CN114263085B

CN114263085B - Intelligent paving control system of paver

Info

Publication number: CN114263085B
Application number: CN202210039570.6A
Authority: CN
Inventors: 叶盛锦; 冷冰; 张古衡
Original assignee: Wuhan Yingtu Engineering Intelligent Equipment Co ltd
Current assignee: Wuhan Yingtu Engineering Intelligent Equipment Co ltd
Filing date: 2022-01-13
Publication date: 2024-07-05
Anticipated expiration: 2042-01-13

Abstract

The invention discloses an intelligent paving control system of a paver, which comprises an RTK (real time kinematic) movable reference station and a paver body, wherein a paver ceiling is arranged above the paver body, a paver screed is arranged at one end of the paver body, a GPS receiving antenna I is arranged at one end above the paver ceiling, a GPS receiving antenna II is arranged at the other end above the paver ceiling, and a receiver I is arranged at one end of the paver body; according to the invention, the map acquisition vehicle is used for acquiring the boundary coordinate information of the construction area and transmitting the boundary coordinate information of the construction area to the industrial personal computer, the panoramic camera shoots panoramic road conditions and feeds the panoramic road conditions back to the industrial personal computer so as to judge the road conditions, the industrial personal computer plans the traveling path of the paver according to the coordinate information and the road conditions, not only can the path be planned directionally, but also the road conditions can be judged through the panoramic camera, and the panoramic road conditions can be fed back in real time through the camera display screen 15 for the operator to check, so that unexpected conditions can be avoided in time.

Description

Intelligent paving control system of paver

Technical Field

The invention relates to the technical field of paver control systems, in particular to an intelligent paver control system.

Background

Asphalt pavement is used as a main engineering in highway engineering, and the flatness of the asphalt pavement directly influences driving comfort. In the prior road pavement construction process of asphalt concrete and the like, firstly, a construction scheme is designed for a road section to be constructed, wherein the construction scheme comprises determining the elevation of each point of the road pavement, and the construction scheme comprises determining the paving thickness requirements of a cushion layer, a base layer and a surface layer, compacting and flatness requirements of each layer of the road pavement and the like, and has specific data and standard requirements.

In most basic layer construction processes, a preset steel wire rope is used as a standard for controlling the thickness of a basic layer, a fulcrum is arranged at intervals of about 15 meters, the steel wire rope is fixed on the fulcrum, the steel wire rope extends along the direction of a highway for about tens of meters to hundreds of meters, the steel wire rope is tensioned from two sides, the steel wire rope is the only standard for paving the basic layer of the paver, and when the paver walks, the height of a screed plate of the paver is automatically adjusted through a sliding shoe on the steel wire rope to pave the basic layer. After the base layer is paved, compacting by a road roller. In the operation process, the laying of the steel wire rope is very complicated, the requirement on the steel wire rope positioning constructors is high, if the steel wire rope elevation deviation occurs, the engineering quality of basic paving can be influenced, in addition, because various vehicles and staff on the working site are many, the vehicles and the staff can easily touch the steel wire rope, the standard line of laying is influenced, the construction quality is influenced, and moreover, the steel wire rope is broken in the construction process, so that the staff is injured.

Pavement compaction is followed by pavement construction, which generally involves two methods. The paving is still carried out by taking the steel wire rope as a standard, and the method still has the problems in the basic layer paving process. Another approach is through automatic thickness control based on ultrasonic ranging means. In the prior art, the second method is mostly adopted, the step of nailing piles again to lay steel wire ropes can be omitted, but the method cannot control the actual final flatness of the surface layer, the flatness is constrained by the paving result of the base layer, and the effect is still not ideal.

In general, the quality of pavement construction engineering, the travelling comfort and safety of vehicles, the service life of highway pavement and the maintenance cost are closely related to the accuracy of positioning the high layer and thickness of each layer of pavement in the construction process. Due to the defects of the traditional measurement mode, the quality of pavement construction engineering is seriously affected; and the traditional mode of measurement needs a large amount of labours, and measurement accuracy is low, and the paver time is long, and work efficiency is also lower.

