CN201065510Y - Real time dynamic measuring digital control automatic leveling device for spreading machine - Google Patents
Real time dynamic measuring digital control automatic leveling device for spreading machine Download PDFInfo
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- CN201065510Y CN201065510Y CNU2007200231980U CN200720023198U CN201065510Y CN 201065510 Y CN201065510 Y CN 201065510Y CN U2007200231980 U CNU2007200231980 U CN U2007200231980U CN 200720023198 U CN200720023198 U CN 200720023198U CN 201065510 Y CN201065510 Y CN 201065510Y
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Abstract
The utility model discloses a real-time dynamic measurement type numerical control automatic leveling system for spreader, comprising a microcomputer having the system and software with the automatic leveling function, a RTK real-time dynamic measuring unit used for measuring the position of spreader ironing board, a numerical system lateral control device and a numerical system longitudinal control device both used for adjusting the drift angle of the spreader ironing board; the RTK real-time dynamic measuring unit, the numerical control system lateral control device and the numerical system longitudinal control device are respectively connected with the microcomputer. The utility model has the advantages that the measuring unit is docked with the construction equipment, and simultaneously the traditional material standard is replaced with the digital benchmark built by microcomputer; the digitalization of leveling device for spreader is realized; the synchronization of the measuring working procedure and the spreading operation is realized, and the control precision of pavement is significantly increased.
Description
(1) technical field
The utility model relates to the real time dynamic measurement formula numerical control automatic leveling system of paver automatic leveling system, particularly a kind of paver in a kind of construction of the highway.
(2) background technology
For satisfying the requirement of Expressway Construction, paver must possess two functions: at first can spread out and press all types of road surfaces compound uniformly, a road type that trims is provided; Also should compensate some little irregular fluctuatings on basic unit's longitudinal gradient simultaneously, the high standard road surface that making becomes to satisfy instructions for use.Therefore, for eliminating because of the speed of paving, roadbed fluctuates, material supply, and the extraneous factor of irregularities such as draw-gear vibration is disturbed, and necessary governor motion must be set the ironing machine of paver, promptly controls leveling unit automatically.Automatically the control leveling unit can provide desirable compensation to the automatic levelling function of paver.
Automaton is according to parameter benchmark, makes the screed of paver carry out self-leveling a kind of control device under eliminating external interference condition.The control device that adopts is by vertical Height control device at present, and cross fall controller and vertical basis of reference are formed.When external interference occurring or manually adjusting, the sensor of controller sends pulse signal, after master controller is told deviation, send corrected signal and give the solenoid electric valve of leveling cyclinder, thereby drive the inclination angle that leveling cyclinder changes screed, reach the purpose of adjusting control.
Paver is to adopt multiple control modes carrying out paving operation, and these methods are according to different vertical basis of reference and definite.No matter use any benchmark, the used benchmark of following an example that the screed automaton is all loyal.Thereby pavement quality just depends on the order of accuarcy of benchmark.
The longitudinal grade benchmark that is provided with that extensively adopts at present has four kinds now, and they respectively have pluses and minuses, introduce one by one below:
1. backguy setting-out gradient benchmark (steel wire benchmark)
Backguy setting-out gradient benchmark is to reach the used benchmark of the regulation longitudinal gradient face gradient with survey crew backguy setting-out, is the absolute standard that a kind of longitudinal controller uses.By the road of all makings, lay a steel wire straight line that is parallel to the pavement design absolute altitude apart from the about 200～600MM in screed end place, this benchmark accuracy is the highest, but wastes time and energy, and must lay before construction.Artificial certainty of measurement is determining the precision of benchmark, and it is wrong to survey the benchmark of establishing, and will make benchmark not reach predetermined requirement.Fill out dike for height, will be during manual measurement through turning point repeatedly, measure error is exaggerated after repeatedly accumulating, and influences the precision of benchmark.Under gravitational effect, steel wire always has sagging to a certain degree, so also can have influence on the precision of benchmark.Generally be used for surface layer under the making.
