WO2020087666A1

WO2020087666A1 - Digitized paving equipment and paving method

Info

Publication number: WO2020087666A1
Application number: PCT/CN2018/119979
Authority: WO
Inventors: 李展
Original assignee: 李展; 李安
Priority date: 2018-10-29
Filing date: 2018-12-10
Publication date: 2020-05-07
Also published as: CN109162178A

Abstract

Digitized paving equipment, the digitized paving equipment comprising a paving machine (600), a first laser leveling device (200), a second laser leveling device (300), an RTK measurement equipment reference station (400) and an RTK measurement equipment mobile station (500), the first laser leveling device (200) being disposed at a front end of the paving machine (600), the second laser leveling device (300) being disposed at a rear end of the paving machine (600), and the first laser leveling device (200) and the second laser leveling device (300) being used to emit laser level surfaces at the same height; the RTK measurement equipment mobile station (500) being disposed on the paving machine (600); the paving machine (600) comprising a paving machine main body (601), the paving machine main body (601) having disposed thereon a telescoping rod and a controller (112), a top end of the telescoping rod being provided with a laser receiver (700), and a bottom part of the inside of the telescoping rod being provided with a stepper motor (105) and a pull-cord sensor (110). Also disclosed is a paving method using said paving equipment. The present paving equipment and paving method can accurately control paving thickness, saving construction time.

Description

Digital paving equipment and paving method

Technical field

The invention relates to the technical field of road construction, in particular to a digital paving equipment and a paving method.

Background technique

In the modern construction of traditional paved highway pavement, due to the operation technicians, it is easy to cause errors and inaccuracies during paving, resulting in errors in flatness, thickness, and longitudinal slope, and sometimes need to rely on Balance beam or hanging line construction is a kind of rigid construction, which brings a structure that is inconsistent with the design ideal to the pavement of the road surface. It does not meet the original intention of the design drawings, and it is fully mechanized, efficient and high quality with modern construction Diverge.

Paver is a kind of construction equipment mainly used for pavement on the base and surface of the highway, mainly including walking system, hydraulic system, conveying and distribution system, etc. At present, most of the paving equipment appearing on the market, because of the use of longitudinal inclinometer, transverse inclinometer and balance beam, the accuracy of paving is still not accurate enough.

At present, the paver is commonly used in the elevation control when paving the water stabilization layer. The nail steel brazing technology is used to measure the elevation of the steel braze on the lower bearing layer, and according to this elevation, the steel wire is hung on the steel wire bracket as the paving construction. A baseline. However, due to the cumbersome work involved in the paving process, precision control is difficult to meet the requirements, and a lot of manpower and material resources are required, so the paving efficiency is very low.

Summary of the invention

The purpose of the embodiments of the present invention is to provide a digital paving equipment and a paving method, which are used to solve the problems of difficulty in accuracy control and low paving efficiency of existing pavers.

To achieve the above object, an embodiment of the present invention provides a digital paving device, including a paving machine, a first laser leveler, a second laser leveler, a reference station of an RTK measuring device, and a mobile station of an RTK measuring device, where:

The first laser sweeper is arranged at the front end of the paver through a first support frame, the second laser sweeper is arranged at the rear end of the paver through a second support frame, the first laser The leveler and the second laser leveler are used to emit the laser plane at the same height; the RTK measuring equipment mobile station is set on the paver;

The paver includes a paver body. The paver body is provided with a telescopic rod and a controller. The telescopic rod is fixedly arranged on the arm of the screed through a bracket and moves up and down with the screed While lifting, the top end of the telescopic rod is provided with a laser receiver, the bottom of the telescopic rod is provided with a stepping motor and a rope sensor, and the controller is electrically connected to the rope sensor and the stepping motor, respectively .