Disclosure of Invention

The invention aims to provide an intelligent paving control system of a paver, which aims to solve the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions:

The utility model provides a paver intelligence control system that paves, includes RTK mobile reference station and paver organism, paver organism top is provided with the paver ceiling, paver organism one end is provided with the paver screed, paver ceiling top one end is provided with GPS receiving antenna one, paver ceiling top other end is provided with GPS receiving antenna two, paver organism one end is provided with receiver one, paver screed one end is provided with GPS receiving antenna three, paver screed other end is provided with GPS receiving antenna four, paver organism other end is provided with receiver two, paver organism other end is provided with the industrial computer, paver organism other end is provided with touch display screen, paver organism other end is provided with the controller, paver ceiling top is provided with panorama camera, paver organism one end is provided with the video display screen.

As still further aspects of the invention: and the GPS receiving antenna I, the GPS receiving antenna II and the receiver I are matched with each other in signal phase, and are electrically connected with the receiver II, the industrial personal computer and the touch display screen.

As still further aspects of the invention: and the GPS receiving antenna III, the GPS receiving antenna IV and the receiver II are in signal phase adaptation and are electrically connected with the receiver II, the industrial personal computer and the touch display screen.

As still further aspects of the invention: the industrial personal computer, the panoramic camera and the camera display screen are electrically connected.

As still further aspects of the invention: the intelligent paving control system of the paver comprises the following steps:

And (3) driving path control: the RTK mobile reference station 1 is erected before construction, coordinate information is calibrated, and the RTK mobile reference station cannot be moved before construction is finished; then, the map acquisition vehicle is used for acquiring boundary coordinate information of the construction area, the boundary coordinate information of the construction area is sent to the industrial personal computer 8, the panoramic camera 14 shoots panoramic road conditions and feeds the panoramic road conditions back to the industrial personal computer 8 to judge road conditions, and the industrial personal computer 8 plans a running path of the paver according to the coordinate information and the road conditions; the data of the two groups of GPS receiving antennas I2 and the GPS receiving antenna II 3 on the top of the paving machine can know the posture of the paving machine at any moment, the central points of the two groups of GPS receiving antennas I2 and the GPS receiving antenna II 3 are overlapped with the central axis of the advancing direction of the paving machine, the central points of the two groups of GPS receiving antennas I2 and the GPS receiving antenna II 3 are overlapped with the planned travelling path of the paving machine, when the central points of the two groups of GPS receiving antennas I2 and the GPS receiving antenna II 3 are not on the planned travelling path, the industrial personal computer 8 adjusts the travelling direction of the paving machine through the controller 10 to ensure that the paving machine always travels on the planned path;

Absolute paving thickness control: before construction, an RTK mobile reference station is erected on a reference point given on a construction area drawing and is calibrated, an absolute elevation mode is selected on an industrial personal computer, and a GPS receiving antenna III and a receiver II participate in the control of paving thickness in the mode; the mathematical model is as follows: h1 is the height of the elevation cylinder, α is the elevation angle, S is the length from the top of the elevation cylinder to the screed end a, point a is the contact point between the screed end and the paved road surface, point C is the GPS receiving antenna three, H2 is the length of the GPS receiving antenna three to the contact point a between the paver screed end and the paved road surface, H2 is perpendicular to S, H2 is the vertical height from point C to the paved road surface, and sin α=h1/S; cosα=h2/H2; it can be derived that: h2 = cosarcsin (H1/S) H2; the absolute elevation H3 of the point C can be directly measured by the RTK mobile reference station, then the absolute elevation H4 of the point A is H3-H2, the absolute elevation H4 is compared with the absolute elevation H required by design, if H4 is more than H, the paving thickness is reduced to H4 = H by the controller, and if H4 is less than H, the paving thickness is increased to H4 = H by the controller;

