CN115538253A - Intelligent paving system based on laser guide - Google Patents
Intelligent paving system based on laser guide Download PDFInfo
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- CN115538253A CN115538253A CN202211067275.8A CN202211067275A CN115538253A CN 115538253 A CN115538253 A CN 115538253A CN 202211067275 A CN202211067275 A CN 202211067275A CN 115538253 A CN115538253 A CN 115538253A
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- laser
- paver
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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
- E01C19/18—Devices for distributing road-metals mixed with binders, e.g. cement, bitumen, without consolidating or ironing effect
- E01C19/185—Devices for distributing road-metals mixed with binders, e.g. cement, bitumen, without consolidating or ironing effect for both depositing and spreading-out or striking-off the deposited mixture
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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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
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Road Paving Machines (AREA)
Abstract
The invention discloses an intelligent paving system based on laser guidance, which comprises a paver, a laser receiving part, a plurality of laser emitting parts, a calculating part, a control part and a control part, wherein the paver is used for driving on a road and paving a coating, the laser receiving part is arranged on the paver, the plurality of laser emitting parts are arranged beside the road, 3 adjacent laser emitting parts are all positioned in a reference plane parallel to the top surface of the coating, the calculating part takes the laser receiving part as the origin of a coordinate system, receives laser beams through the laser receiving part to derive the coordinates of the 3 laser emitting parts, further, a reference plane flush with the coating is obtained through derivation, the calculating part derives the thickness and the gradient of the coating according to the reference plane to provide a control instruction of the paver, and the paver adjusts the thickness and the leveling angle of the coating according to the control instruction, so that the paver is suitable for the sharp-curved part of the road with the coating inclined in the length direction and the width direction.
Description
Technical Field
The invention relates to the field of road paving equipment, in particular to an intelligent paving system based on laser guidance.
Background
Paving refers to a construction method of laying concrete or asphalt on a road surface to form a coating layer and then leveling the concrete or asphalt to level the coating layer, and the related art may refer to an optical guidance system for a paving machine for constructing a concrete or asphalt coating layer disclosed in chinese patent No. CN 101688377B.
In order to obtain the leveling degree of concrete or asphalt, a leveling machine is generally guided by using a laser so that a leveling plate thereof is flush with a design surface of a coating layer, and in the related art, reference is made to a road surface construction leveling laser measuring and controlling apparatus and method disclosed in chinese patent publication No. CN100389301C, which automatically judges the height and gradient of a road surface by guiding the leveling machine by the laser, thereby automatically leveling the coating layer to a desired height and gradient.
However, the laser guidance in the related art can only guide the paver to pave the road surface, which is only suitable for a flat road surface, and the existing laser guidance method cannot be used when the road surface has large curvature, inclination and gradient, such as a side road of an overpass.
Disclosure of Invention
The invention aims to provide an intelligent paving system based on laser guide, which aims to solve the technical problem that the existing laser guide method cannot be used for roads with cladding having slopes in the length direction and the width direction.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
an intelligent paving system based on laser guidance, comprising: a paver for running on a road and performing an action of laying a coating with concrete or asphalt material; the laser emitting parts are arranged along the road and distributed at two sides of the road, the laser emitting parts are used for emitting laser beams with horizontal directions to the periphery, 3 adjacent laser emitting parts are positioned on a reference surface, the reference surface and the coating inside the projection of the reference surface on the road have the same design gradient, and the height difference between the reference surface and the coating is always the same; a laser receiving part arranged on the paver, the laser receiving part being used for receiving the laser beam and obtaining an incident angle and an incident height of the laser beam; a distance measuring section for obtaining a distance between each of the laser light emitting sections and the laser light receiving section; a calculation part for deriving and providing a control instruction of the paver according to the data obtained by the laser receiving part and the distance measuring part; when the paver works, the laser emitting parts which are closest to the laser receiving parts emit laser beams.
Further, the laser emitting section includes: the upright stanchion is erected beside the road; a laser source rotatably disposed about a vertical axis at a top end of the vertical rod; a first driver arranged on the vertical rod and having an actuating portion connected to the laser source, the first driver being configured to drive the laser source to rotate.
