CN117073625A - 3D variable paving control system and control method - Google Patents

3D variable paving control system and control method Download PDF

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Publication number
CN117073625A
CN117073625A CN202311336710.7A CN202311336710A CN117073625A CN 117073625 A CN117073625 A CN 117073625A CN 202311336710 A CN202311336710 A CN 202311336710A CN 117073625 A CN117073625 A CN 117073625A
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China
Prior art keywords
screed
paving
paver
elevation
inclination angle
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CN202311336710.7A
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CN117073625B (en
Inventor
胡炼
路星
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Beijing Zhongyuan Haoye Technology Co ltd
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Beijing Zhongyuan Haoye Technology Co ltd
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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
    • 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
    • E01C19/48—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 laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • 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
    • E01C19/48—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 laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • E01C19/4866—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 laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ with solely non-vibratory or non-percussive pressing or smoothing means for consolidating or finishing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • 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
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A30/00—Adapting or protecting infrastructure or their operation
    • Y02A30/60—Planning or developing urban green infrastructure

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)

Abstract

The invention provides a 3D variable paving control system and a control method, which belong to the field of paving control, wherein the system comprises: the positioning module is used for detecting the course angle of the paver and the space coordinate information of the top of the paver in real time; the gesture sensor is used for detecting the longitudinal inclination angle value and the transverse inclination angle value of the screed in real time; the front ranging sensor is used for detecting the elevation information of the front position of the screed in real time; the rear ranging sensor is used for detecting the elevation information of the rear position of the screed in real time; and the controller is used for controlling the paving height and the inclination angle of the screed based on a pre-established digital ground model of the road section to be paved according to the course angle of the paver, the space coordinate information of the top of the paver, the longitudinal inclination angle value, the transverse inclination angle value and the elevation information of the front position and the rear position of the screed. The invention improves the control precision of paving.

Description

3D variable paving control system and control method
Technical Field
The invention relates to the field of paving control, in particular to a 3D variable paving control system and a control method.
Background
The paving technology is one of important contents of road engineering asphalt concrete pavement, and the technical level of the paving technology directly influences the overall quality of engineering. In the existing paving construction process of asphalt concrete pavement, the measurement and lofting of the middle pile and the side piles are the main working content measured before the paving construction, and the method mainly uses dynamic real-time carrier differential positioning to obtain the longitude and latitude values of the middle pile and the side piles at a certain distance. The current 3D paving technology needs to do a lot of work before and during construction, including erection of total stations or laser transmitters, the two kinds of instruments have very high requirements for erection, and in the construction process, two or even more total stations need to be erected every two hundred meters. In the laser transmitter mode, the control points of the laser transmitter are arranged on a poured fixed base, the control points are mutually viewed, and meanwhile, the intervals between the control points are required to be the same.
The conventional measurement work is time-consuming and labor-consuming, low in efficiency, needs special personnel to erect instruments and equipment, cannot acquire a large amount of lofting point data under the condition of limited manpower, and therefore the precision of the constructed digital ground model is low, high-precision paving cannot be performed, paving quality needs to be tested manually after paving, paving thickness needs to be adjusted by manually inputting parameters if paving pavement meets design requirements, and construction is repeated, so that great loss is caused.
In summary, the existing paving construction technology has large labor cost and time cost, and the paving quality is easily influenced by human factors and physical factors.
Disclosure of Invention
The invention aims to provide a 3D variable paving control system and a control method, which can improve the paving precision of a pavement.
In order to achieve the above purpose, the invention provides a 3D variable paving control system for controlling the operation of a paver, wherein the 3D variable paving control system comprises a positioning module, an attitude sensor, a front Fang Ceju sensor, a rear Fang Ceju sensor and a controller.
The positioning module is arranged at the top of the paver and used for detecting the course angle of the paver and the space coordinate information of the top of the paver in real time.
The gesture sensor is arranged on a screed plate of the paver and is used for detecting the longitudinal inclination angle value of the screed plate and the transverse inclination angle value of the screed plate in real time.
The front distance measuring sensor is arranged on the balance beam of the paver and positioned at the front position of the screed and used for detecting the elevation information of the front position of the screed in real time.
The rear distance measuring sensor is arranged on the paver and positioned at the rear position of the screed and used for detecting the elevation information of the rear position of the screed in real time.
The controller is respectively connected with the positioning module, the attitude sensor, the front distance measuring sensor, the rear distance measuring sensor and the screed and is used for controlling the paving height and the inclination angle of the screed according to the course angle of the paver, the space coordinate information of the top of the paver, the longitudinal inclination angle value of the screed, the transverse inclination angle value of the screed, the elevation information of the front position of the screed and the elevation information of the rear position of the screed based on a pre-established digital ground model of a road section to be paved; the digital ground model comprises paving design elevations, paving design angles and road surface elevations of each point of a road section to be paved.