Controlling the relative paving thickness: before construction, erecting and calibrating any position near a construction area by an RTK mobile reference station, and selecting a relative elevation mode on an industrial personal computer, wherein a GPS receiving antenna I, a GPS receiving antenna III, a receiver I and a receiver II participate in the control of paving thickness in the mode; the mathematical model is as follows: h1 is the height of the retraction of the elevation cylinder, α is the elevation angle, S is the length from the top end of the elevation cylinder to the end a of the screed of the paver, point a is the contact point between the end of the screed and the paved road, point C is the GPS receiving antenna three, H2 is the length from the GPS receiving antenna three to the contact point a between the end of the screed of the paver and the paved road, H2 is perpendicular to S, H2 is the vertical height from point C to the paved road, point D is the vertical height from point D to the paved road, and point E is the vertical point, then sinα=h1/S; cosα=h2/H2; it can be derived that: h2 = cosarcsin (H1/S) H2; the elevation H3 of the point C can be directly measured by the RTK mobile reference station, and the elevation h4=h3-H2 of the road surface of the point a after paving; the elevation H6 of the point D can be directly measured by the RTK moving reference station, and the elevation h7=h6-H5 of the road surface of the point E before paving is performed, and the paving thickness h=h4-H7 is compared with the relative elevation H1 required by the design, if H > H1, the paving thickness is reduced by the controller until h=h1, and if H < H1, the paving thickness is increased by the controller until h=h1.

Compared with the prior art, the invention has the beneficial effects that:

1. The map acquisition vehicle is used for acquiring boundary coordinate information of a construction area and transmitting the boundary coordinate information of the construction area to the industrial personal computer, the panoramic camera shoots panoramic road conditions and feeds the panoramic road conditions back to the industrial personal computer so as to judge road conditions, the industrial personal computer plans a traveling path of the paver according to the coordinate information and the road conditions, not only can directionally plan the path, but also can judge the road conditions through the panoramic camera, and can timely avoid unexpected conditions by feeding back the panoramic road conditions in real time through the camera display screen 15 for a driver to check;

2. Real-time measurement is realized on the original ground elevation and the new pavement elevation, the original pavement elevation is not required to be manually measured before construction, and a steel wire rope is not required to be erected by dotting so as to reduce manual errors.

3. The actual paving thickness is recorded in real time, the paving thickness is controlled continuously and uniformly, and several working modes can be switched at will.

Drawings

Fig. 1 is a schematic structural diagram of equipment in an intelligent paving control system of a paver.

Fig. 2 is a schematic side view of a paving machine in an intelligent paving control system of the paving machine.

Fig. 3 is a schematic diagram of a system flow structure of an intelligent paving control system of the paver.

Fig. 4 is a schematic diagram of a system flow structure of an intelligent paving control system of the paver.

Fig. 5 is a schematic diagram of a mathematical model of absolute paving thickness control in an intelligent paving control system of a paver.

Fig. 6 is a schematic diagram of a mathematical model of relative paving thickness control in an intelligent paving control system for a paver.