The telescopic rod includes a telescopic rod body, and the telescopic rod body includes an outer telescopic rod, an inner telescopic rod and a screw rod, wherein:

Both the outer telescopic rod and the inner telescopic rod are hollow inside, the bottom of the outer telescopic rod is closed and the top of the outer telescopic rod is open;

The inner telescopic rod is disposed inside the outer telescopic rod, and the top end of the inner telescopic rod penetrates the top end opening of the outer telescopic rod and extends upward, and the bottom end of the inner telescopic rod passes through the mounting portion and the wire Rod thread connection;

The inner bottom of the outer telescopic rod is provided with the stepping motor, the output shaft at the upper end of the stepping motor is fixedly connected to the bottom of the screw rod through a coupling, and the screw rod is driven by the stepping motor Rotating to drive the inner telescopic rod to move up or down, the laser receiver is arranged on the top of the inner telescopic rod.

The drawstring sensor is provided at the inner bottom of the outer telescopic rod and below the stepping motor, and the drawstring sensor is fixedly connected to the bottom of the inner telescopic rod through a stainless steel drawstring.

The shape of the outer telescopic rod and the inner telescopic rod are both cylindrical.

The top of the inner telescopic rod is closed, and the laser receiver is fixedly arranged on the top of the inner telescopic rod, and the mounting portion at the bottom of the inner telescopic rod is integrally formed with the inner telescopic rod.

The shape of the mounting portion is cylindrical, and the outer diameter of the mounting portion is the same as the outer diameter of the inner telescopic rod.

A through hole is provided in the mounting portion, the inner diameter of the through hole is smaller than the inner diameter of the inner telescopic rod, and the inner side wall of the through hole is provided with an internal screw thread that matches the external screw thread of the screw rod.

The invention also provides a paving method, including the following construction steps:

S1: Erecting the first laser leveler at the front end of the paver's forward direction, while erecting the second laser leveler at the rear end of the paver, and causing the first laser leveler to emit a laser plane and Two laser levelers emit laser planes of known elevation at the same height;

S2: a telescopic rod is fixedly arranged on the paver, and a laser receiver is fixedly arranged on the top of the telescopic rod, the laser receiver is used to detect the laser plane emitted by the first laser scanner or the second laser scanner, the The controller provided on the paver is electrically connected to the drawstring sensor and the stepping motor provided in the telescopic rod respectively;

S3: Set up a base station for RTK measuring equipment, and set up a mobile station for RTK measuring equipment at the front of the cab on the paver;

S4: Determine the paving elevation, and obtain the current position coordinates of the paver in real time through the mobile station of the RTK measuring device. The controller calculates the pile number of the current position of the paver according to the current position coordinates of the paver, and Calculate the paving height h required by the current position of the paver according to the pile number of the current position of the paver;

S5: The controller controls the distance L that the telescopic rod needs to extend according to the paving height h required by the current position of the paver;

S6: The laser receiver detects whether the laser plane of the known elevation emitted by the first laser scanner or the second laser scanner is located at the zero position, and when the first laser scanner or the second laser scanner emits a laser of known elevation When the laser plane is above the zero position, an upward control signal is sent to the side control box of the paver via the controller; when the first or second laser sweeper emits a laser plane of known elevation below the zero position At this time, a downward control signal is sent to the side control box of the paver via the controller; the side control box controls the paving thickness of the paver according to the received upward or downward control signal.

The distance L that the telescopic rod needs to extend is:

L = H-h-d-g;

Where, H is the known elevation emitted by the first laser leveler or the second laser leveler, h is the paving height required by the current position of the paver, d is the virtual paving height, and g is the base pole height.

The height of the base rod is: when the telescopic rod is at the lowest height, the zero position of the laser receiver is at a height away from the bottom of the screed.

The embodiments of the present invention have the following advantages: the digital paving equipment and the paving method provided by the embodiments of the present invention, through the setting of the first laser scanner, the second laser scanner, the reference station of the RTK measurement equipment, and the movement of the RTK measurement equipment Station, the first laser leveler and the second laser leveler are used to emit laser planes at the same height; the RTK measuring equipment mobile station is set on the paver; the paver includes a paver body, The body of the paver is provided with a telescopic rod and a controller, a laser receiver is provided on the top of the telescopic rod, a stepping motor and a rope sensor are provided on the bottom of the telescopic rod, and the controller and the The drawstring sensor and the stepping motor are electrically connected; through the provided drawstring sensor and the controller, and the drawstring sensor is provided at the bottom inside the outer telescopic rod and below the stepping motor, so The cable sensor is fixedly connected to the bottom of the inner telescopic rod through a stainless steel cable. The provided rope sensor can detect the rising or falling height of the inner telescopic rod in real time, that is, the distance of expansion and contraction of the high-precision telescopic rod provided by the embodiment of the present invention, thereby further controlling the rotation speed of the output shaft of the stepper motor Control the precision of the rise or fall of the inner telescopic rod, so as to achieve the purpose of accurately controlling the paving thickness of the paver.