Optionally, the positioning module comprises two RTK-GNSS receivers.
Optionally, the controller includes the following 9 modules.
And the data acquisition module is used for acquiring the distance values of the digital ground model and each structure of the paver.
The rotation matrix determining module is respectively connected with the positioning module and the attitude sensor and is used for determining a vehicle body coordinate system rotation matrix according to the course angle of the paver, the longitudinal inclination angle value of the screed and the transverse inclination angle value of the screed; the origin of the vehicle body coordinate system is the position of the positioning module, the X axis is the advancing direction of the paver, the Y axis is perpendicular to the X axis and parallel to the ground, and the Z axis is perpendicular to the X-Y axis.
The front coordinate determining module is respectively connected with the rotating matrix determining module and the data acquisition module and is used for determining coordinate information of the front ranging sensor according to the rotating matrix of the vehicle body coordinate system and distance values of all structures of the paver.
The front elevation determining module is respectively connected with the data acquisition module and the front coordinate determining module and is used for determining the pavement elevation at the position of the front ranging sensor according to the coordinate information of the front ranging sensor and the digital ground model.
The first control module is respectively connected with the front elevation determining module, the data acquisition module, the front ranging sensor, the attitude sensor and the screed plate, and is used for determining a first control variable according to the road surface elevation at the position of the front ranging sensor, the digital ground model, the elevation information of the front position of the screed plate, the longitudinal inclination angle value of the screed plate, the transverse inclination angle value of the screed plate and the distance value of each structure of the paver, and adjusting the paving height and the inclination angle of the screed plate according to the first control variable; the first control variable includes a first height Cheng Chazhi and a first angle difference.
And the rear coordinate determining module is connected with the front coordinate determining module and is used for determining the coordinate information of the rear distance measuring sensor according to the coordinate information of the front distance measuring sensor.
And the rear elevation determining module is respectively connected with the data acquisition module and the rear coordinate determining module and is used for determining the road surface elevation at the position of the rear distance measuring sensor according to the coordinate information of the rear distance measuring sensor and the digital ground model.
The paving thickness determining module is respectively connected with the rear coordinate determining module, the rear elevation determining module and the rear Fang Ceju sensor and is used for determining the paving thickness according to the coordinate information of the rear distance measuring sensor and the elevation information of the rear position of the screed plate on the road surface Gao Chengji at the position of the rear distance measuring sensor.
The second control module is respectively connected with the first control module, the paving thickness determining module and the screed plate, and is used for determining a second control variable according to the first control variable and the paving thickness, and adjusting the paving height and the inclination angle of the screed plate according to the second control variable; the second control variable includes a second elevation difference value and a second angle difference.
In order to achieve the above purpose, the invention also provides a 3D variable paving control method, which comprises the following steps.
And detecting the course angle of the paver and the space coordinate information of the top of the paver in real time through a positioning module.
And detecting the longitudinal inclination angle value of the screed plate and the transverse inclination angle value of the screed plate in real time through an attitude sensor.
Elevation information of the front position of the screed is detected in real time by a front ranging sensor.
And detecting the elevation information of the rear position of the screed plate in real time by a rear distance measuring sensor.
Controlling the paving height and the inclination angle of the screed by a controller according to the course angle of the paver, the space coordinate information of the top of the paver, the longitudinal inclination angle value of the screed, the transverse inclination angle value of the screed, the elevation information of the front position of the screed and the elevation information of the rear position of the screed; the digital ground model comprises paving design elevations, paving design angles and road surface elevations of each point of a road section to be paved.
Optionally, the controller is used for controlling the paving height and the inclination angle of the screed according to the course angle of the paver, the space coordinate information of the top of the paver, the longitudinal inclination angle value of the screed, the transverse inclination angle value of the screed, the elevation information of the front position of the screed and the elevation information of the rear position of the screed.
And obtaining the distance value of each structure of the digital ground model and the paver.
Determining a rotation matrix of a vehicle body coordinate system according to the course angle of the paver, the longitudinal inclination angle value of the screed and the transverse inclination angle value of the screed; the origin of the vehicle body coordinate system is the position of the positioning module, the X axis is the advancing direction of the paver, the Y axis is perpendicular to the X axis and parallel to the ground, and the Z axis is perpendicular to the X-Y axis.
And determining coordinate information of the front ranging sensor according to the rotation matrix of the vehicle body coordinate system and the distance value of each structure of the paver.
And determining the pavement elevation at the position of the front ranging sensor according to the coordinate information of the front ranging sensor and the digital ground model.
Determining a first control variable according to the road surface elevation at the position of the front ranging sensor, the digital ground model, elevation information of the position in front of the screed, a longitudinal inclination angle value of the screed, a transverse inclination angle value of the screed and distance values of all structures of the paver, and adjusting the paving height and the inclination angle of the screed according to the first control variable; the first control variable includes a first height Cheng Chazhi and a first angle difference.