2. seam is joined little piston shoes
When using as gradient reference line for the seam operation or with adjacent road surface of having completed or road kerb, available one connects the information that piston shoes come the perception road gradient, and it is passed to controlling organization.The opposite side of screed need or use the horizontal wall inscription instrument to control the inclination angle of screed with backguy, makes the shop layer reach the gradient and the thickness of pre-provisioning request.So little piston shoes can not independently use.Initial amplitude in the construction of the single width of highway or several pave paves does not have condition to use in the construction.
3. contact equalizer bar
The contact equalizer bar is the relative datum that a kind of longitudinal controller uses.When running into roadbed not at ordinary times, many castors of equalizer bar will move up and down.Because of the bar of taking of controller is middle part at equalizer bar, so greatly reduce the move up and down amount of bar on benchmark of taking.Its accuracy is inferior to the steel wire benchmark.Be applicable to paving of upper layer or surface layer.But it is a kind of relative datum, need cooperate backguy setting-out benchmark to use when construction, can not use separately.
4. contactless equalizer bar
Contactless equalizer bar is a kind of relative datum, it is to adopt sonar technique or laser (infrared rays) ranging technology to follow the trail of ready-made road surface of Road Edge or reference line, utilize high frequency sound wave to measure the distance of datum, and the feedback signal of variable in distance in time revised be sent to the levelling controller.Contactless equalizer bar is installed easy to adjust, sees the deviation of absolute altitude and the real-time gradient of paving process on the slave controller, has increased the flexibility of control.But contactless equalizer bar need cooperate backguy setting-out benchmark to use as a kind of relative datum when construction, can not use separately.
(3) summary of the invention
The technical problems to be solved in the utility model is: a kind of real time dynamic measurement formula numerical control automatic leveling system of paver of the control accuracy that can improve the road surface is provided, makes it can independently use, need not backguy setting-out benchmark and cooperate and can realize Automatic Levelling.
In order to solve the problems of the technologies described above, the utility model comprises micro computer, the RTK real time dynamic measurement device that is used to measure the paver screed position with the system that realizes the Automatic Levelling function and software, is used to adjust horizontal control device of digital control system and the vertical control device of digital control system that paver is consoled dull and stereotyped inclination angle, and RTK real time dynamic measurement device, the horizontal control device of digital control system and the vertical control device of digital control system are connected with micro computer respectively.
In order to accomplish " survey promptly institute spread ", realization " measure and pave synchronous ", described RTK real time dynamic measurement device comprises a GPS datum station and a GPS rover station, the receiver of GPS datum station is located at the road control point, and the receiver of GPS rover station is arranged in the sleeve pipe of paver screed side.
In order to make measurement result that better control meaning be arranged, described RTK real time dynamic measurement device comprises a GPS datum station and two GPS rover stations, the receiver of GPS datum station is located at the road control point, and the receiver of two GSP rover stations is separately positioned on the both sides of paver.
In order to improve control accuracy, include the vialog that is arranged on described GPS rover station measuring point, vialog is connected with micro computer.
For convenience of driver's operation, described micro computer is connected with the display screen that is arranged on the paver bridge.
The beneficial effects of the utility model are that the utility model is creationary to be docked measureing equipment with construction equipment, with the traditional material standard of numerical reference replacement of micro computer foundation, realize the digitlization of paver leveling unit simultaneously.Realized measuring the synchronous of operation and paving operation, and the control accuracy on road surface significantly improves.
(4) description of drawings
Fig. 1 is a structured flowchart of the present utility model.
(5) specific embodiment
A kind of specific embodiment as shown in Figure 1, it comprises micro computer, RTK real time dynamic measurement device, vialog, the horizontal control device of digital control system, the vertical control device of digital control system, and RTK real time dynamic measurement device, the horizontal control device of digital control system and the vertical control device of digital control system are connected with micro computer respectively.
RTK real time dynamic measurement device comprises a GPS datum station and a GPS rover station, and the receiver of GPS datum station is located at the road control point, and the receiver of GPS rover station is arranged in the sleeve pipe of paver screed side.RTK real time dynamic measurement device also can adopt a GPS datum station and two GPS rover stations, and the receiver of GPS datum station is located at the road control point, and the receiver of two GSP rover stations is separately positioned on the both sides of paver.Vialog is arranged on the measuring point of GPS rover station, and vialog is connected with micro computer.Display screen is in order to show the result of micro computer, and it is arranged on the bridge of paver.