BRIEF DESCRIPTION

FIG. 1 is a schematic structural diagram of a digital paving device according to an embodiment of the present invention.

2 is a schematic structural diagram of a telescopic rod in a digital paving device provided by an embodiment of the present invention.

FIG. 3 is a schematic cross-sectional structure diagram of a telescopic rod in a digital paving device according to an embodiment of the present invention.

4 is a schematic cross-sectional structural view of an inner telescopic rod in a digital paving device provided by an embodiment of the present invention.

In the picture: 100, telescopic rod body; 101, outer telescopic rod; 102, inner telescopic rod; 103, screw rod; 104, mounting part; 105, stepper motor; 106, output shaft; 107, coupling; 108, Through hole; 109, internal thread; 110, drawstring sensor; 111, stainless steel drawstring; 112, controller; 200, first laser leveler; 201, first support frame; 300, second laser leveler; 301, Second support frame; 400, RTK measuring equipment reference station; 500, RTK measuring equipment mobile station; 600, paver; 601, paver body; 602, controller; 603, boom; 700, laser receiver; 800, subgrade.

detailed description

The following examples are used to illustrate the present invention, but are not used to limit the scope of the present invention.

As shown in FIGS. 1 to 4, a digital paving device provided by an embodiment of the present invention includes a paver 600, a first laser leveler 200, a second laser leveler 300, an RTK measuring equipment reference station 400, and The RTK measuring equipment mobile station 500, and the paver 600, the first laser sweeper 200, the second laser sweeper 300, the RTK measuring equipment reference station 400, and the RTK measuring equipment mobile station 500 are all located on the subgrade 800. The RTK (Real-time Kinematic) carrier phase differential technology is a differential method that processes the carrier phase observations of two measurement stations in real time, and sends the carrier phase collected by the reference station to the user receiver to calculate the difference and resolve the coordinates. This is a new commonly used satellite positioning measurement method. Previous static, fast static, and dynamic measurements all need to be solved afterwards to obtain centimeter-level accuracy, and RTK is a measurement method that can obtain centimeter-level positioning accuracy in the field in real time. It uses the carrier-phase dynamic real-time differential method, which is a major milestone in GPS applications. Its emergence has brought new dawn to engineering lofting, topographic mapping, and various control measurements, which has greatly improved operational efficiency. In the present invention, the RTK measuring equipment reference station 400 is built on a known point of the roadbed; the satellite signals received by the RTK measuring equipment reference station 400 are sent to the RTK measuring equipment mobile station 500 in real time through the wireless communication network; the RTK measuring equipment mobile station 500 The received satellite signal and the received reference station signal are jointly solved in real time, and the coordinate increment (baseline vector) between the reference station of the RTK measuring device and the mobile station of the RTK measuring device is obtained.

The first laser sweeper 200 is disposed at the front end of the paver 600 through the first support frame 201, and the second laser sweeper 300 is disposed at the rear end of the paver 600 through the second support frame 301. The first laser sweeper 200 and The second laser leveler 300 is used to emit the laser plane of the same height; the RTK measuring equipment mobile station 500 is set on the paver 100, and the RTK measuring equipment reference station 400 is set on the roadbed 800, as long as the RTK measuring equipment mobile station A receiving range of 500 (that is, 30 kilometers) is sufficient.

The paver 600 includes a paver body 601. The paver body 601 is provided with a telescopic rod and a controller 602. The controller 602 is provided above the screed, supplementing the telescopic rod, and a laser receiver 700 is provided at the top of the telescopic rod At the bottom of the telescopic rod, a stepper motor 105 and a rope sensor 110 are provided, and the controller 602 is electrically connected to the rope sensor 110 and the stepper motor 105, respectively. It should be noted that the left and right sides of the paver 600 are provided with telescopic rods and controllers 602, that is, a set of telescopic rods and controllers are provided on the boom 603 on the left side of the paver 600, so as to realize the paver The screed on the left is controlled; at the same time, a set of telescopic rods and controllers are provided on the boom 603 on the right of the paver, so as to control the screed on the right of the paver.