And determining the coordinate information of the rear ranging sensor according to the coordinate information of the front ranging sensor.
And determining the pavement elevation at the position of the rear ranging sensor according to the coordinate information of the rear ranging sensor and the digital ground model.
And determining the paving thickness according to the coordinate information of the rear distance measuring sensor and the elevation information of the position behind the screed plate of the pavement Gao Chengji at the position of the rear distance measuring sensor.
Determining a second control variable of the screed according to the first control variable and the paving thickness, and adjusting the paving height and the inclination angle of the screed according to the second control variable; the second control variable includes a second elevation difference value and a second angle difference.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the invention, the course angle of the paver and the space coordinate information of the top of the paver are detected in real time through the positioning module, the longitudinal inclination angle value and the transverse inclination angle value of the screed are detected in real time through the attitude sensor, the elevation information of the front position and the rear position of the screed is detected in real time through the front-rear distance measuring sensor, the paving height and the inclination angle of the screed are automatically controlled by the controller in combination with the detected data, manual participation is not needed, and the paving efficiency and the paving control precision are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a 3D variable paving control system provided by the present invention.
Fig. 2 is a flowchart of a 3D variable paving control method provided by the present invention.
Symbol description: 1-paver, 2-compensating beam, 3-screed, 4-attitude sensor, 5-rear ranging sensor, 6-front ranging sensor, 7-positioning module, 8-unpaved ground, 9-ground after paving.
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.
The invention aims to provide a 3D variable paving control system and a control method, which solve the problem of uneven paving, improve the paving precision of the pavement, and simultaneously, timely feed back and adjust the paving operation by detecting the paving thickness in real time, ensure the paving quality, provide technical support for paving operation quality monitoring and save the operation cost.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the 3D variable paving control system provided by the present invention includes: a positioning module 7, an attitude sensor 4, a front Fang Ceju sensor 6, a rear ranging sensor 5, and a controller (not shown).
The positioning module 7 is arranged at the top of the paver 1, and the positioning module 7 is used for detecting the course angle of the paver 1 and the space coordinate information of the top of the paver 1 in real time.
In this embodiment, the positioning module 7 comprises two Real-time dynamic carrier-phase differential-global satellite positioning system (RTK-GNSS) receivers. The connection line between the two RTK-GNSS receivers is parallel to the paver 1 body. The distance between two RTK-GNSS receivers is greater than 1.2 meters.
The posture sensor 4 is arranged on the screed 3 of the paver 1, and the posture sensor 4 is used for detecting the longitudinal inclination angle value of the screed 3 and the transverse inclination angle value of the screed 3 in real time.
The gesture sensor 4 mainly controls the screed 3 to incline and pave according to the design angle of the pavement, and calculates three-dimensional coordinate information of the screed 3. Thus, the attitude sensor 4 is screwed and locked on the plate surface in the middle of the screed 3 using screws.
The front distance measuring sensor 6 is arranged on the balance beam 2 of the paver 1 and positioned in front of the screed 3, and the front distance measuring sensor 6 is used for detecting elevation information of the front position of the screed 3 in real time.
The rear distance measuring sensor 5 is arranged on the paver 1 and positioned at the rear position of the screed 3, and the rear distance measuring sensor 5 is used for detecting the elevation information of the rear position of the screed 3 in real time.
The controller is respectively connected with the positioning module 7, the attitude sensor 4, the front ranging sensor 6, the rear ranging sensor 5 and the screed 3, and is used for controlling the paving height and the inclination angle of the screed 3 according to the course angle of the paver 1, the space coordinate information of the top of the paver 1, the longitudinal inclination angle value of the screed 3, the transverse inclination angle value of the screed 3, the elevation information of the front position of the screed 3 and the elevation information of the rear position of the screed 3 based on a pre-established digital ground model of a road section to be paved. The digital ground model comprises paving design elevations, paving design angles and road surface elevations of each point of a road section to be paved.
The stabilizer of the matched controller is arranged at the bracket above the screed plate at the rear of the paver 1, so that the controller can be stably and firmly arranged on the stabilizer and is easy to detach after the construction is finished.
Specifically, before paving, design elements of a construction road section are input to a controller, and the controller is combined with a road digital ground model to generate target road surface information after paving and serve as a reference standard during paving work. When paving the road starting point, the controller adjusts the screed 3 to the design angle according to the transverse inclination value measured in real time by the attitude sensor 4.
Specifically, the controller includes: the device comprises a data acquisition module, a rotation matrix determination module, a front coordinate determination module, a front elevation determination module, a first control module, a rear coordinate determination module, a rear elevation determination module, a paving thickness determination module and a second control module.