Further, the ranging section is configured to receive the laser beam emitted by the laser light source and reflected by the laser receiving section, and obtain a distance between the laser emitting section and the laser receiving section by a phase method or a pulse method; the distance measuring part is fixedly connected with the executing part of the first driver and is driven by the first driver to rotate.
Further, the ranging section is configured to emit the laser beam and receive the laser beam reflected by the laser receiving section, and obtain a distance between the laser emitting section and the laser receiving section by a phase method or a pulse method; the distance measuring part is fixedly connected with the executing part of the first driver and driven by the first driver to rotate, or the distance measuring part can rotate by itself.
Further, the laser receiving section includes: the self-balancing base is provided with an execution part which always keeps a vertical posture through gravity induction, and the self-balancing base is fixedly connected with the paver; the rotating part can be connected to the execution part of the self-balancing base in a rotating mode around a vertical axis; the actuator is connected with the execution part of the self-balancing base, and the execution part of the actuator is connected with the rotating part and is used for driving the rotating part to rotate; the photosensitive receiving area is vertically connected to the rotating part, the height of the photosensitive receiving area is larger than the maximum height difference between 3 adjacent laser emitting parts, and the receiving angle of the photosensitive receiving area for receiving the laser beams on a horizontal plane is less than or equal to 1 degree; the light reflecting area is vertically connected to the rotating part, and the height of the light reflecting area is the same as that of the photosensitive receiving area; an angle sensor, which is connected with the rotating part or the actuating shaft of the driver in a transmission way and is used for obtaining the rotating angle of the rotating part or the actuating shaft of the driver.
Further, the self-balancing base includes: the ball bowl is fixedly connected to the top of the paver; a ball core rotatably connected to the interior of the ball bowl; the weight is fixedly connected with the ball core and is suspended below the ball core; the support is fixedly connected with the ball core and arranged on one side, away from the heavy hammer, of the ball core, and the driver is fixedly connected with the support.
Further, the rotating portion includes: a rotating shaft connected with an execution part of the driver; the rotary drum is coaxially sleeved on the outer side of the rotating shaft and is fixedly connected with the rotating shaft through the ribs; a recess portion formed in an outer wall of the drum and extending in an axial direction of the drum, the photosensitive receiving area being connected to an inside of the recess portion.
Further, the central angle of the area occupied by the depressions on the cross-section of the drum is less than or equal to 1 deg.
Furthermore, the depressed part has a plurality ofly and encircles the axis equipartition of pivot, every depressed part inside all is connected with photosensitive receiving area.
Further, prism surfaces are formed on the outer wall of the drum at positions where the depressions are not formed, and the light reflection region is formed on the outer wall of each prism surface.
This application compares with prior art and has following beneficial effect:
there is provided a laser-guidance-based intelligent paving system including a paver which runs on a road and lays a mat while arranging a laser receiving part on the paver, a plurality of laser emitting parts arranged beside the road and having 3 adjacent laser emitting parts each located in a reference plane parallel to a top surface of the mat, a calculation part which receives a laser beam through the laser receiving part with the laser receiving part as a coordinate system origin to derive coordinates of the 3 laser emitting parts and further derives a reference plane flush with the mat by derivation, the calculation part derives a thickness and a gradient of the mat from the reference plane to provide a control instruction of the paver, and the paver adjusts a mat thickness and a leveling angle according to the control instruction so as to be suitable for a tight-curve portion of the road where the mat is inclined in both a length direction and a width direction.
