CN116067341A - 3D (three-dimensional) paving control device based on adjustable gradient laser system and RTK (real-time kinematic) positioning technology - Google Patents
3D (three-dimensional) paving control device based on adjustable gradient laser system and RTK (real-time kinematic) positioning technology Download PDFInfo
- Publication number
- CN116067341A CN116067341A CN202310315627.5A CN202310315627A CN116067341A CN 116067341 A CN116067341 A CN 116067341A CN 202310315627 A CN202310315627 A CN 202310315627A CN 116067341 A CN116067341 A CN 116067341A
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- laser
- rtk
- control unit
- paver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/12—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for distributing granular or liquid materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a 3D paving control device based on an adjustable gradient laser system and an RTK positioning technology, which comprises an RTK reference station, a laser transmitter and a vehicle-mounted controller, wherein the vehicle-mounted controller and the laser reflector are internally provided with RTK mobile units, the RTK reference station respectively transmits RTK differential data to the RTK mobile units, the RTK mobile units respectively calculate coordinate data to a main control unit according to the differential data, the main control unit transmits an adjustment instruction to the laser transmitter unit according to the coordinate data, the laser transmitter unit transmits a laser signal to a laser receiving unit, the laser receiving unit receives the laser signal and converts the laser signal into a corresponding height value to be transmitted to the main control unit, and the main control unit carries out difference value operation according to the coordinate data of the vehicle-mounted controller and the height value and inputs the difference value to the paver control unit. According to the invention, the RTK positioning technology is superimposed on the basis of the laser transmitter, so that the automatic tracking calculation of the elevation information of the 3D paver is realized, and the measurement cost is greatly reduced.
Description
Technical Field
The invention belongs to the technical field of 3D (three-dimensional) paving intelligent control, and relates to a 3D paving control device based on an adjustable gradient laser system and an RTK (real-time kinematic) positioning technology.
Background
The existing intelligent 3D paving system mainly comprises a 3D paver, RTK equipment, a laser system and a control system. In this system, the 3D paver itself is not modified, as in the existing wire-running paver; the laser system is mainly used for measuring the paving elevation; the GPS-based RTK equipment is used as a high-precision plane coordinate positioning means; the control system is mainly used for receiving coordinate data acquired by the RTK equipment and the laser system, comprehensively processing the data, and then comparing the coordinate data with design data to generate control information for controlling the paver so as to meet the standard requirement of paving.
One key link of the 3D paving intelligent control technical scheme is elevation measurement of the 3D paver, the elevation precision of RTK equipment measurement cannot meet the requirements, and therefore an elevation information measurement basically adopts a laser system. The working principle of the laser system is that the laser transmitter transmits a laser plane, the laser receiver receives a laser signal and transmits the laser signal to the control system, the control system acquires preset elevation information according to the plane coordinate position, and calculates elevation difference information by combining with laser measurement actual elevation, so as to control paving thickness. In practical engineering, the height Cheng Qifu drop of the road surface is in a relatively large section, and two main modes exist at present when the laser receiver can receive the laser signal: the first is that the laser transmitter adopts a domain laser technology, and laser is transmitted in one interval in the vertical direction, so that the laser receiver can receive laser signals in one interval in the vertical direction; the second is that the laser transmitter adopts an automatic total station to track the laser detector, the transmitting and receiving are concentrated in one device, and the laser is reflected to the transmitting device by an optical device on the 3D paver. These two approaches have the following problems:
the domain laser transmitter of the first mode is a foreign patent technology, so the cost is high;
in the second mode, 3 automatic total stations are needed for a single system, so that the cost of each automatic total station is high, the operation is complex, the operation is needed by professionals, and the operation cannot be implemented by common workers.
For the above reasons, both of these approaches cannot be widely used for 3D paving systems.