1. RTK moves the reference station; 2. a GPS receiving antenna I; 3. a GPS receiving antenna II; 4. a first receiver; 5. a GPS receiving antenna III; 6. a GPS receiving antenna IV; 7. a second receiver; 8. an industrial personal computer; 9. touching the display screen; 10. a controller; 11. a paver body; 12. a roof of the paver; 13. a paver screed plate; 14. a panoramic camera; 15. and (5) shooting a display screen.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1 to 6, in an embodiment of the present invention, an intelligent paving control system for a paving machine includes an RTK mobile reference station 1 and a paving machine body 11, a paving machine ceiling 12 is disposed above the paving machine body 11, a paving machine screed 13 is disposed at one end of the paving machine body 11, a GPS receiving antenna one 2 is disposed at one end above the paving machine ceiling 12, a GPS receiving antenna two 3 is disposed at the other end above the paving machine ceiling 12, a receiver one 4 is disposed at one end of the paving machine body 11, a GPS receiving antenna three 5 is disposed at one end of the paving machine screed 13, a GPS receiving antenna four 6 is disposed at the other end of the paving machine body 13, a receiver two 7 is disposed at the other end of the paving machine body 11, an industrial control machine 8 is disposed at the other end of the paving machine body 11, a touch display screen 9 is disposed at the other end of the paving machine body 11, a controller 10 is disposed at the other end of the paving machine ceiling 12, a camera 14 is disposed at the other end of the paving machine ceiling 11, and a display screen 15 is disposed at the other end of the paving machine body 11.

Example 1

The GPS receiving antenna I2, the GPS receiving antenna II 3 and the receiver I4 are in signal phase adaptation and are electrically connected with the receiver II 7, the industrial personal computer 8 and the touch display screen 9.

Example two

And the GPS receiving antenna III 5, the GPS receiving antenna IV 6 and the receiver II 7 are in signal phase adaptation and are electrically connected with the receiver II 7, the industrial personal computer 8 and the touch display screen 9.

Example III

The industrial personal computer 8, the panoramic camera 14 and the camera display screen 15 are electrically connected.

The working principle of the invention is as follows: the RTK mobile reference station 1 is erected before construction, coordinate information is calibrated, and the RTK mobile reference station cannot be moved before construction is finished. Then, the map acquisition vehicle is used for acquiring boundary coordinate information of the construction area, the boundary coordinate information of the construction area is sent to the industrial personal computer 8, the panoramic camera 14 shoots panoramic road conditions and feeds the panoramic road conditions back to the industrial personal computer 8 to judge road conditions, and the industrial personal computer 8 plans a running path of the paver according to the coordinate information and the road conditions; the data of the two groups of GPS receiving antennas I2 and the GPS receiving antenna II 3 on the top of the paving machine can know the posture of the paving machine at any moment, the central points of the two groups of GPS receiving antennas I2 and the GPS receiving antenna II 3 are overlapped with the central axis of the advancing direction of the paving machine, the central points of the two groups of GPS receiving antennas I2 and the GPS receiving antenna II 3 are overlapped with the planned travelling path of the paving machine, when the central points of the two groups of GPS receiving antennas I2 and the GPS receiving antenna II 3 are not on the planned travelling path, the industrial personal computer 8 adjusts the travelling direction of the paving machine through the controller 10 to ensure that the paving machine always travels on the planned path;

Before construction, the RTK mobile reference station 1 is erected on a reference point given on a construction area drawing and calibrated, an absolute elevation mode is selected on the industrial personal computer 8, and the GPS receiving antenna III 5 and the receiver II 7 participate in the control of paving thickness in the mode. As shown in fig. 4, the mathematical model of the hydraulic system is that H1 is the retracted height of the elevation oil cylinder, alpha is the elevation angle, S is the length from the top end of the elevation oil cylinder to the tail end a of the paver screed 13, the point a is the contact point between the tail end of the paver screed 13 and the paved road surface, the point C is the third 5 of the GPS receiving antenna, H2 is the length from the third 5 of the GPS receiving antenna to the contact point a between the tail end of the paver screed 13 and the paved road surface, H2 is perpendicular to S, and H2 is the vertical height from the point C to the paved road surface, so sinα=h1/S; cosα=h2/H2; it can be derived that: h2 = cosarcsin (H1/S) H2; the absolute elevation H3 of point C can be measured directly by the RTK mobile reference station 1, then the absolute elevation h4=h3-H2 of point a, we compare H4 with the absolute elevation H of the design requirement, decreasing the paving thickness by the controller 10 until h4=h if H4 > H, and increasing the paving thickness by the controller 10 until h4=h if H4 < H.