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 should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
Fig. 1 is a schematic top view of a working process of establishing a reference surface and paving a coating according to the reference surface when a paver according to an embodiment of the present invention travels on a road;
fig. 2 is a schematic view of a main view of a working process of establishing a reference surface and paving a coating according to the reference surface when the paver of the embodiment of the invention travels on a road;
fig. 3 is a schematic perspective view of a working process of establishing a reference surface and paving a coating according to the reference surface when the paver of the embodiment of the invention travels on a road;
FIG. 4 is a perspective view of an embodiment of a laser emitting portion of the present invention and a partially enlarged view thereof;
FIG. 5 is a schematic structural diagram of a main viewing angle of a laser receiving part according to an embodiment of the present invention;
FIG. 6 is an axial view of a rotating portion of an embodiment of the present invention;
FIG. 7 is a perspective view of a rotating portion of an embodiment of the present invention;
the reference numerals in the drawings denote the following, respectively:
1-road; 11-a coating layer; 12-a reference plane;
2-a paver; 21-a walking device; 22-a spreading device; 23-a leveling device; 231-a screed plate; 232-hydraulic cylinder;
3-a laser emitting section; 31-a laser beam; 32-vertical rod; 33-a laser source; 34-a first driver;
4-laser receiving section; 41-self-balancing base; 411-ball bowl; 412-a core; 413-weight dropper; 414-a scaffold; 42-a rotating part; 421-a rotating shaft; 422-a rotating drum; 423-ribs; 424-a recess; 425-prismatic mirror surface; 43-a driver; 44-a photosensitive receiving area; 45-a light reflection zone; 46-an angle sensor;
5-a distance measuring unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
With sharp curves, the cladding has a slope in both the length and width directions, making existing laser guidance methods unusable.
To this end, as shown in fig. 1-3, there are provided: the intelligent paving system based on laser guidance comprises a paver 2, a laser emitting part 3, a laser receiving part 4, a distance measuring part 5 and a calculating part.
The paver 2 is intended to travel on the road 1 and to perform the action of laying the coating 11 with concrete or bituminous material;
the laser emitting parts 3 are arranged along the road 1 and distributed at two sides of the road 1, the laser emitting parts 3 are used for emitting laser beams 31 with horizontal directions to the periphery, adjacent 3 laser emitting parts 3 are positioned on a reference surface 12 in common, the reference surface 12 is the same as the design gradient of the cladding 11 inside the projection of the reference surface 12 on the road 1, and the height difference between the reference surface 12 and the cladding 11 is always the same;
a laser receiving section 4 is arranged on the paver 2, the laser receiving section 4 being configured to receive the laser beam 31 and to obtain an incident angle and an incident height of the laser beam 31;
the distance measuring section 5 is for obtaining a distance between each laser emitting section 3 and the laser receiving section 4;
the calculating part is used for deducing and providing a control command of the spreading machine 2 according to the data obtained by the laser-light receiving part 4 and the distance measuring part 5;
when the paver 2 is operated, the 3 laser emitting units 3 closest to the laser receiving unit 4 emit the laser beams 31, and the other laser emitting units 3 do not operate.
The paver 2 comprises a running gear 21, a paver 22 and a screed 23, wherein the running gear 21 is adapted to run on the road 1 along the length of the road 1, the paver 22 is connected to the front end of the running gear 21, the paver 22 is laid on the road 1 with concrete or asphalt material to form the coating 11, the screed 23 is connected to the rear end of the running gear 21, and the screed 23 comprises a screed and a hydraulic cylinder for adjusting the height and angle of the screed to level the coating 11.
1. The calculation unit derives and provides control commands for the paver 2 from the following data:
(a) The horizontal distance between the laser emitting portion 3 and the laser receiving portion 4;
(b) An incident angle and an incident height at which the laser beam 31 is irradiated on the laser receiving section 4;
(c) The height difference between the reference surface 12 and the coating 11.
2. The derivation and provision process is as follows:
(a) Establishing a coordinate system by taking the laser receiving part 4 as an origin;
(b) Calculating the horizontal coordinate of the laser emitting part 3 by a trigonometric function according to the horizontal distance between the laser emitting part 3 and the laser receiving part 4 and the incident angle of the laser beam 31 emitted by the laser emitting part 3;
(c) Calculating the vertical coordinate of the laser emitting part 3 according to the incident height of the laser beam 31 emitted by the laser emitting part 3;
(d) Deducing the height and the gradient of the reference surface 12 according to the three-dimensional coordinates of the 3 laser emission parts 3;
(e) Obtaining the height and gradient of the cladding 11 according to the height and gradient of the reference surface 12 and the height difference between the reference surface 12 and the cladding 11;
(f) The paver 2 adjusts the height and gradient of the paving according to the height and gradient of the coating 11.