Disclosure of Invention
The invention aims to provide a 3D paving control device based on an adjustable gradient laser system and an RTK positioning technology, which is based on the RTK high-precision positioning technology, not only positions a 3D paver, but also positions a laser emitter, the height change of a laser receiver is tracked by the gradient-adjustable emitting laser of the laser emitter, and the height change of the laser receiver is calculated through a space geometric relation according to high-precision position information acquired by the RTK positioning technology, so that low-cost and automatic height measurement is realized.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a 3D control device that paves based on adjustable gradient laser system and RTK location technique, includes RTK reference station, laser emitter and on-vehicle controller, on-vehicle controller in be provided with master control unit and paver control unit, its characterized in that: a first RTK mobile unit and a laser transmitting unit are arranged in the laser transmitter, a second RTK mobile unit and a laser receiving unit are also arranged in the vehicle-mounted controller, the RTK reference station is in wireless communication connection with the first RTK mobile unit and the second RTK mobile unit, the RTK reference station transmits RTK differential data to the first RTK mobile unit and the second RTK mobile unit respectively, the first RTK mobile unit and the second RTK mobile unit respectively calculate coordinate data of the laser transmitter and the vehicle-mounted controller according to the RTK differential data, and the coordinate data are respectively transmitted to the main control unit, the main control unit sends an instruction for adjusting the laser plane angle to the laser transmitting unit according to the coordinate data, the laser transmitting unit transmits a laser signal to the laser receiving unit, the laser receiving unit converts the laser signal into a relative height value of a corresponding laser transmitter after receiving the laser signal, the height value is transmitted back to the main control unit, the main control unit carries out difference value operation according to the coordinate data of the vehicle-mounted controller and the height value and inputs the difference value to the paver control unit, and the paver control unit adjusts the paving thickness.
Further, the wireless communication connection between the RTK reference station and the first and second RTK mobile units is in a WIFI, mobile communication network or FM communication mode.
Further, the first RTK mobile unit and the second RTK mobile unit transmit the calculated coordinate data to the main control unit in a transfer or wired connection mode through a network server.
Further, the laser transmitters comprise a plurality of laser transmitters which are sequentially arranged on the pile foundation of the road pile point at intervals.
Further, the paver control unit converts the relative difference value into a signal for controlling the height of the hydraulic rod of the paver so as to control the height of the hydraulic rod of the paver.
Further, the laser transmitter provides the coordinate data for the main control unit by determining the pile foundation height of the laser transmitting surface relative to the pile point.
Further, the laser transmitter obtains plane coordinate values of the laser transmitter through the first RTK mobile unit, and then the absolute elevation of the laser transmitter is determined through the laser plane of the laser transmitter and pile foundation heights with known absolute elevations, so that coordinate data of the laser transmitter are provided.
Further, the laser receiving units are respectively arranged at the left side and the right side of the 3D paver and connected with the paver screed of the 3D paver, and elevation information of the left side and the right side of the 3D paver is collected through the laser receiving units.
Due to the adoption of the technical scheme, the invention has the following advantages:
according to the 3D paving control device, automatic tracking calculation of elevation information of the 3D paver is realized by superposing the RTK positioning technology on the basis of a conventional laser transmitter, and the cost of measuring equipment is greatly reduced; meanwhile, the control device reduces the participation amount of personnel and the skill requirement on engineering personnel in the use process, and is convenient for large-area popularization and use.
Drawings
Fig. 1 is a schematic structural diagram of a 3D paving control device according to the present disclosure.
Fig. 2 is a flowchart of the operation of the 3D paving control apparatus of the present invention.
The reference numerals are as follows: the system comprises a 1-RTK reference station, a 2-laser transmitter, a 3-vehicle-mounted controller, a 4-first RTK mobile unit, a 41-second RTK mobile unit, a 5-laser transmitting unit, a 6-laser receiving unit, a 7-master control unit, an 8-paver control unit and a 9-network server.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings, so that the objects, features and advantages of the present invention will be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the invention, but rather are merely illustrative of the true spirit of the invention.
The invention relates to a 3D paving control device based on an adjustable gradient laser system and an RTK positioning technology, which comprises an RTK reference station, a laser transmitter and a vehicle-mounted controller, wherein the vehicle-mounted controller and the laser reflector are internally provided with RTK mobile units, the RTK reference station respectively transmits RTK differential data to the RTK mobile units, the RTK mobile units respectively transmit coordinate data of the laser transmitter and the vehicle-mounted controller which are calculated according to the differential data to a main control unit, the main control unit transmits an adjusting instruction to the laser transmitter according to the coordinate data, the laser transmitter transmits a laser signal to a laser receiving unit, the laser receiving unit receives the laser signal and converts the laser signal into a corresponding height value to be transmitted to the main control unit, and the main control unit carries out difference operation according to the coordinate data of the vehicle-mounted controller and the height value and inputs the difference value to the control unit of the paving machine to realize paving thickness adjustment. According to the invention, the RTK positioning technology is superimposed on the basis of the laser transmitter, so that the automatic tracking calculation of the elevation information of the 3D paver is realized, and the measurement cost is greatly reduced.