The telescopic rod includes a telescopic rod body 100, and the telescopic rod body 100 includes an outer telescopic rod 101, an inner telescopic rod 102, and a screw 103, wherein:

The outer telescopic rod 101 and the inner telescopic rod 102 are both hollow structures, the outer diameter of the inner telescopic rod 102 is smaller than the inner diameter of the outer telescopic rod 101, the bottom of the outer telescopic rod 101 is closed and the top end of the outer telescopic rod 101 is open; The length can be selected from 0.5 to 1.5 m, and the length of the inner telescopic rod 102 can be selected from 0.8 to 1.8 m, and the specific size can be selected according to actual needs.

The inner telescopic rod 102 is disposed inside the outer telescopic rod 101, and the top end of the inner telescopic rod 102 penetrates the top end opening of the outer telescopic rod 101 and extends upward. The bottom end of the inner telescopic rod 102 is provided with a mounting portion 104, and the inner telescopic rod 102 passes through the mounting portion 104 is screwed with the screw 103;

The bottom of the outer telescopic rod 101 is provided with a stepping motor 105. The output shaft 106 at the upper end of the stepping motor 105 is fixedly connected to the bottom of the screw 103 through a coupling 107. The screw 103 is rotated by the stepping motor 105. Therefore, the inner telescopic rod 102 is driven to move up or down, and when the inner telescopic rod 102 moves up or down, the outer telescopic rod 101 does not move, that is, the inner telescopic rod and the outer telescopic rod will not move relative to each other. The laser The receiver 700 is disposed on the top of the inner telescopic rod 102, and the laser receiver 700 moves up and down under the driving of the inner telescopic rod 102.

The drawstring sensor 110 is disposed at the bottom inside the outer telescopic rod 102 and below the stepper motor 105, and the drawstring sensor 110 is fixedly connected to the bottom of the inner telescopic rod 103 through a stainless steel drawstring 111.

The shapes of the outer telescopic rod 101 and the inner telescopic rod 102 may both be cylindrical or square, and may preferably be cylindrical, and both the outer telescopic rod and the inner telescopic rod are made of aluminum alloy or light material. Through the above design, the design of the outer telescopic rod 101 and the inner telescopic rod 102 is more reasonable, and the inner telescopic rod 102 rises or falls inside the outer telescopic rod 101 more freely and smoothly, that is, the telescopic is more flexible; in addition, because the outer telescopic rod 101 and The inner telescopic rods 102 are made of aluminum alloy or light materials, so the service life is longer, and the safety and reliability are further improved.

The top of the inner telescopic rod 102 is closed, and the laser receiver 700 is fixedly disposed on the top of the inner telescopic rod 102. The mounting portion 104 of the inner telescopic rod 102 and the inner telescopic rod 102 are integrally formed. Therefore, the combination of the inner telescopic rod 102 and the mounting portion 104 is firmer and more rigid, and the processing efficiency of the inner telescopic rod 102 and the mounting portion 104 is higher, thereby extending the service life of the inner telescopic rod 102 and the mounting portion 104.

The shape of the mounting portion 104 is cylindrical, and the outer diameter of the mounting portion 104 is the same as the outer diameter of the inner telescopic rod 102, which is convenient for processing and stronger in strength.

A through hole 108 is provided in the mounting portion 104, the inner diameter of the through hole 108 is smaller than the inner diameter of the inner telescopic rod, and the inner side wall of the through hole is provided with an internal screw thread that matches the external screw thread of the screw rod. Through the above design, the combination of the mounting portion 104 and the screw 103 is more firm, the operation is more stable, and the safety and reliability are further improved. At the same time, the output shaft 106 of the stepper motor 105 drives the screw 103 to rotate, which in turn drives the inner telescopic rod 102 to move up or down, that is, the stepper motor 105 realizes the control of the up or down of the inner telescopic rod 102, so that The telescopic accuracy of the inner telescopic rod 102 is improved to a certain extent.