3. The working process of the paver 2 is as follows:
(a) The height and the gradient of the coating 11 are obtained through the calculation part, the coating 11 is divided into a plurality of paving sections along the advancing direction of the paver 2, and the paving thickness and the leveling angle of each paving section are deduced through the calculation part;
(b) Adjusting the paving thickness of the paving device 22 according to the paving thickness of each paving interval;
(c) Adjusting the height and the inclination angle of the leveling plate according to the paving angle of each paving interval;
(d) When the paver 2 runs to the area of the next reference surface 12, the laser emitting part 3 farthest from the paver 2 stops emitting laser, and the laser emitting part 3 closer to the paver emits laser to form a new reference surface 12.
Further: since the paver 2 is constantly advancing along the road 1 and the angle between the laser emitting portion 3 and the laser receiving portion 4 is constantly changing, the laser emitting portion 3 needs to be able to emit a laser beam 31 that expands in a fan-like or circular shape, and for this purpose, an alternative embodiment is provided, as shown in fig. 4, the specific structure of which is described below.
The laser emitting section 3 includes a vertical rod 32, a laser light source 33, and a first driver 34.
The upright pole 32 is erected beside the road 1;
a laser source 33 is arranged at the top end of the upright 32 rotatably about a vertical axis;
a first drive 34 is arranged on the upright 32 and its actuator is connected to the laser source 33, the first drive 34 being used to drive the laser source 33 in rotation.
The first driver 34 is a motor, the laser source 33 is used for emitting one laser beam 31 in the horizontal direction, the first driver 34 drives the laser source 33 to rotate constantly to form a fan-shaped or circular laser plane, and the vertical rod 32 is used for adjusting the height of the laser source 33, so that the height distance between each laser emitting part 3 and the designed elevation of the cladding 11 is the same.
The upright 32 may be a tripod with a bubble level.
Further: the relative distance between the laser emitting section 3 and the laser receiving section 4 can be obtained by various methods in the related art, such as a laser tracker, but the laser tracker is expensive and it is costly to arrange several laser trackers along the road 1, and for this reason, 2 alternative embodiments are provided, the specific structure of which is described below.
First, the distance measuring section 5 is for receiving the laser beam 31 emitted by the laser light source 33 and reflected by the laser light receiving section 4, and obtaining the distance between the laser light emitting section 3 and the laser light receiving section 4 by a phase method or a pulse method;
the distance measuring unit 5 is fixedly connected to the actuator of the first driver 34 and is driven to rotate by the first driver 34.
Specifically, the distance measuring unit 5 and the laser source 33 together form a laser distance measuring device, which is oriented in the same direction as the laser source 33 and cooperates therewith, and the distance measuring unit 5 is driven to rotate by the first driver 34.
Secondly, the distance measuring part 5 is used for emitting the laser beam 31 and receiving the laser beam 31 reflected by the laser receiving part 4, and obtaining the distance between the laser emitting part 3 and the laser receiving part 4 by a phase method or a pulse method;
the distance measuring unit 5 is fixedly connected to the actuator of the first actuator 34 and is driven to rotate by the first actuator 34, or the distance measuring unit 5 can rotate by itself.
Specifically, the distance measuring unit 5 is a separate laser distance measuring instrument, which is oriented in the same direction as or in a different direction from the laser light source 33 and operates separately, and the distance measuring unit 5 is rotated by the first driver 34 or another motor.
A laser beam 31 emitted from the laser light source 33 or the ranging section 5 is partially received by the laser receiving section 4 to determine the incident angle and the incident height of the laser beam 31, and is partially reflected by the laser receiving section 4 and received by the ranging section 5 to obtain the distance between the laser emitting section 3 and the laser receiving section 4 by the phase method or the pulse method.
In the related art, the laser source 33 is normally not rotated, and rotated is a 45-degree prism aligned with the laser source 33, which is continuously rotated to refract the laser light into a horizontal plane.
The distance measuring part 5 can be driven to rotate constantly by the first driver 34, thereby eliminating a motor dedicated to driving the distance measuring part 5 to rotate.
However, since the laser range finder has a minimum response time, the rotation speed of the first driver 34 for driving the laser source 33 to rotate is slow compared to the laser level so as to avoid that the laser range finder cannot obtain a distance in time, and if the rotation speed of the laser source 33 cannot meet the requirement of forming a fan-shaped or circular laser plane, 2 motors are required to drive the laser source 33 and the range finder 5 to rotate at different rotation speeds.