As shown in fig. 1. The invention provides a 3D paving control device based on an adjustable gradient laser system and an RTK positioning technology, which comprises an RTK reference station 1, a laser transmitter 2, a vehicle-mounted controller 3 and an RTK mobile unit, wherein the RTK mobile unit comprises a first RTK mobile unit 4 and a second RTK mobile unit 41, the first RTK mobile unit 4 is arranged in the laser transmitter 2, the laser transmitter 2 is internally provided with a laser transmitting unit 5 at the same time, the second RTK mobile unit 41 is arranged in the vehicle-mounted controller 3, and the vehicle-mounted controller 3 is internally provided with a laser receiving unit 6, a main control unit 7 and a paver control unit 8 at the same time. The RTK reference station 1 is in wireless communication connection with the first RTK mobile unit 4 and the second RTK mobile unit 41, the RTK reference station 1 sends RTK differential data to the first RTK mobile unit 4 and the second RTK mobile unit 41 respectively, the first RTK mobile unit 4 and the second RTK mobile unit 41 respectively calculate coordinate data of the laser transmitter 2 and the vehicle-mounted controller 3 according to the RTK differential data, the coordinate data are respectively transmitted to the main control unit 7, the main control unit 7 sends an instruction for adjusting the laser plane angle to the laser transmitting unit 5 according to the coordinate data, the laser transmitting unit 5 transmits a laser signal to the laser receiving unit 6, the laser receiving unit 6 converts the laser signal into a relative height value of the corresponding laser transmitter 2 after receiving the laser signal, and transmits the height value to the main control unit 7, and the main control unit 7 calculates and inputs the difference value of the coordinate data of the vehicle-mounted controller 3 to the paving machine controller 8.
Specifically, the laser receiving unit 6 is a laser receiver, and the first RTK receiving unit 4 and the second RTK receiving unit 41 are provided with an RTK device antenna. The laser transmitters 2 comprise a plurality of laser transmitters 2 which are sequentially arranged at pile foundations of the main road pile point according to certain distance intervals. The vehicle-mounted controller 3 is arranged on the 3D paver, the laser receiver and the RTK equipment antenna are arranged on a paver screed of the 3D paver, the laser receiver and the RTK equipment antenna on the 3D paver are in communication with the master control unit 7 in a wired connection mode, and the laser receiver and the master control unit 7 on the 3D paver are in communication connection with the laser transmitter 2 in a wireless mode.
The vehicle-mounted controller 3 is used as an independent device and comprises a second RTK mobile unit 41, a laser receiving unit 6, a main control unit 7 and a paver control unit 8, wherein the laser receiving unit 6 is connected with the main control unit 7 through a cable, other units of the vehicle-mounted controller 3 are integrated on a main board, the vehicle-mounted controller 3 is in butt joint with a 3D paver hydraulic system through the cable, an RTK device antenna on the second RTK mobile unit 41 in the vehicle-mounted controller 3 is connected in an extending mode through a radio frequency cable, and the position of the RTK device antenna is used for representing the position of the vehicle-mounted controller 3. The paver control unit 8 is responsible for converting the relative difference value into a signal for controlling the height of the hydraulic rod of the paver, and the height of the hydraulic rod of the paver is controlled by inputting the signal for controlling the height.
As an preference, the RTK device antenna may be a GNSS receiving antenna, where the GNSS receiving antenna and the laser receiving unit 6 may simultaneously receive GNSS satellite signals and laser signals emitted by the laser emitter 2 and transmit the signals to the main control unit 7 through a cable, and the main control unit 7 calculates GNSS three-dimensional coordinates and precise elevation of the real-time vehicle-mounted controller and the laser emitter according to the received signal data and the data of initial calibration input, and sends the GNSS three-dimensional coordinates and precise elevation to a hydraulic system of the paver to perform lifting control on the screed of the paver to achieve millimeter-level elevation precision.
Two laser receiving units 6 are arranged in the vehicle-mounted controller 3, the two laser receiving units 6 are respectively arranged on the left side and the right side of the 3D paver, the laser receiving units 6 are arranged on an automatic or manual liftable mast and are in rigid connection with a paver screed, and the laser receiving units 6 on the two sides are respectively used for collecting elevation information on the left side and the right side of the 3D paver.
Further, the wireless communication between the RTK reference station 1 and the first RTK mobile unit 4 and the second RTK mobile unit 41 is performed by WIFI, a mobile communication network or FM communication.
As one preferable mode, the RTK reference station 1 transmits the RTK differential data in a broadcast manner, the first RTK mobile unit 4 and the second RTK mobile unit 41 receive the RTK differential data, perform local calculation of GPS coordinate data, then transmit the GPS coordinate data to the main control unit 7 through the network server 9 in a transfer or wired connection manner, and the main control unit 7 sends an instruction for adjusting the laser plane angle to the laser transmitting unit 5 of the laser transmitter 2 according to the GPS coordinate data of each road host pile foundation and the GPS coordinate data of the vehicle-mounted controller 3 of the 3D paver.