The data acquisition module is used for acquiring the distance value of each structure of the paver 1 and the digital ground model. Specifically, the distance value of each structure of the paver comprises: the distance value of the front ranging sensor in the X-Y-Z directions under the vehicle body coordinate system, the distance value of the arm rod hinge point installed from the screed to the front ranging sensor under the vehicle body coordinate system, and the distance value of the front ranging sensor to the arm rod hinge point.
The rotation matrix determining module is respectively connected with the positioning module 7 and the attitude sensor 4, and is used for determining a rotation matrix of a vehicle body coordinate system according to the course angle of the paver 1, the longitudinal inclination angle value of the screed 3 and the transverse inclination angle value of the screed 3:。
wherein R is a vehicle body coordinate systemThe matrix is rotated so that the matrix is rotated,for course angle of paver 1 +.>For the longitudinal inclination value of the screed 3, +.>For the value of the lateral inclination of the screed 3, +.>Representing a rotation matrix of the X-O-Y plane about the O-Z axis,/O>Representing a rotation matrix of the X-O-Z plane about the O-Y axis, < >>Representing the rotation matrix of the Y-O-Z plane about the O-X axis.
The origin of the vehicle body coordinate system is the position of the positioning module 7, the X axis is the advancing direction of the paver 1, the Y axis is perpendicular to the X axis and parallel to the ground, and the Z axis is perpendicular to the X-Y axis.
The front coordinate determining module is respectively connected with the rotation matrix determining module and the data acquisition module, and is used for determining coordinate information of the front ranging sensor 6 according to the vehicle body coordinate system rotation matrix and distance values of all structures of the paver 1:。
wherein,for the coordinate information of the front distance measuring sensor 6 in the world coordinate system, +.>For the X-axis coordinate of the front distance measuring sensor 6,/->Y-axis coordinates for the front distance measuring sensor 6,/->Z-axis coordinate of the front distance measuring sensor 6, R is a rotation matrix of a vehicle body coordinate system,/and>is the space coordinate information of the top of the paver, x w Is the X-axis coordinate, y of the top of the paver w Is the Y-axis coordinate, z of the top of the paver w Is the Z-axis coordinate of the top of the paver, +.>For the distance values of the front distance measuring sensor 6 in the three directions of X-Y-Z under the vehicle body coordinate system, namely the respective measured distance increment of the positioning module 7 and the front Fang Ceju sensor 6 in the three directions of X-Y-Z.
The front elevation determining module is respectively connected with the data acquisition module and the front coordinate determining module, and the front elevation determining module is used for determining the ground elevation at the position of the front ranging sensor 6 according to the coordinate information of the front ranging sensor 6 and the digital ground model.
The first control module is respectively connected with the front elevation determining module, the data acquisition module, the front ranging sensor 6, the attitude sensor 4 and the screed 3, and is used for determining a first control variable according to the road surface elevation at the position of the front ranging sensor 6, the digital ground model, the elevation information of the front position of the screed 3, the longitudinal inclination angle value of the screed 3, the transverse inclination angle value of the screed 3 and the distance value of each structure of the paver 1, and adjusting the paving height and the inclination angle of the screed 3 according to the first control variable. The first control variable includes a first height Cheng Chazhi and a first angle difference.
Specifically, the first control module determines the first control variable using the following formula:。
wherein,for the first height Cheng Chazhi,/o>For the first angle difference +>D is the road elevation at the position of the front distance measuring sensor 6 f For the distance measurement value of the front distance measurement sensor 6, i.e. the elevation information of the front position of the screed,/-, for>For the distance value H from the front distance measuring sensor 6 to the arm rod hinge point D Design elevation for the paving of the current position of the screed,/-for>Design angle for the paving of the current position of the screed, < >>For the longitudinal inclination value of the screed, +.>For the lateral inclination value of the screed 3, d is the distance value of the articulated point of the mounting arm of the screed 3 to the front distance measuring sensor 6 in the vehicle body coordinate system.
The rear coordinate determining module is connected with the front coordinate determining module, and the rear coordinate determining module is used for determining the coordinate information of the rear Fang Ceju sensor 5 according to the coordinate information of the front ranging sensor 6.
The rear elevation determining module is respectively connected with the data acquisition module and the rear coordinate determining module, and the rear elevation determining module is used for determining the road surface elevation at the position of the rear Fang Ceju sensor 5 according to the coordinate information of the rear Fang Ceju sensor 5 and the digital ground model.
The paving thickness determining module is respectively used for determining the rear coordinatesThe module, the rear elevation determining module and the rear ranging sensor 5 are connected, and the paving thickness determining module is used for determining the paving thickness according to the coordinate information of the rear Fang Ceju sensor 5 and the elevation information of the rear position of the screed 3 of the road surface Gao Chengji at the position of the rear Fang Ceju sensor 5:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>To spread thickness, z b For the Z-axis coordinate, D, of the rear range sensor 5 b For the distance measurement value of the rear distance measuring sensor 5, i.e. the elevation information of the rear position of the screed, Z D,b Is the road elevation at the location of the rear ranging sensor 5.