Further: in the related art, since the paving machine 2 continuously advances along the road 1, the incident angle of the laser beam 31 received by the laser receiving part 4 is continuously changed, and in order to enable the laser receiving part 4 to always receive the laser beam 31, the laser receiving part 4 needs to be designed in a structure capable of receiving the laser beam 31 in a range of 360 degrees.
Meanwhile, when the laser beam 31 is received by the laser receiving section 4, it is also necessary to be able to determine the incident angle and height of the laser beam 31 and to distinguish the laser beams 31 emitted from different laser emitting sections 3.
Also, since the road 1 has a slope and the laser beam 31 emitted from the laser emitting portion 3 is always horizontal, the light-sensitive receiving area 44 and the light reflecting area 45 need to be able to always maintain a vertical posture so as to be able to obtain an accurate value of the incident height of the laser beam 31 and an optical path for reflecting the laser beam 31 to the ranging portion 5.
To this end, an alternative embodiment is provided to solve the above 3 technical problems, as shown in fig. 5, and the specific structure thereof is as follows.
The laser receiving section 4 includes a self-balancing base 41, a rotating section 42, a driver 43, a light receiving section 44, a light reflecting section 45, and an angle sensor 46.
The self-balancing base 41 is provided with an execution part which always keeps a vertical posture through gravity induction, and the self-balancing base 41 is fixedly connected with the paver 2;
the rotating part 42 is connected to the execution part of the self-balancing base 41 in a manner of rotating around a vertical axis;
the driver 43 is connected to the execution part of the self-balancing base 41, and the execution part of the driver 43 is connected with the rotation part 42 and is used for driving the rotation part 42 to rotate;
the photosensitive receiving area 44 is vertically connected to the rotating part 42, the height of the photosensitive receiving area 44 is larger than the maximum height difference between the adjacent 3 laser emitting parts 3, and the receiving angle of the photosensitive receiving area 44 for receiving the laser beam 31 on the horizontal plane is less than or equal to 1 degree;
the light reflection area 45 is vertically connected to the rotating part 42, and the height of the light reflection area 45 is the same as that of the photosensitive receiving area 44;
the angle sensor 46 is in transmission connection with the actuating shaft of the rotary part 42 or the actuator 43 and is used to obtain the angle of rotation of the actuating shaft of the rotary part 42 or the actuator 43.
The self-balancing base 41 is a tumbler-like structure that is self-balancing under the force of gravity, the driver 43 is a motor, the light reflecting region 45 is a mirror or prism that reflects the perpendicularly incident laser beam 31 back, and the angle sensor 46 is a hollow shaft photoelectric encoder.
The incident height of the laser beam 31 is obtained as follows: in the related art, the photosensitive receiving area 44 is typically a line image sensor, which forms a line laser receiving controller together with a corresponding measurement control unit, and the line image sensor includes a plurality of photodiodes, and the incident height of the laser beam 31 is obtained based on the height of the activated photodiodes.
The incident angle of the laser beam 31 is obtained as follows: since the photosensitive receiving area 44 is continuously rotated, the photosensitive receiving area 44 can receive the laser beam 31 in all directions by 360 degrees within a range of heights such that the photosensitive receiving area 44 can simultaneously receive the laser beams 31 emitted from the adjacent 3 laser emitting parts 3 located at different heights.
Because the laser emitting parts 3 are arranged along the road 1 and distributed on two sides of the road 1, the central angle between the nearest 3 laser emitting parts 3 around the paver 2 is inevitably greater than 1 degree by taking the paver 2 as the center of circle, so that the photosensitive receiving area 44 can only receive one laser beam 31 at the same time.
The angle sensor 46 is used to obtain the orientation of the light-sensitive receiving area 44 on the horizontal plane, and when the light-sensitive receiving area 44 receives the laser beam 31, the opposite direction of the orientation of the light-sensitive receiving area 44 is the incident angle of the laser beam 31.
And further: in order to enable the turning part 42 to be always erected on the paver 2, an alternative embodiment of a self-balancing base 41 is provided, the specific structure of which is described below.
