based on multi-machine cooperation |
| CN116772882B (en) * | 2023-06-13 | 2024-01-19 | 河海大学 | Dynamic road construction route planning method based on multi-machine cooperation |
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