Further, the laser transmitter 2 is mounted on an elevation stake point of a known host pavement stake point. The laser transmitter 2 provides the coordinate data to the main control unit 7 by determining the pile foundation height of the laser transmitting surface relative to the pile point. Firstly, aligning the laser surface position through a laser receiver, then calculating the height of the laser transmitter 2 through scales on the laser receiver, determining the height of the laser transmitting surface relative to the pile foundation to provide absolute three-dimensional coordinate values for the main control unit 7, and obtaining coordinate data.
Preferably, the laser transmitter 2 can be erected at any other position outside the roadbed, the plane coordinate value of the laser transmitter 2 is obtained through the first RTK mobile unit 4, then the absolute elevation of the laser transmitter 2 is determined through the laser plane of the laser transmitter 2 and the pile foundation height of the known absolute elevation, so that the three-dimensional coordinate value of the laser transmitter 2 is provided, and coordinate data are obtained. When the laser transmitter 2 is arranged at any other position outside the roadbed, the absolute height Cheng Ji can be conveniently obtained based on pile foundation determination.
When the laser emission unit 5 emits plane laser, as the laser emitter 2 is provided with a wireless FM communication interface, the included angle between the laser plane and the horizontal plane is controlled externally by sending a control command through an FM emitter integrated in the main control unit 7, and the external control command interface is connected with the main control unit 7 in a wireless communication mode and is mainly used for receiving a command for adjusting the angle of the laser plane sent by the main control unit 7. The external control command interface is preferably an FM wireless communication interface.
The laser receiving unit 6 receives the laser signal of the laser emitting unit 5, converts the laser signal into a relative height value relative to the laser emitter 2, and then transmits the resolved height value to the main control unit 7 in a wired manner. The main control unit 7 is a core unit of the whole device and is responsible for receiving data collected by other units of the control device, then calculates high-precision three-dimensional coordinate data of the position of the vehicle-mounted controller 3 according to a determined algorithm program, performs difference value operation with preset elevation information of the current position, and inputs the difference value into the paver control unit 8 through a wired interface to realize adjustment of paving thickness.
As shown in fig. 2. When the control device is used, the RTK reference station 1 is firstly erected, the RTK reference station 1 starts to work, then the position of the laser transmitter 2 is deployed, the plane coordinates and the azimuth angle of the X axis of the laser transmitter are automatically obtained, the elevation coordinates are measured in a manual mode, and the three-dimensional coordinate information and the azimuth angle information are uploaded to the server.
Then, the laser transmitter 2 transmits horizontal plane laser along the X-axis direction, the laser receiving unit 6 in the vehicle-mounted controller 3 is moved up and down to receive the laser transmitted by the laser transmitter 2, the initial relative height of the laser receiver is shifted to 0, when the main control unit 7 in the vehicle-mounted controller 3 acquires the coordinate information of the laser transmitter 2 and the azimuth angle of the X-axis from the server, the coordinate information of the laser receiving unit 6 is acquired from the wired interface, and then the initial elevation information of the laser receiving unit 6 is calculated according to the algorithm of calculating the elevation according to the space distance. When the vehicle-mounted controller 3 changes along with the displacement of the 3D paver, the main control unit 7 acquires the coordinate information of the current laser receiving unit 6 in real time, then calculates the current elevation information in real time according to an algorithm for calculating the elevation according to the space distance, the main control unit 7 compares the current calculated elevation information with the elevation information preset at the current position to calculate a difference value, then sends the difference value to the paver control unit 8 to adjust the paving thickness, if the laser receiving unit 6 is about to exceed the receiving range, the main control unit 7 reversely calculates the angle of the laser surface of the laser emitter 2 needing to be inclined again according to the current position information and the increment change value of the elevation through the algorithm for calculating the elevation according to the space distance, and sends an instruction for adjusting the inclination angle of the laser surface to the laser emitter 2 through wireless communication.