Specifically, by spreading the thicknessThe elevation deviation is compared with the design thickness, so that feedback correction is performed on the screed 3 control.
The second control module is respectively connected with the first control module, the paving thickness determining module and the screed 3, and is used for determining a second control variable according to the first control variable and the paving thickness and adjusting the paving height and the inclination angle of the screed 3 according to the second control variable. The second control variable includes a second elevation difference value and a second angle difference.
Specifically, the second control module determines the second control variable using the following formula:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>For the second elevation difference, ++>For the second angle difference, +>For the first height Cheng Chazhi,/o>For the first angle difference +>Is the paving thickness.
The control steps of the 3D variable paving control system are as follows.
(1) The RTK-GNSS dual receiver is installed on the roof of the paver 1, so that the connecting line between the dual receivers is parallel to the vehicle body. The RTK-GNSS dual receiver is used for acquiring the course angle and accurate space coordinate information.
(2) The attitude sensor 4 is installed at a position where the vibration of the screed 3 is weak. The attitude sensor 4 is used for acquiring a longitudinal inclination angle value, a transverse inclination angle value and motion acceleration values of vehicle body coordinates in the X-Y-Z directions, and the problems of inaccurate measured values and the like caused by mechanical vibration in the paving process can be well solved by using the fusion of the acceleration and the motion displacement in the three directions. And combining the acquired course angle to construct a rotation matrix of the vehicle body coordinate system, so that the calculation is convenient when the vehicle body coordinate system is converted into a space coordinate system.
(3) After the balance beam 2, the front Fang Ceju sensor 6 and the rear Fang Ceju sensor 5 are installed, the front ranging sensor 6 is adjusted so that the line between the front ranging sensor and the traction point of the screed 3 is perpendicular to the vehicle body advancing direction.
Installation and precautions for the non-contact balance beam 2. The mounting structure of the paver 1 includes: two straight rods, four turnip rods, four large arm welding parts, two long balance beams, four distance measuring sensor bases, fourteen check rings and four long rod added bases. The non-contact balance beam leveling device has the characteristics of nonlinearity, multiple variables, large hysteresis and the like, and is a closed-loop control system integrating machinery, liquid and electricity. Because the screed 3 and the traction points can interfere with the operation quality of the leveling system of the paver, the height of the walking supporting surface of the paver 1 can influence the traction points and the screed 3. In order to obtain a relatively smooth paving quality, the paving speed, the feeding amount of the screw conveyor and the feeding stability of the scraper conveyor need to be controlled in the paving construction process.
When the front ranging sensor 6 and the rear Fang Ceju sensor 5 are installed, the front ranging sensor and the rear Fang Ceju sensor are vertical to the ground, and are firmly installed between 25cm and 65cm (preferably 30 cm-40 cm) away from the ground. In the engineering process, the horizontal distance between a person or an object and the front ranging sensor and the rear ranging sensor is ensured to be 20 cm away from each other so as to avoid false detection. Before paving, the foreign matters on the pavement should be removed, and the scattered flitch should be ensured to be out of 20 cm of the detected area. The constant paving speed and uniform distribution of the spiral distributor are kept during paving operation, and the thickness of the paving layer is prevented from being changed frequently.
(4) The physical mechanism distance increments in the three directions X-Y-Z between the RTK-GNSS positioning receiver and the front Fang Ceju sensor 6, between the front Fang Ceju sensor 6 and the rear ranging sensor 5, and between the front Fang Ceju sensor 6 and the screed 3 tip were measured, respectively.
After the distance increment of the RTK-GNSS positioning receiver and the front Fang Ceju sensor 6 in the X-Y-Z directions is measured, the coordinate information of the front ranging sensor 6 in the space coordinate system at the current moment is obtained by combining the rotation matrix of the vehicle coordinate system and the coordinates of the front ranging sensor 6 in the vehicle coordinate system.
(5) And measuring pose information of each part in real time and calculating space coordinate information of the tail end of the ironing plate 3.
(6) And scanning the construction pavement by using a high-precision three-dimensional laser scanner, and establishing a digital ground model. And a great deal of time and labor are not wasted in the measurement lofting of middle piles and side piles before construction. The measurement lofting point of well side stake directly adopts three-dimensional laser scanner to obtain the processing data to according to the on-the-spot requirement, can obtain corresponding point density when data processing, again to its high accuracy digital ground model of establishing, can accomplish according to the local condition, and not traditional fixed distance measurement lofting, can remove a large amount of erection work from, simultaneously in the paving process, can accurately test out the paving quality, including roughness and the paving thickness after paving, with this carries out feedback correction to paver 1, form closed loop control, and in this process, need not to use too much high accuracy measuring instrument, reduced the cost of labor simultaneously, reduced the operation threshold.