Structural analysis:
1. technical descriptioon
This device is that measureing equipment is docked with the direct of laying equipment, the parameter of measurement result as the automatic leveling device microcomputerized control of paver, thereby realize to measure with pave synchronously.
2. basic structure
Comprise RTK real time dynamic measurement device, micro computer and numerical control executive system.
2.1RTK real time dynamic measurement device
RTK real time dynamic measurement device is to settle a GPS receiver on datum station, all visible satellites are carried out Continuous Observation, and its observation data sent to rover station in real time by transmitting station, on rover station, the GPS receiver receives the data that datum station transmits by receiving the radio station in receiving satellite signal, calculated the three-dimensional coordinate of rover station then in real time according to the principle of relative positioning by the GPS controller.
(1) the GPS datum station comprises GPS receiver, transmitting station etc.
Datum station is placed on the road control point nearby, job site, and the control point is coordinate information and the carrier of bench mark information, the i.e. three-dimensional coordinate of known control point of control road construction.Datum station carries out Continuous Observation to all visible satellites, and the data at observation data and control point are sent to rover station in real time by transmitting station.
(2) the GPS datum station comprises reception radio station and GPS receiver.
Rover station GPS receiver is placed on the paver, and it is very big to self-leveling influential effect that it is provided with the position.It need be installed in the sleeve pipe of screed side, its measuring point be screed lower edge (concordant) with the road surface of making a bit.The position of this point is in the place ahead of screed, and behind the screed along distance with hinge before drawing to the screed the edge 1/3." survey promptly institute spread " realization " measure and pave synchronous " can be accomplished as the effect of measuring point in this position.Because each is the only tested point measurement result's of control at paver screed inclination angle influence constantly, and, make the road surface that paves out meet design with main frame and roadbed situation of change are irrelevant this moment.
Because the mechanical oscillation of motor etc. will inevitably cause the vibration of screed side panel, thereby the vibration of drive measuring point will have influence on the result of measurement.In order to get rid of the influence of mechanical oscillation, need to use vialog the mechanical oscillation of measuring point to be measured and, measurement result is proofreaied and correct with the microcomputer system that sends to of data in real time to measurement result.
In order to make measurement result have better control meaning, need a measuring point be set respectively in the paver both sides, realize the control mode of two vertical and one horizontal, this needs two GPS rover stations.
2.2 micro computer
Micro computer is the micro numerical micro computer, has the man-machine dialog interface of similar Digit Control Machine Tool.Have powerful hardware supported, have system and the software of realizing the control of Automatic Levelling function digit.
The function of microcomputer system:
(1) the road construction control data (is comprised design elevation, top rake, transverse slope etc.) the input micro computer, micro computer utilization automatic programming software carries out CAD/CAM work, directly generate two dimension (cross section of route, the longitudinal section) program file of road construction control and store.Micro computer generates the two dimensional model on construction road surface with the road model panel that carries simultaneously.Vertical altitude traverse is exactly the benchmark that the paver screed automaton will be followed an example in this model.
(2) be installed in the GPS receiver of paver upside point and vialog real-time send measurement result to micro computer, micro computer by special analysis software with the GPS measurement result since the deviation that causes of mechanical oscillation exclude, thereby obtain measuring point three-dimensional coordinate accurately.Simultaneously three-dimensional coordinate is resolved into two groups of two-dimensional coordinate data, i.e. this plan-position coordinate and altitude data.Micro computer is compared the data on the road two dimensional model of these data and storage, calculates both deviation size and symbols (direction).
(3) for the vertical elevation deviation of route, micro computer is according to the size of both sides deviation, make the more instruction of overgauge respectively, send vertical controlling organization in the numerical control executive system to by cable, process digital signals into the wide pulse electrical signal of luffing, enter electromagnetic change-over valve, control its of length switch time, under the effect of hydraulic system, become the mechanical action of draft arm, change and keep the inclination angle of screed, thereby eliminate deviation.