The telescopic rod provided by the embodiment of the present invention is rotated by a stepping motor through a screw 103, and the bottom end of the inner telescopic rod is screwed to the screw rod through a mounting portion, thereby driving the inner telescopic rod to move up or down , To achieve the inner telescopic rod running up or down from the outer telescopic rod, and then to achieve the telescopic function. At the same time, because the bottom end of the inner telescopic rod is connected to the screw bolt through the mounting part, the inner telescopic rod and the screw rod are tightly matched, and the operation is stable, and the safety and reliability are improved to a certain extent; in addition, by controlling the stepper motor , Can achieve high-precision telescopic action of the inner telescopic rod.

At the same time, the drawstring sensor and the controller are provided, and the drawstring sensor is disposed at the inner bottom of the outer telescopic rod and below the stepper motor. The drawstring sensor is fixedly connected to the bottom of the inner telescopic rod through a stainless steel drawstring. By setting the rope sensor, the rising or falling height of the inner telescopic rod can be detected in real time, that is, the distance of the high-precision telescopic rod provided by the embodiment of the present invention, thereby further controlling the internal speed by controlling the rotation speed of the output shaft of the stepper motor The precision of ascending or descending of the telescopic rod can achieve the purpose of accurately controlling the paving thickness of the paver.

The paving method for paving by using the digital paving equipment of the present invention specifically includes the following construction steps:

S1: Set up the first laser leveler at the front end of the paver's forward direction, and at the same time set up the second laser leveler at the rear end of the paver, and make the first laser leveler emit the laser plane and the second laser of known elevation The plane of the laser emitted by the leveler with a known elevation is the same height;

S2: A telescopic rod is fixedly arranged on the paver, and a laser receiver is fixedly arranged on the top of the telescopic rod. The laser receiver is used to detect the laser plane emitted by the first laser scanner or the second laser scanner, and the control set on the paver The device is electrically connected to the cable sensor and the stepping motor provided in the telescopic rod;

S4: Determine the paving height. The mobile station of the RTK measuring device can obtain the current position coordinates of the paver in real time. The controller calculates the pile number of the current position of the paver according to the current position coordinates of the paver, and according to the paving The pile number of the current position of the paver calculates the required paving height h of the current position of the paver, that is, the design elevation;

S6: The laser receiver detects whether the laser plane with the known elevation emitted by the first laser scanner or the second laser scanner is at the zero position, and when the laser plane with the known elevation emitted by the first laser scanner or the second laser scanner is at the zero point When the position is above, the controller sends an upward control signal to the side control box of the paver via the controller; when the first laser sweeper or the second laser sweeper emits a laser plane of known elevation below the zero position, the controller The side control box of the paver sends a downward control signal; the side control box controls the paving thickness of the paver according to the received up or down control signal.

The distance L that the telescopic rod needs to extend is:

L = H-h-d-g;

Where, H is the known elevation emitted by the first laser leveler or the second laser leveler, h is the level required for the current position of the paver, d is the height of the virtual paving, and g is the base bar height.

The base height g is: the height of the laser receiver's zero position from the bottom of the screed when the telescopic pole is at the lowest height.

Although the present invention has been described in detail above with general description and specific embodiments, on the basis of the present invention, some modifications or improvements can be made to it, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present invention belong to the scope claimed by the present invention.

Claims

A digital paving equipment, characterized by comprising a paving machine, a first laser leveler, a second laser leveler, a reference station for RTK measuring equipment and a mobile station for RTK measuring equipment, wherein:

The first laser sweeper is arranged at the front end of the paver through a first support frame, the second laser sweeper is arranged at the rear end of the paver through a second support frame, the first laser The leveler and the second laser leveler are used to emit the laser plane at the same height; the RTK measuring equipment mobile station is set on the paver;