Substituting the coordinate information of the front ranging sensor 6 into the digital ground model to obtain the elevation of the corresponding position, and adding (x) a ,y a ,Z D,a ) As basic coordinate information for the current moment of the screed 3 end and the rear range sensor 5. The subsequent coordinate calculation is ensured to be established on a high-precision digital ground model, so that the problem of +15mm of elevation error in RTK-GNSS measurement is solved.
(7) After the space coordinate information of the tail end of the screed 3 is obtained, paving design factors are combined, and the height and the posture of the screed 3 are accurately controlled.
Specifically, the coordinate information of the end of the screed 3 is determined from the coordinate information of the front ranging sensor 6, and the first height Cheng Chazhi at the current time is obtained in combination with the paving design elementAnd a first angle difference->And uses this as the control variable of the paving control system.
(8) Coordinate information of the current moment of the rear Fang Ceju sensor 5 is obtained through coordinate translation by combining with coordinate information of the current moment of the front ranging sensor 6, measured values (elevation information of the rear position of the screed 3) corresponding to the road surface elevation in the digital ground model and the current sampling moment of the rear ranging sensor 5 under the coordinate information are obtained, paving thickness of the current moment is obtained through calculation, and feedback adjustment is carried out on control of the screed 3. As shown in fig. 1, 8 is the unpaved ground, and 9 is the ground after paving.
As shown in fig. 2, the 3D variable paving control method provided by the present invention includes steps 100 to 500.
Step 100: and detecting the course angle of the paver and the space coordinate information of the top of the paver in real time through a positioning module.
Step 200: and detecting the longitudinal inclination angle value of the screed plate and the transverse inclination angle value of the screed plate in real time through an attitude sensor.
Step 300: elevation information of the front position of the screed is detected in real time by a front ranging sensor.
Step 400: and detecting the elevation information of the rear position of the screed plate in real time by a rear distance measuring sensor.
Step 500: and controlling the paving height and the inclination angle of the screed by a controller according to the course angle of the paver, the space coordinate information of the top of the paver, the longitudinal inclination angle value of the screed, the transverse inclination angle value of the screed, the elevation information of the front position of the screed and the elevation information of the rear position of the screed. The digital ground model comprises paving design elevations, paving design angles and road surface elevations of each point of a road section to be paved.
Further, step 500 includes steps (1) to (9).
(1) And obtaining the distance value of each structure of the digital ground model and the paver.
(2) And determining a rotation matrix of a vehicle body coordinate system according to the course angle of the paver, the longitudinal inclination angle value of the screed and the transverse inclination angle value of the screed. The origin of the vehicle body coordinate system is the position of the positioning module, the X axis is the advancing direction of the paver, the Y axis is perpendicular to the X axis and parallel to the ground, and the Z axis is perpendicular to the X-Y axis.
(3) And determining coordinate information of the front ranging sensor according to the rotation matrix of the vehicle body coordinate system and the distance value of each structure of the paver.
(4) And determining the pavement elevation at the position of the front ranging sensor according to the coordinate information of the front ranging sensor and the digital ground model.
(5) And determining a first control variable according to the road surface elevation at the position of the front ranging sensor, the digital ground model, elevation information of the position in front of the screed, a longitudinal inclination angle value of the screed, a transverse inclination angle value of the screed and distance values of all structures of the paver, and adjusting the paving height and the inclination angle of the screed according to the first control variable. The first control variable includes a first height Cheng Chazhi and a first angle difference.
(6) And determining the coordinate information of the rear ranging sensor according to the coordinate information of the front ranging sensor.
(7) And determining the pavement elevation at the position of the rear ranging sensor according to the coordinate information of the rear ranging sensor and the digital ground model.
(8) And determining the paving thickness according to the coordinate information of the rear distance measuring sensor and the elevation information of the position behind the screed plate of the pavement Gao Chengji at the position of the rear distance measuring sensor.
(9) Determining a second control variable according to the first control variable and the paving thickness, and adjusting the paving height and the inclination angle of the screed according to the second control variable; the second control variable includes a second elevation difference value and a second angle difference.