(4) data of microcomputerized overall both sides point, calculate the transverse slope of screed this moment, and itself and transverse slope data that this place that stores designs the road surface are thought comparison, obtain deviation data, generate the more instruction of overgauge simultaneously, send horizontal controlling organization in the numerical control executive system to by cable, process digital signals into the wide pulse electrical signal of luffing, enter electromagnetic change-over valve, control its of length switch time, under the effect of hydraulic system, become the mechanical action of draft arm, change and keep the transverse slope of screed, thereby eliminate deviation.
(5) position of both sides measuring point is the position on border of paving simultaneously, and micro computer calculates paving width and the track that paves by the plane coordinates of two measuring points, and it is compared with the track of road model, obtains the deviation data of paver track.And data are demonstrated the numerical value and the direction of correction on the display screen of operating desk, and be used to instruct the driving of paver, prevent super shop, road surface or lack the shop.
(6) in order to make this device adapt to different service conditions, need the establishment special procedure to micro computer do not send deviation more the excursion of positive signal carry out stepping, make it have different sensitivity.As with vertical, horizontal control range each minute 1.0 gears, 1 grade of sensitivity is minimum, and 10 grades of sensitivity are the highest.According to concrete execution conditions, corresponding sensitivity gear is set with micro computer.For example: when base course paved, because Base Smoothness is relatively poor, if control sensitivity is too high, the deviation signal of detection was too responsive, and horizontal controller is followed too frequent, influences the planeness on road surface on the contrary, should not select high tap position.Laterally control the influence that also is subjected to paving width of selecting for use of sensitivity, the road surface that paves is wide more, and the sensitivity of selection is high more.
2.3 numerical control executive system
The numerical control executive system is exactly the hydraulic system of existing paver leveling executing agency, and mechanical part is realized the transformation of microcomputerized control, forms horizontal control device of digital control system and the vertical control device of digital control system.
Principle analysis:
The present invention is a benchmark with highway route design data computing machine model, is the numerical control parametric variable with the real time dynamic measurement data, is the numerical control parameter with both deviation data.
Pavement quality just depends on the order of accuarcy of benchmark, and the tidemark of the pavement construction control road surface that to be exactly making go out meets the pavement design absolute altitude fully, and in order to reach this boundary, we just must use the pavement design absolute altitude, as the absolute standard of construction.
Under perfect condition, promptly roadbed is fully smooth and meet its design elevation.Without any the influence of extraneous factor, we just can be directly the pavement design absolute altitude as the paver screed absolute standard of control automatically, reach by paver being adopted special-purpose micro computer realize that digital process is controlled technically, i.e. the CNC technology.Its principle is: the information of the road of the wanting making (design elevation that comprises making, top rake, transverse slope etc.) the input micro computer, micro computer is by special programming software, compile corresponding control programs and control the inclination angle of screed, reach the purpose of adjusting leveling.In this process, micro computer has been set up out the model of making road according to road data, and a vertical alignment that plays two dimension is exactly the benchmark of construction control.
Under this perfect condition, the paver screed lower edge a bit in the paving operation process in the space the track of process to meet highway route design fully linear, defining this track is ideal trajectory.
In fact the influence of uneven and other extraneous factors of roadbed is an objective reality, be that paver can occur in operation and jolts, phenomenons such as pause, this just caused the screed lower edge that in (on the perpendicular) fluctuation about the ideal trajectory of track of space process.Defining this track is actual path.
Therefore, we play just flat purpose at the inclination angle of can not be directly controlling the screed of paver with the data of ideal trajectory.
Have deviation between actual path and the ideal trajectory, promptly on the actual path a bit with ideal trajectory on deviation on the corresponding some location.If can calculate this deviation and corrigendum, actual path is consistent with desirable crafty plot.Want the size of calculation deviation, we only need measure the data of actual path, because the data of ideal trajectory are known.
For actual path is measured, we need use Real-time and Dynamic (RTK) measuring technique.Its principle: a GPS datum station is set on the control point of road, all satellites is carried out Continuous Observation, and with its data by transmitting station real-time send to GPS rover station (being placed on the paver).On the GPS rover station, the GPS receiver is accepted the data that datum station transmits by accepting the radio station when accepting satellite-signal, then by the principle of GPS controller according to relative positioning, and the real-time three-dimensional coordinate that calculates rover station.