Before construction, the RTK mobile reference station 1 needs to be erected and calibrated at any position near a construction area, a relative elevation mode is selected on the industrial personal computer 8, and the GPS receiving antenna I2 and the GPS receiving antenna III 5, the receiver I4 and the receiver II 7 participate in the control of paving thickness in the mode. As shown in FIG. 5, H1 is the retracted height of the elevation oil cylinder, alpha is the elevation angle, S is the length from the top end of the elevation oil cylinder to the tail end A of the paver screed 13, the point A is the contact point between the tail end of the paver screed 13 and the paved road, the point C is the third GPS receiving antenna 5, H2 is the length from the third GPS receiving antenna 5 to the contact point A between the tail end of the paver screed 13 and the paved road, H2 is vertical to S, H2 is the vertical height from the point C to the paved road, D is the vertical height from the point D to the paved road, E is the vertical point, and sin alpha=H2S; cosα=h2/H2; it can be derived that: h2 = cosarcsin (H1/S) H2; the elevation H3 of the point C can be directly measured by the RTK mobile reference station 1, and the elevation h4=h3-H2 of the road surface of the point a after paving; the elevation H6 of the point D can be directly measured by the RTK moving reference station 1, and the elevation h7=h6-H5 of the road surface of the point E before paving is performed, and the paving thickness h=h4-H7 is compared with the relative elevation H1 required by design, and if H > H1, the paving thickness is reduced by the controller 10 until h=h1, and if H < H1, the paving thickness is increased by the controller 10 until h=h1.

The paving thickness adjusting process is not an abrupt change process but a slow process, so that the paving thickness of each section of pavement cannot be ensured to be consistent, and the paving thickness can only be slowly adjusted by ensuring the flatness of the pavement as much as possible.

As shown in FIG. 5, the distance S _EF from the E point to the F point is determined by the installation position D of the GPS receiving antenna I2, and the distance S _EF from the E point to the F point is determined after the GPS receiving antenna I2 is installedThe traveling speed V of the paver can be obtained from a speed sensor on the traveling pump, so that the time t= (S _EF+S_AF)/V for the point a to move to the point E, and we can actually measure the time T required from the start of the change in the paving thickness to the completion of the change in the paving thickness.

The GPS receiving antenna I2 can be used for measuring the information of the height of the road surface which is not paved in real time, if the conditions of relatively large change, such as small pits, small steps, small soil bags and the like, the paving thickness can be adjusted in advance, and the condition of road surface unevenness caused by slow paving thickness adjustment process can be avoided.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. .

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. The intelligent paving control system of the paver comprises an RTK mobile standard station (1) and a paver body (11), and is characterized in that a paver ceiling (12) is arranged above the paver body (11), a paver screed (13) is arranged at one end of the paver body (11), a GPS receiving antenna I (2) is arranged at one end above the paver ceiling (12), a GPS receiving antenna II (3) is arranged at the other end above the paver ceiling (12), a receiver I (4) is arranged at one end of the paver body (11), a GPS receiving antenna III (5) is arranged at one end of the paver screed (13), a GPS receiving antenna IV (6) is arranged at the other end of the paver screed (13), a receiver II (7) is arranged at the other end of the paver body (11), an industrial control camera (8) is arranged at the other end of the paver body (11), a touch display screen (9) is arranged at the other end of the paver body (11), a controller (10) is arranged at the other end of the paver body (12), and a panoramic camera (15) is arranged at one end of the paver body (14);

the intelligent paving control system of the paver comprises the following steps:

And (3) driving path control: the RTK mobile reference station (1) is erected before construction, coordinate information is calibrated, and the RTK mobile reference station cannot be moved before construction is finished; then, the map acquisition vehicle is used for acquiring boundary coordinate information of the construction area, the boundary coordinate information of the construction area is sent to the industrial personal computer (8), the panoramic camera (14) shoots panoramic road conditions and feeds the panoramic road conditions back to the industrial personal computer (8) so as to judge road surface conditions, and the industrial personal computer (8) plans a running path of the paver according to the coordinate information and the road surface conditions; the data of the two groups of GPS receiving antennas I (2) and the GPS receiving antennas II (3) on the top of the paving machine can know the posture of the paving machine at any moment, the central points of the two groups of GPS receiving antennas I (2) and the GPS receiving antennas II (3) are overlapped with the central axis of the advancing direction of the paving machine, the central points of the two groups of GPS receiving antennas I (2) and the GPS receiving antennas II (3) are overlapped with the planned paving machine running path, when the central points of the two groups of GPS receiving antennas I (2) and the GPS receiving antennas II (3) are not on the planned running path, the industrial personal computer (8) adjusts the running direction of the paving machine through the controller (10) to ensure that the paving machine always runs on the planned path;

Absolute paving thickness control: before construction, an RTK mobile reference station (1) is erected on a reference point given on a construction area drawing and is calibrated, an absolute elevation mode is selected on an industrial personal computer (8), and a GPS receiving antenna III (5) and a receiver II (7) participate in control of paving thickness in the mode; the mathematical model is as follows: h1 is the length of retraction of the elevation oil cylinder, according to the mechanical structure, the retraction direction of the elevation oil cylinder is vertical to the ground, alpha is the elevation angle, S is the length from the top end of the elevation oil cylinder to the tail end A of the screed, the point A is the contact point between the tail end of the screed and the paved road surface, the point C is the GPS receiving antenna III (5), H2 is the length from the GPS receiving antenna III (5) to the contact point A between the tail end of the screed (13) of the paver and the paved road surface, H2 is vertical to S, and H2 is the vertical height from the point C to the paved road surface, so sinalpha=H2S; cosα=h2/H2; it can be derived that: h2 Cos (arcsinH 1/S) ×h2; the absolute elevation H3 of point C can be directly measured by the RTK, then the absolute elevation h4=h3-H2 of point a, we compare H4 with the absolute elevation H of the design requirement, decreasing the paving thickness by the controller 10 until h4=h if H4 > H, and increasing the paving thickness by the controller 10 until h4=h if H4 < H;

Controlling the relative paving thickness: before construction, an RTK mobile reference station (1) is erected and calibrated at any position near a construction area, a relative elevation mode is selected on an industrial personal computer (8), and a GPS receiving antenna I (2) and a GPS receiving antenna III (5), a receiver I (4) and a receiver II (7) participate in the control of paving thickness in the mode; the mathematical model is as follows: h1 is the length of retraction of the elevation oil cylinder, according to the mechanical structure, the retraction direction of the elevation oil cylinder is vertical to the ground, alpha is the elevation angle, S is the length from the top end of the elevation oil cylinder to the tail end A of the screed, the point A is the contact point between the tail end of the screed and the paved road surface, the point C is the length of a GPS receiving antenna III (5), H2 is the length from the GPS receiving antenna III (5) to the contact point A between the tail end of the screed and the paved road surface, H2 is vertical to S, H2 is the vertical height from the point C to the paved road surface, D is the vertical height from the point D to the paved road surface, E is the vertical point, and sinalpha=H2S; cosα=h2/H2; it can be derived that: h2 Cos (arcsinH 1/S) ×h2; the elevation H3 of the point C can be directly measured by the RTK mobile reference station (1), and the elevation H4 = H3-H2 after pavement paving of the point A; the elevation H6 of the point D can be directly measured by the RTK mobile reference station (1), the elevation H7 = H6-H5 before paving the road surface of the point E is paved, the paving thickness H = H4-H7 is compared with the relative elevation H1 required by design, if H > H1, the paving thickness is reduced to H = H1 by the controller (10), and if H < H1, the paving thickness is increased to H = H1 by the controller (10).