The invention can improve the information acquisition efficiency of the construction pavement before construction, reduce the labor intensity and reduce the construction and operation cost. Meanwhile, the invention adds real-time elevation information on the original non-contact balance beam paving technology to form 3D variable paving, which not only can improve the control precision of paving and reduce paving errors, but also can detect paving quality and take the paving quality as feedback to control the screed in a closed loop manner to perform feedback regulation and control, thereby obtaining better paving effect.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (10)

1. A 3D variable paving control system for controlling operation of a paving machine, the 3D variable paving control system comprising:
the positioning module is arranged at the top of the paver and used for detecting the course angle of the paver and the space coordinate information of the top of the paver in real time;
the posture sensor is arranged on a screed plate of the paver and used for detecting the longitudinal inclination angle value of the screed plate and the transverse inclination angle value of the screed plate in real time;
the front ranging sensor is arranged on a balance beam of the paver and positioned in front of the screed and is used for detecting elevation information of the front position of the screed in real time;
the rear distance measuring sensor is arranged on the paver and positioned at the rear position of the screed and is used for detecting the elevation information of the rear position of the screed in real time;
the controller is respectively connected with the positioning module, the attitude sensor, the front distance measuring sensor, the rear distance measuring sensor and the screed and is used for controlling the paving height and the inclination angle of the screed according to the course angle of the paver, the space coordinate information of the top of the paver, the longitudinal inclination angle value of the screed, the transverse inclination angle value of the screed, the elevation information of the front position of the screed and the elevation information of the rear position of the screed based on a pre-established digital ground model of a road section to be paved; the digital ground model comprises paving design elevations, paving design angles and road surface elevations of each point of a road section to be paved.
2. The 3D variable spread control system according to claim 1, wherein the positioning module comprises two RTK-GNSS receivers.
3. The 3D variable paving control system of claim 1, wherein the controller comprises:
the data acquisition module is used for acquiring the distance values of the digital ground model and each structure of the paver;
the rotation matrix determining module is respectively connected with the positioning module and the attitude sensor and is used for determining a vehicle body coordinate system rotation matrix according to the course angle of the paver, the longitudinal inclination angle value of the screed and the transverse inclination angle value of the screed; the origin of the vehicle body coordinate system is the position of the positioning module, the X axis is the advancing direction of the paver, the Y axis is perpendicular to the X axis and parallel to the ground, and the Z axis is perpendicular to the X-Y axis;
the front coordinate determining module is respectively connected with the rotating matrix determining module and the data acquisition module and is used for determining coordinate information of the front ranging sensor according to the rotating matrix of the vehicle body coordinate system and distance values of all structures of the paver;
the front elevation determining module is respectively connected with the data acquisition module and the front coordinate determining module and is used for determining the pavement elevation at the position of the front ranging sensor according to the coordinate information of the front ranging sensor and the digital ground model;
the first control module is respectively connected with the front elevation determining module, the data acquisition module, the front ranging sensor, the attitude sensor and the screed plate, and is used for determining a first control variable according to the road surface elevation at the position of the front ranging sensor, the digital ground model, the elevation information of the front position of the screed plate, the longitudinal inclination angle value of the screed plate, the transverse inclination angle value of the screed plate and the distance value of each structure of the paver, and adjusting the paving height and the inclination angle of the screed plate according to the first control variable; the first control variable includes a first height Cheng Chazhi and a first angle difference;
the rear coordinate determining module is connected with the front coordinate determining module and is used for determining the coordinate information of the rear distance measuring sensor according to the coordinate information of the front distance measuring sensor;
the rear elevation determining module is respectively connected with the data acquisition module and the rear coordinate determining module and is used for determining the road elevation at the position of the rear distance measuring sensor according to the coordinate information of the rear distance measuring sensor and the digital ground model;
the paving thickness determining module is respectively connected with the rear coordinate determining module, the rear elevation determining module and the rear Fang Ceju sensor and is used for determining the paving thickness according to the coordinate information of the rear distance measuring sensor and the elevation information of the rear position of the screed plate on the road surface Gao Chengji at the position of the rear distance measuring sensor;
the second control module is respectively connected with the first control module, the paving thickness determining module and the screed plate, and is used for determining a second control variable according to the first control variable and the paving thickness, and adjusting the paving height and the inclination angle of the screed plate according to the second control variable; the second control variable includes a second elevation difference value and a second angle difference.
4. A 3D variable paving control system according to claim 3, wherein the rotation matrix determination module determines the vehicle body coordinate system rotation matrix using the following formula:
；
wherein R is a rotation matrix of a vehicle body coordinate system,for course angle of paver, < >>For the longitudinal inclination value of the screed, +.>For the value of the lateral inclination of the screed +.>Represents X-O-Rotation matrix of Y plane around O-Z axis, < >>Representing a rotation matrix of the X-O-Z plane about the O-Y axis, < >>Representing the rotation matrix of the Y-O-Z plane about the O-X axis.
5. A 3D variable paving control system according to claim 3, wherein the distance values of the paver structures include distance values of a front ranging sensor in three directions XYZ in a vehicle body coordinate system;
the front coordinate determining module determines coordinate information of the front ranging sensor by adopting the following formula:
；
wherein,for the coordinate information of the front distance measuring sensor in the world coordinate system, +.>X-axis coordinates for front distance measuring sensor,/-for>Y-axis coordinates for front ranging sensor,/-for>Z-axis coordinate of the front ranging sensor, R is a rotation matrix of a vehicle body coordinate system, and +.>Is the space coordinate information of the top of the paver, x w Is the X-axis coordinate, y of the top of the paver w Is the Y-axis coordinate, z of the top of the paver w Is the Z-axis coordinate of the top of the paver, +.>The distance values of the front distance measuring sensor in three directions of XYZ under the vehicle body coordinate system are obtained.