What we needed is the three-dimensional coordinate of paver screed lower edge one fixed point, so the measuring point of the GPS receiver of rover station is the screed lower edge, but the restriction of prior art (may only need to install a high-precision GPS module future), this point can't settle instrument directly to measure, and can only obtain the three-dimensional coordinate of measuring point by the instrument gauge head indirectly to the relative position of measuring point.Send the data of this three-dimensional coordinate to micro computer, micro computer is compared it with the coordinate (the design coordinate of this point on the road) of this point on the ideal trajectory, obtain deviation data.
The deviation data that micro computer obtains is broken down into two groups of two dimension deviation datas: one group is the horizontal level deviation, it is the deviation of the track that on horizontal plane, moves of paver, it is shown with concrete numeral (band direction) form on the display screen of bridge, be used for instructing the driving of operator, even can realize that paver turns to automatically by the numerical control control loop.Two groups is vertical elevation deviation, micro computer generates the command signal that corrects this deviation automatically, send horizontal control device of digital control system and the vertical control device of digital control system to, make the inclination angle of its control screed, make the track of measuring point meet ideal trajectory, thereby the elimination deviation is carried out the operation of paver smoothly.
More than eliminate the process of deviation and finish from measuring control in the extremely short time, realize measuring with paving operation synchronously.In order to make paver adapt to the basic level requirement of different condition, need be divided into the different gear of a plurality of sensitivity to the scope of deviation adjustment.Select matched gear for use for different execution conditions.
Claims (5)
1. the real time dynamic measurement formula numerical control automatic leveling system of a paver, it is characterized in that: comprise micro computer, the RTK real time dynamic measurement device that is used to measure the paver screed position, be used to adjust horizontal control device of digital control system and the vertical control device of digital control system that paver is consoled dull and stereotyped inclination angle that RTK real time dynamic measurement device, the horizontal control device of digital control system and the vertical control device of digital control system are connected with micro computer respectively with the system that realizes the Automatic Levelling function and software.
2. the real time dynamic measurement formula numerical control automatic leveling system of paver according to claim 1, it is characterized in that: described RTK real time dynamic measurement device comprises a GPS datum station and a GPS rover station, the receiver of GPS datum station is located at the road control point, and the receiver of GPS rover station is arranged in the sleeve pipe of paver screed side.
3. the real time dynamic measurement formula numerical control automatic leveling system of paver according to claim 1, it is characterized in that: described RTK real time dynamic measurement device comprises a GPS datum station and two GPS rover stations, the receiver of GPS datum station is located at the road control point, and the receiver of two GSP rover stations is separately positioned on the both sides of paver.
4. according to the real time dynamic measurement formula numerical control automatic leveling system of claim 2 or 3 described pavers, it is characterized in that: include the vialog that is arranged on described GPS rover station measuring point, vialog is connected with micro computer.
5. the real time dynamic measurement formula numerical control automatic leveling system of paver according to claim 4, it is characterized in that: described micro computer is connected with the display screen that is arranged on the paver bridge.