The paver includes a paver body. The paver body is provided with a telescopic rod and a controller. The telescopic rod is fixedly arranged on the arm of the screed through a bracket and moves up and down with the screed While lifting, the top of the telescopic rod is provided with a laser receiver, the bottom of the telescopic rod is provided with a stepping motor and a rope sensor, and the controller is electrically connected to the rope sensor and the stepper motor, respectively connection.
The digital paving equipment according to claim 1, wherein the telescopic rod comprises a telescopic rod body, and the telescopic rod body comprises an outer telescopic rod, an inner telescopic rod and a screw rod, wherein:

The outer telescopic rod and the inner telescopic rod are both hollow structures, the bottom of the outer telescopic rod is closed and the top is open;

The inner telescopic rod is disposed inside the outer telescopic rod, and the top end of the inner telescopic rod penetrates the top end opening of the outer telescopic rod and extends upward, and the bottom end of the inner telescopic rod is provided with a mounting portion and passes through The mounting part is screwed to the screw rod;

The bottom of the outer telescopic rod is provided with the stepping motor, the output shaft at the upper end of the stepping motor is fixedly connected to the bottom of the screw rod through a coupling, and the screw rod is driven by the stepping motor Rotate downward to drive the inner telescopic rod to move up or down, and the laser receiver is arranged on the top of the inner telescopic rod.
The digital paving equipment according to claim 2, wherein the rope sensor is provided at the bottom inside the outer telescopic rod and below the stepping motor, and the rope sensor is pulled by stainless steel The rope is fixedly connected to the bottom of the inner telescopic rod.
The digital paving equipment according to claim 2, wherein the outer telescopic rod and the inner telescopic rod are both cylindrical in shape.
The digital paving equipment according to claim 4, wherein the top of the inner telescopic rod is closed, and the inner telescopic rod mounting portion is integrally formed with the inner telescopic rod.
The digital paving equipment according to claim 2, wherein the shape of the mounting portion is cylindrical, and the outer diameter of the mounting portion is the same as the outer diameter of the inner telescopic rod.
The digital paving equipment according to claim 6, wherein a through hole is provided in the mounting portion, the inner diameter of the through hole is smaller than the inner diameter of the inner telescopic rod, and the inner side wall of the through hole is provided with The internal thread matched with the external thread of the screw rod.
A paving method, characterized in that it includes the following construction steps:

S1: Erecting the first laser leveler at the front end of the paver's forward direction, while erecting the second laser leveler at the rear end of the paver, and causing the first laser leveler to emit a laser plane and Two laser levelers emit laser planes of known elevation at the same height;

S2: a telescopic rod is fixedly arranged on the paver, and a laser receiver is fixedly arranged on the top of the telescopic rod, the laser receiver is used to detect the laser plane emitted by the first laser scanner or the second laser scanner, the The controller provided on the paver is electrically connected to the drawstring sensor and the stepper motor provided in the telescopic rod respectively;

S3: Set up a base station for RTK measuring equipment, and set up a mobile station for RTK measuring equipment at the front of the cab on the paver;

S4: Determine the paving elevation, obtain the current position coordinates of the paver in real time through the RTK measuring equipment mobile station, the controller calculates the pile number of the paver according to the current position coordinates of the paver, and according to the paving The pile number of the current position of the machine is used to calculate the required paving elevation h for the current position of the paving;

S5: The controller controls the distance L that the telescopic rod needs to extend according to the paving elevation h required by the current position of the paving;

S6: The laser receiver detects whether the laser plane of the known elevation emitted by the first laser scanner or the second laser scanner is located at the zero position, and when the first laser scanner or the second laser scanner emits a laser of known elevation When the laser plane is above the zero position, an upward control signal is sent to the side control box of the paver via the controller; when the first or second laser sweeper emits a laser plane of known elevation below the zero position At this time, a downward control signal is sent to the side control box of the paver via the controller; the side control box controls the paving thickness of the paver according to the received upward or downward control signal.
The paving method according to claim 8, wherein the distance L that the telescopic rod needs to extend is:

L = H-h-d-g;

Where, H is the known elevation emitted by the first laser leveler or the second laser leveler, h is the paving height required by the current position of the paver, d is the thickness of the virtual paving, and g is the base bar height.
The paving method according to claim 9, wherein the height of the base rod is: when the telescopic rod is at the lowest height, the zero position of the laser receiver is at a height from the bottom of the screed.