6. The 3D variable paving control system of claim 5, wherein the distance values for each structure of the paver further include a distance value for the screed to front ranging sensor mounting arm hinge point under the vehicle body coordinate system and a distance value for the front ranging sensor to arm hinge point;
the first control module determines a first control variable using the following formula;
；
wherein,for the first height Cheng Chazhi,/o>For the first angle difference +>For the road elevation at the front distance measuring sensor position, D f For height information of the front position of the screed, +.>For the distance value from the front distance measuring sensor to the arm rod hinge point, H D Design elevation for the paving of the current position of the screed,/-for>Design angle for the paving of the current position of the screed, < >>For the longitudinal inclination value of the screed, +.>And d is a distance value of a hinge point of the arm lever of the installation arm lever of the distance measuring sensor from the screed to the front side under a vehicle body coordinate system.
7. The 3D variable paving control system of claim 3, wherein the paving thickness determination module determines the paving thickness using the formula:
；
wherein,to spread thickness, z b Z-axis coordinate of rear distance measuring sensor, D b Z is elevation information of the rear position of the screed D,b The elevation of the road surface at the location of the rear ranging sensor.
8. A 3D variable paving control system according to claim 3, wherein the second control module determines the second control variable using the formula:
；
wherein,for the second elevation difference, ++>For the second angle difference, +>For the first height Cheng Chazhi,/o>For the first angle difference +>Is the paving thickness.
9. A 3D variable paving control method applied to the 3D variable paving control system according to any one of claims 1 to 8, characterized in that the 3D variable paving control method includes:
detecting the course angle of the paver and the space coordinate information of the top of the paver in real time through a positioning module;
detecting a longitudinal inclination angle value of the ironing plate and a transverse inclination angle value of the ironing plate in real time through an attitude sensor;
detecting elevation information of the front position of the screed plate in real time through a front ranging sensor;
detecting elevation information of the rear position of the screed plate in real time through a rear distance measuring sensor;
controlling the paving height and the inclination angle of the screed by a controller according to the course angle of the paver, the space coordinate information of the top of the paver, the longitudinal inclination angle value of the screed, the transverse inclination angle value of the screed, the elevation information of the front position of the screed and the elevation information of the rear position of the screed; the digital ground model comprises paving design elevations, paving design angles and road surface elevations of each point of a road section to be paved.
10. The 3D variable paving control method according to claim 9, wherein the controller controls the paving height and the inclination angle of the screed according to the course angle of the paver, the spatial coordinate information of the paver top, the longitudinal inclination angle value of the screed, the lateral inclination angle value of the screed, the elevation information of the screed front position and the elevation information of the screed rear position, and specifically comprises:
obtaining a distance value of each structure of the digital ground model and the paver;
determining a rotation matrix of a vehicle body coordinate system according to the course angle of the paver, the longitudinal inclination angle value of the screed and the transverse inclination angle value of the screed; the origin of the vehicle body coordinate system is the position of the positioning module, the X axis is the advancing direction of the paver, the Y axis is perpendicular to the X axis and parallel to the ground, and the Z axis is perpendicular to the X-Y axis;
determining coordinate information of the front ranging sensor according to the rotation matrix of the vehicle body coordinate system and the distance values of each structure of the paver;
determining the road surface elevation at the position of the front ranging sensor according to the coordinate information of the front ranging sensor and the digital ground model;
determining a first control variable according to the road surface elevation at the position of the front ranging sensor, the digital ground model, elevation information of the position in front of the screed, a longitudinal inclination angle value of the screed, a transverse inclination angle value of the screed and distance values of all structures of the paver, and adjusting the paving height and the inclination angle of the screed according to the first control variable; the first control variable includes a first height Cheng Chazhi and a first angle difference;
determining coordinate information of the rear ranging sensor according to the coordinate information of the front ranging sensor;
determining the road surface elevation at the position of the rear ranging sensor according to the coordinate information of the rear ranging sensor and the digital ground model;
determining a paving thickness according to the coordinate information of the rear distance measuring sensor and the elevation information of the position behind the screed plate of the pavement Gao Chengji at the position of the rear distance measuring sensor;
determining a second control variable of the screed according to the first control variable and the paving thickness, and adjusting the paving height and the inclination angle of the screed according to the second control variable; the second control variable includes a second elevation difference value and a second angle difference.
CN202311336710.7A 2023-10-17 2023-10-17 3D variable paving control system and control method Active CN117073625B (en)

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