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2007200231980U CN201065510Y (en) | 2007-06-19 | 2007-06-19 | Real time dynamic measuring digital control automatic leveling device for spreading machine |
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| CNU2007200231980U CN201065510Y (en) | 2007-06-19 | 2007-06-19 | Real time dynamic measuring digital control automatic leveling device for spreading machine |
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Cited By (13)
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| CN102174792A (en) * | 2011-03-22 | 2011-09-07 | 苌安 | Intelligent GPS (global positioning system) elevation and average thickness control system of floated screed plate paver |
| CN102381354A (en) * | 2011-05-20 | 2012-03-21 | 三一重工股份有限公司 | Paver, pulse counting type walking control system and method for paver |
| WO2013016872A1 (en) * | 2011-08-03 | 2013-02-07 | 长沙中联重工科技发展股份有限公司 | Paver and control method, control device and control system thereof |
| CN104278614A (en) * | 2014-09-28 | 2015-01-14 | 广东惠利普路桥信息工程有限公司 | Pavement construction system capable of supporting high-precision GPS (global positioning system) and posture analysis |
| CN105178146A (en) * | 2015-08-18 | 2015-12-23 | 河南省路桥建设集团有限公司 | Automatic paving control system for paving machine |
| CN106292601A (en) * | 2016-08-31 | 2017-01-04 | 江苏中路信息科技有限公司 | Paving operation state supervisory systems based on RTK and method |
| CN109139635A (en) * | 2018-10-29 | 2019-01-04 | 李展 | A kind of high-precision telescopic rod |
| CN109162178A (en) * | 2018-10-29 | 2019-01-08 | 李展 | A kind of digitlization laying equipment and the method that paves |
| WO2019076059A1 (en) * | 2017-10-18 | 2019-04-25 | 中国建筑工程（香港）有限公司 | Automatic paver system having a measuring and positioning structure |
| CN111021207A (en) * | 2019-11-26 | 2020-04-17 | 东南大学 | Road surface ultrathin layer paragraph dividing system and method based on absolute elevation |
| CN111021204A (en) * | 2020-01-02 | 2020-04-17 | 清华大学 | Automatic road paving robot |
| CN112195721A (en) * | 2019-07-08 | 2021-01-08 | 卡特彼勒路面机械公司 | Automatic width input for paving operations |
| CN114263085A (en) * | 2022-01-13 | 2022-04-01 | 武汉英途工程智能设备有限公司 | Intelligent paving control system of paver |
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2007
- 2007-06-19 CN CNU2007200231980U patent/CN201065510Y/en not_active Expired - Fee Related
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| CN102174792B (en) * | 2011-03-22 | 2013-07-10 | 苌安 | Intelligent GPS (global positioning system) elevation and average thickness control system of floated screed plate paver |
| CN102174792A (en) * | 2011-03-22 | 2011-09-07 | 苌安 | Intelligent GPS (global positioning system) elevation and average thickness control system of floated screed plate paver |
| CN102381354A (en) * | 2011-05-20 | 2012-03-21 | 三一重工股份有限公司 | Paver, pulse counting type walking control system and method for paver |
| WO2013016872A1 (en) * | 2011-08-03 | 2013-02-07 | 长沙中联重工科技发展股份有限公司 | Paver and control method, control device and control system thereof |
| CN104278614A (en) * | 2014-09-28 | 2015-01-14 | 广东惠利普路桥信息工程有限公司 | Pavement construction system capable of supporting high-precision GPS (global positioning system) and posture analysis |
| CN105178146A (en) * | 2015-08-18 | 2015-12-23 | 河南省路桥建设集团有限公司 | Automatic paving control system for paving machine |
| CN106292601B (en) * | 2016-08-31 | 2019-01-15 | 江苏中路信息科技有限公司 | Paving operation state supervisory systems and method based on RTK |
| CN106292601A (en) * | 2016-08-31 | 2017-01-04 | 江苏中路信息科技有限公司 | Paving operation state supervisory systems based on RTK and method |
| WO2019076059A1 (en) * | 2017-10-18 | 2019-04-25 | 中国建筑工程（香港）有限公司 | Automatic paver system having a measuring and positioning structure |
| CN109162178A (en) * | 2018-10-29 | 2019-01-08 | 李展 | A kind of digitlization laying equipment and the method that paves |
| CN109139635A (en) * | 2018-10-29 | 2019-01-04 | 李展 | A kind of high-precision telescopic rod |
| WO2020087666A1 (en) * | 2018-10-29 | 2020-05-07 | 李展 | Digitized paving equipment and paving method |
| CN112195721A (en) * | 2019-07-08 | 2021-01-08 | 卡特彼勒路面机械公司 | Automatic width input for paving operations |
| CN112195721B (en) * | 2019-07-08 | 2023-10-10 | 卡特彼勒路面机械公司 | Automatic width input for paving operations |
| CN111021207A (en) * | 2019-11-26 | 2020-04-17 | 东南大学 | Road surface ultrathin layer paragraph dividing system and method based on absolute elevation |
| CN111021204A (en) * | 2020-01-02 | 2020-04-17 | 清华大学 | Automatic road paving robot |
| CN114263085A (en) * | 2022-01-13 | 2022-04-01 | 武汉英途工程智能设备有限公司 | Intelligent paving control system of paver |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080528 Termination date: 20110619 |