The self-balancing base 41 includes a bowl 411, a core 412, a weight 413 and a support 414.
The ball bowl 411 is fixedly connected to the top of the paver 2;
the core 412 is rotatably connected to the inside of the bowl 411;
the weight 413 is fixedly connected with the ball core 412 and suspended below the ball core 412;
the bracket 414 is fixedly connected to the core 412 and disposed on a side of the core 412 away from the weight 413, and the driver 43 is fixedly connected to the bracket 414.
Under the action of gravity, the weight 413 always keeps a vertical downward posture, so that the bracket 414 and the driver 43 connected with the bracket always keep a vertical upward posture.
And further: to facilitate the rotation of the rotating portion 42 and to connect the light-sensitive receiving area 44 and the light-reflecting area 45 at the surface thereof, an alternative embodiment of the rotating portion 42 is provided, as shown in fig. 6, the specific structure of which is described below.
The rotating part 42 includes a rotating shaft 421 and a rotating drum 422
The rotating shaft 421 is connected with the executing part of the driver 43;
the rotating cylinder 422 is coaxially sleeved outside the rotating shaft 421 and is fixedly connected with the rotating shaft 421 through the rib 423;
the outer wall of the drum 422 is formed with a recess 424 extending in the axial direction of the drum 422, and the light-sensitive receiving area 44 is attached to the inside of the recess 424.
The function of the rotating shaft 421, the rotating drum 422 and the rib 423 is to form a light-weighted cylindrical rotating part, which has a space capable of disposing the photosensitive receiving area 44 and the light reflecting area 45, and is light and firm enough to avoid affecting the operation of the self-balancing base 41 and avoid being affected by strong wind.
The recessed portion 424 is used to shield the laser beams 31 emitted from 2 laser emitting portions 3, so that the photosensitive receiving area 44 can only receive the laser beam 31 emitted from one laser emitting portion 3 at a time, which is beneficial for the laser receiving portion 4 to determine the incident angle of the laser beam 31.
And further: in order to facilitate the laser receiving section 4 in determining the incident angle of the laser beam 31 of the laser emitting section 3, an alternative embodiment is provided for this purpose, and its specific structure is as follows.
The central angle of the area occupied by the depressions 424 in the cross-section of the drum 422 is 1 deg. or less.
In the figure, for the sake of clarity of the concave portion 424, the central angle occupied by the concave portion 424 is larger, and actually the central angle occupied by the concave portion 424 is smaller than or equal to 1 °, so that the incident angle of the laser beam 31 derived by the calculating portion can be accurate to within 1 ° when the laser beam 31 is irradiated onto the light-sensitive receiving region 44 through the concave portion 424.
Further: because the rotating part 42 rotates for a circle, the incident angle of the laser beam 31 emitted by the 3 laser emitting parts 3 can be judged through the photosensitive receiving area 44, when the paving speed is high, the rotating speed requirement of the rotating part 42 is high, the structural strength requirement of the rotating part 42 is also high, the structural strength of the rotating part 42 is improved, the weight of the rotating part is inevitably improved, and the principle of lightweight design of the rotating part 42 is not met.
The recess 424 is provided with a plurality of recesses and is uniformly distributed around the axis of the rotating shaft 421, and a photosensitive receiving area 44 is connected to the inside of each recess 424.
When each light-sensitive receiving area 44 sends out a signal, the calculation part judges the signal sent out by each light-sensitive receiving area 44 independently, and the angle when each light-sensitive receiving area 44 sends out a signal and the height of the photodiode are obtained through the angle sensor 46, so that the incident angle and the incident height of the laser beam 31 are obtained.
The rotating part 42 rotates once to receive the laser beams 31 emitted by the 3 laser emitting parts 3 for a plurality of times through the photosensitive receiving areas 44, so that the incident angle of the laser beams 31 is deduced for a plurality of times, and the rotating speed of the rotating part 42 does not need to be increased.
To this end, an alternative embodiment is provided, the specific structure of which is described below.
The outer wall of the drum 422 where the recess 424 is not formed is formed with prism surfaces 425, and the light reflection area 45 is formed on the outer wall of each prism surface 425.