Claims (8)
1. The utility model provides a 3D control device that paves based on adjustable gradient laser system and RTK location technique, includes RTK reference station (1), laser emitter (2) and on-vehicle controller (3), on-vehicle controller (3) in be provided with master control unit (7) and paver control unit (8), its characterized in that: a first RTK mobile unit (4) and a laser transmitting unit (5) are arranged in the laser transmitter (2), a second RTK mobile unit (41) and a laser receiving unit (6) are also arranged in the vehicle-mounted controller (3), the RTK reference station (1) is in wireless communication connection with the first RTK mobile unit (4) and the second RTK mobile unit (41), the RTK reference station (1) transmits RTK differential data to the first RTK mobile unit (4) and the second RTK mobile unit (41) respectively, the first RTK mobile unit (4) and the second RTK mobile unit (41) respectively calculate coordinate data of the laser transmitter (2) and the vehicle-mounted controller (3) according to the RTK differential data, the coordinate data are respectively transmitted to the main control unit (7), the main control unit (7) transmits an instruction for adjusting a plane angle to the transmitting unit (5) according to the coordinate data, the main control unit (7) transmits laser signals to the laser transmitting unit (6) to a corresponding laser receiving value after the laser transmitting unit (6) receives the laser signals to the laser transmitting unit (6), the main control unit (7) performs difference value operation according to the coordinate data of the vehicle-mounted controller (3) and the height value, and inputs the difference value into the paver control unit (8), and the paver control unit (8) adjusts the paving thickness.
2. A 3D paving control device based on an adjustable gradient laser system and RTK positioning technique as claimed in claim 1, wherein: the wireless communication connection between the RTK reference station (1) and the first RTK mobile unit (4) and the second RTK mobile unit (41) is in a WIFI, mobile communication network or FM communication mode.
3. A 3D paving control device based on an adjustable gradient laser system and RTK positioning technique according to claim 1 or 2, characterized in that: the first RTK mobile unit (4) and the second RTK mobile unit (41) transmit the calculated coordinate data to the main control unit (7) through a network server (9) in a transfer or wired connection mode.
4. A 3D paving control device based on an adjustable gradient laser system and RTK positioning technique according to claim 3, wherein: the laser transmitters (2) comprise a plurality of laser transmitters (2) which are sequentially arranged on the pile foundation of the road pile point at intervals.
5. The 3D paving control device based on the tunable gradient laser system and the RTK positioning technique according to claim 4, wherein: the paver control unit (8) converts the relative difference value into a signal for controlling the height of the hydraulic rod of the paver so as to control the height of the hydraulic rod of the paver.
6. The 3D paving control device based on the tunable gradient laser system and the RTK positioning technique according to claim 5, wherein: the laser transmitter (2) provides the coordinate data for the main control unit (7) by determining the pile foundation height of the laser transmitting surface relative to the pile point.
7. The 3D paving control device based on the tunable gradient laser system and the RTK positioning technique according to claim 6, wherein: the method comprises the steps that a laser transmitter (2) firstly obtains plane coordinate values of the laser transmitter (2) through a first RTK mobile unit (4), and then determines the absolute elevation of the laser transmitter (2) through the laser plane of the laser transmitter (2) and pile foundation heights of known absolute elevations, so that coordinate data of the laser transmitter (2) are provided.
8. A 3D paving control device based on an adjustable gradient laser system and RTK positioning technique as claimed in claim 1, wherein: the laser receiving units (6) are respectively arranged at the left side and the right side of the 3D paver and are connected with paver screed plates of the 3D paver, and elevation information of the left side and the right side of the 3D paver is collected through the laser receiving units (6).
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|---|---|---|---|
| CN202310315627.5A CN116067341B (en) | 2023-03-29 | 2023-03-29 | 3D (three-dimensional) paving control device based on adjustable gradient laser system and RTK (real-time kinematic) positioning technology |
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|---|---|---|---|
| CN202310315627.5A CN116067341B (en) | 2023-03-29 | 2023-03-29 | 3D (three-dimensional) paving control device based on adjustable gradient laser system and RTK (real-time kinematic) positioning technology |
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| CN116067341A true CN116067341A (en) | 2023-05-05 |
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| US20040125365A1 (en) * | 2002-12-26 | 2004-07-01 | Fumio Ohtomo | Working position measuring system |
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| CN110983925A (en) * | 2019-12-18 | 2020-04-10 | 河南省公路工程局集团有限公司 | Automatic paving method based on laser scanning and satellite positioning |
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2023
- 2023-03-29 CN CN202310315627.5A patent/CN116067341B/en active Active
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| US20040125365A1 (en) * | 2002-12-26 | 2004-07-01 | Fumio Ohtomo | Working position measuring system |
| CN103866673A (en) * | 2014-02-20 | 2014-06-18 | 天津大学 | Method and system for monitoring paving thickness of high-level highway pavement in real time |
| CN110983925A (en) * | 2019-12-18 | 2020-04-10 | 河南省公路工程局集团有限公司 | Automatic paving method based on laser scanning and satellite positioning |
| CN111399403A (en) * | 2020-02-29 | 2020-07-10 | 天津大学 | Remote cooperative monitoring system and method for earthwork leveling operation suitable for inclined roadbed |
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