The prism surface 425 is used to reflect the laser beam 31 emitted from the laser emitting unit 3 or the distance measuring unit 5, reflect it vertically and receive it by the distance measuring unit 5 to determine the distance between the distance measuring unit 5 and the laser receiving unit 4 without hanging a lens or a prism on the outer wall of the drum 422.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art to the present invention without departing from the spirit and scope of the invention, and such modifications and equivalents should be considered as falling within the scope of the invention.
Claims (10)
1. The utility model provides an intelligence paving system based on laser guide which characterized in that includes:
a paver (2) for travelling on a road (1) and performing the action of laying a coating (11) with concrete or bituminous material;
a plurality of laser emitting parts (3) which are arranged along the road (1) and distributed at two sides of the road (1), wherein the laser emitting parts (3) are used for emitting laser beams (31) with horizontal directions to the periphery, 3 adjacent laser emitting parts (3) are positioned on a reference surface (12) together, the reference surface (12) has the same design gradient with the cladding (11) inside the projection of the reference surface (12) on the road (1), and the height difference between the reference surface (12) and the cladding (11) is always the same;
a laser receiving section (4) arranged on the paver (2), the laser receiving section (4) being configured to receive the laser beam (31) and to obtain an angle of incidence and a height of incidence of the laser beam (31);
a distance measuring unit (5) for obtaining a distance between each of the laser emitting units (3) and the laser receiving unit (4);
a calculating part used for deriving and providing a control instruction of the paver (2) according to the data obtained by the laser receiving part (4) and the distance measuring part (5);
wherein the content of the first and second substances,
when the paver (2) works, 3 laser emitting parts (3) which are closest to the laser receiving part (4) emit laser beams (31).
2. The intelligent paving system based on laser guidance as claimed in claim 1,
the laser emitting section (3) includes:
a vertical rod (32) which is erected beside the road (1);
a laser source (33) arranged at the top end of the upright (32) rotatably around a vertical axis;
a first drive (34) arranged on the upright (32) and having its execution connected with the laser source (33), the first drive (34) being used to drive the laser source (33) in rotation.
3. The intelligent paving system based on laser guidance as claimed in claim 2,
the distance measuring section (5) is configured to receive the laser beam (31) emitted by the laser light source (33) and reflected by the laser light receiving section (4), and to obtain a distance between the laser light emitting section (3) and the laser light receiving section (4) by a phase method or a pulse method;
the distance measuring part (5) is fixedly connected with an executing part of the first driver (34) and is driven to rotate by the first driver (34).
4. The intelligent paving system based on laser guidance as claimed in claim 2,
the distance measuring section (5) is configured to emit the laser beam (31) and receive the laser beam (31) reflected by the laser receiving section (4), and obtain a distance between the laser emitting section (3) and the laser receiving section (4) by a phase method or a pulse method;
the distance measuring part (5) is fixedly connected with an executing part of the first driver (34) and is driven to rotate by the first driver (34), or the distance measuring part (5) can rotate by itself.
5. The intelligent paving system based on laser guidance according to any of the claims 1-4,
the laser receiving section (4) includes:
the self-balancing base (41) is provided with an execution part which always keeps a vertical posture through gravity induction, and the self-balancing base (41) is fixedly connected with the spreading machine (2);
a rotating part (42) which can be connected to the execution part of the self-balancing base (41) in a rotating way around a vertical axis;
the driver (43) is connected to an execution part of the self-balancing base (41), and the execution part of the driver (43) is connected with the rotating part (42) and is used for driving the rotating part (42) to rotate;
the photosensitive receiving area (44) is vertically connected to the rotating part (42), the height of the photosensitive receiving area (44) is larger than the maximum height difference between the adjacent 3 laser emitting parts (3), and the receiving angle of the photosensitive receiving area (44) for receiving the laser beam (31) on the horizontal plane is smaller than or equal to 1 degree;
the light reflection area (45) is vertically connected to the rotating part (42), and the height of the light reflection area (45) is the same as that of the photosensitive receiving area (44);
an angle sensor (46) which is in transmission connection with the rotating part (42) or an actuating shaft of the driver (43) and is used for obtaining a rotating angle of the rotating part (42) or the actuating shaft of the driver (43).
6. The intelligent paving system based on laser guidance as recited in claim 5,
the self-balancing base (41) comprises:
the ball bowl (411) is fixedly connected to the top of the paver (2);
a core (412) rotatably connected to the interior of the bowl (411);
a weight (413) fixedly connected to the core (412) and suspended below the core (412);
a support (414) fixedly connected with the ball core (412) and arranged on the side of the ball core (412) far away from the weight (413), wherein the driver (43) is fixedly connected with the support (414).
7. The intelligent paving system based on laser guidance as claimed in claim 5,
the rotating section (42) includes:
a rotating shaft (421) connected with an execution part of the driver (43);
the rotating cylinder (422) is coaxially sleeved on the outer side of the rotating shaft (421) and is fixedly connected with the rotating shaft (421) through a rib (423);
a recess portion (424) formed in an outer wall of the drum (422) and extending in an axial direction of the drum (422), the photosensitive receiving area (44) being connected to an inside of the recess portion (424).
8. The intelligent paving system based on laser guidance as claimed in claim 7,
the central angle of the area occupied by the depressions (424) in the cross-section of the drum (422) is less than or equal to 1 deg.
9. The intelligent paving system based on laser guidance as recited in claim 7,
the concave parts (424) are uniformly distributed around the axis of the rotating shaft (421), and the photosensitive receiving area (44) is connected inside each concave part (424).
10. The intelligent paving system based on laser guidance as recited in claim 7,
the drum (422) has prism surfaces (425) formed on the outer wall thereof at portions where the recesses (424) are not formed, and the light reflection area (45) is formed on the outer wall of each of the prism surfaces (425).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211067275.8A CN115538253A (en) | 2022-09-01 | 2022-09-01 | Intelligent paving system based on laser guide |
| PCT/CN2022/129753 WO2024045327A1 (en) | 2022-09-01 | 2022-11-04 | Intelligent paving system based on laser guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211067275.8A CN115538253A (en) | 2022-09-01 | 2022-09-01 | Intelligent paving system based on laser guide |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115538253A true CN115538253A (en) | 2022-12-30 |
Family
ID=84725235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211067275.8A Pending CN115538253A (en) | 2022-09-01 | 2022-09-01 | Intelligent paving system based on laser guide |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115538253A (en) |
| WO (1) | WO2024045327A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114481759A (en) * | 2022-01-27 | 2022-05-13 | 中国建筑第二工程局有限公司 | Small-radius connection sharp-bend paving method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4861189A (en) * | 1987-02-26 | 1989-08-29 | Kajima Corporation | System for paving inclined and/or curved surfaces |
| JP4309014B2 (en) * | 2000-03-08 | 2009-08-05 | 株式会社トプコン | Construction machine control system with laser reference plane |
| EP2006448A1 (en) * | 2007-06-21 | 2008-12-24 | Leica Geosystems AG | Paving machine for applying a cover layer made of concrete or asphalt material |
| JP6178704B2 (en) * | 2013-11-15 | 2017-08-09 | アジア航測株式会社 | Measuring point height assigning system, measuring point height assigning method, and measuring point height assigning program |
| CN103866673B (en) * | 2014-02-20 | 2015-11-18 | 天津大学 | The method for real-time monitoring of high grade highway pavement paving thickness and monitoring system |
| CN111088742A (en) * | 2019-11-13 | 2020-05-01 | 中航凯迪恩机场工程有限公司 | Non-navigation-stop asphalt multi-machine continuous paving method applying 3D automatic paving system |
| CN111021206B (en) * | 2019-11-20 | 2021-06-25 | 中铁四局集团第一工程有限公司 | Road surface flatness detection method and system |
-
2022
- 2022-09-01 CN CN202211067275.8A patent/CN115538253A/en active Pending
- 2022-11-04 WO PCT/CN2022/129753 patent/WO2024045327A1/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114481759A (en) * | 2022-01-27 | 2022-05-13 | 中国建筑第二工程局有限公司 | Small-radius connection sharp-bend paving method |
| CN114481759B (en) * | 2022-01-27 | 2023-07-25 | 中国建筑第二工程局有限公司 | Small-radius connection sharp-bending paving method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024045327A1 (en) | 2024-03-07 |
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