WO2024045327A1

WO2024045327A1 - Intelligent paving system based on laser guidance

Info

Publication number: WO2024045327A1
Application number: PCT/CN2022/129753
Authority: WO
Inventors: 杨波; 汪淼; 王一星
Original assignee: 中国路桥工程有限责任公司
Priority date: 2022-09-01
Filing date: 2022-11-04
Publication date: 2024-03-07
Also published as: CN115538253A

Abstract

An intelligent paving system based on laser guidance. A paver (2) is used for traveling on a road (1) and paving a coating layer (11), and a laser receiving part (4) is arranged on the paver (2); a plurality of laser emitting parts (3) are arranged on the sides of the road (1), and three adjacent laser emitting parts (3) are all positioned in a reference surface (12) parallel to the top surface of the coating layer (11); a calculation part takes the laser receiving part (4) as an origin of a coordinate system, and receives a laser beam (31) by means of the laser receiving part (4) to derive coordinates of the three laser emitting parts (3), and further obtain the reference surface (12) flush with the coating layer (11) by means of derivation; the calculation part derives the thickness and the slope of the coating layer (11) according to the reference surface (12) to provide a control instruction for the paver (2); and the paver (2) adjusts the thickness and the leveling angle of a paved material according to the control instruction, so as to adapt to a sharp bending part of the road (1) where the coating layer (11) is inclined in both the length direction and the width direction.

Description

An intelligent paving system based on laser guidance

This application is filed based on a Chinese patent application with application number 202211067275.8 and a filing date of September 1, 2022, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated into this application as a reference.

Technical field

The invention relates to the field of road paving equipment, and in particular to an intelligent paving system based on laser guidance.

Background technique

Paving refers to the construction method of laying concrete or asphalt on the road surface to form a cladding, and then leveling the concrete or asphalt to make the cladding smooth. For related technology, please refer to the paver for constructing concrete or asphalt cladding disclosed in Chinese Patent No. CN101688377B. Optical guidance system used.

In order to obtain the smoothness of concrete or asphalt, people usually use lasers to guide the screed machine so that the screed plate is flush with the design surface of the cladding. For related technology, please refer to the pavement construction flatness laser disclosed in Chinese Patent Publication No. CN100389301C. Measurement and control device and method, which automatically determines the height and slope of the road surface through a laser-guided leveling machine, thereby automatically leveling the overlay to the required height and slope.

However, the laser guidance in the related art can only guide the paver to pave the road surface, which is only suitable for flat roads. When the road surface has large curvature, inclination and slope, such as the auxiliary road of an overpass, the existing Laser guidance methods cannot be used.

Contents of the invention

The purpose of the present invention is to provide an intelligent paving system based on laser guidance to solve the technical problem that the existing laser guidance method cannot be used for roads with slopes in both the length and width directions.

In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

An intelligent paving system based on laser guidance, including: a paver used to drive on a road and perform the action of paving a covering layer with concrete or asphalt materials; a plurality of laser emitting parts arranged along the road And distributed on both sides of the road, the laser emitting parts are used to emit horizontal laser beams around. The three adjacent laser emitting parts are located on a reference plane, and the reference plane and the reference plane are on the road. The design slope of the coating inside the projection is the same, and the height difference between the reference plane and the coating is always the same; a laser receiving part is arranged on the paver, and the laser receiving part is used to receive the laser beam and obtain the incident angle and incident height of the laser beam; a distance measuring part used to obtain the distance between each of the laser emitting parts and the laser receiving part; a calculating part used to calculate the distance between the laser beam and the laser beam according to the laser beam. The data obtained by the receiving part and the ranging part deduce and provide the control instructions of the paver; wherein, when the paver is working, the three laser emitting parts closest to the laser receiving part emit Laser beam.

Further, the laser emitting part includes: a vertical pole, erected on the side of the road; a laser source, rotatably arranged on the top of the vertical axis around a vertical axis; a first driver, arranged on the vertical axis. The first driver is mounted on the rod and its execution part is connected to the laser source. The first driver is used to drive the laser source to rotate.

Further, the distance measuring part is used to receive the laser beam emitted by the laser source and reflected by the laser receiving part, and obtain the laser emitting part and the laser receiving part through a phase method or a pulse method. the distance between; the distance measuring part is fixedly connected to the execution part of the first driver and is driven to rotate by the first driver.

Further, the distance measuring part is used to emit the laser beam and receive the laser beam reflected by the laser receiving part, and obtain the distance between the laser emitting part and the laser receiving part through a phase method or a pulse method. the distance between each other; the distance measuring part is fixedly connected to the execution part of the first driver and driven to rotate by the first driver, or the distance measuring part can rotate on its own.

Further, the laser receiving part includes: a self-balancing base, which has an execution part that always maintains a vertical posture through gravity induction. The self-balancing base is fixedly connected to the paver; a rotating part that can surround the vertical position. The direct axis is rotatably connected to the execution part of the self-balancing base; the driver is connected to the execution part of the self-balancing base, the execution part of the driver is connected to the rotating part and is used to drive the rotating part Rotation; the photosensitive receiving area is vertically connected to the rotating part, the height of the photosensitive receiving area > the maximum height difference between the three adjacent laser emitting parts, the photosensitive receiving area receives all the laser signals on the horizontal plane The receiving angle of the laser beam is ≤1°; a light reflection area is vertically connected to the rotating part, and the height of the light reflecting area is the same as the height of the photosensitive receiving area; an angle sensor is connected to the rotating part Or the execution shaft of the driver is transmission connected, and is used to obtain the rotation angle of the rotating part or the execution shaft of the driver.

Further, the self-balancing base includes: a ball bowl, which is fixedly connected to the top of the paver; a ball core, which is rotatably connected to the inside of the ball bowl; and a weight, which is connected to the ball The core is fixedly connected and suspended below the ball core; a bracket is fixedly connected to the ball core and is arranged on a side of the ball core away from the weight, and the driver is fixedly connected to the bracket.

Further, the rotating part includes: a rotating shaft, which is connected to the execution part of the driver; a rotating drum, which is coaxially sleeved on the outside of the rotating shaft and is fixedly connected to the rotating shaft through ribs; a recessed part, It is formed on the outer wall of the rotating drum and extends along the axial direction of the rotating drum, and the photosensitive receiving area is connected to the inside of the recessed portion.

Further, the central angle of the area occupied by the recessed portion on the cross section of the rotating drum is ≤1°.

Further, the recessed portions have multiple recessed portions and are evenly distributed around the axis of the rotating shaft, and the photosensitive receiving area is connected to the inside of each recessed portion.

Further, a prismatic mirror surface is formed on the outer wall of the rotating drum in a portion where the recessed portion is not formed, and the light reflection area is formed on the outer wall of each prism mirror surface.

Compared with the prior art, this application has the following beneficial effects:

Provide an intelligent paving system based on laser guidance, including using a paver to drive on the road and lay the cladding, while arranging a laser receiving part on the paver, and arranging a plurality of laser emitting parts on the side of the road, and The three adjacent laser emitting parts are all located in the reference plane parallel to the top surface of the coating. The calculation part takes the laser receiving part as the origin of the coordinate system and receives the laser beam through the laser receiving part to derive the values of the three laser emitting parts. coordinates, and further obtain a datum plane that is flush with the cladding through derivation. The calculation department derives the thickness and slope of the cladding based on the datum plane to provide control instructions for the paver. The paver adjusts the paving thickness and slope according to the control instructions. Leveling angle, making it suitable for sharp bends in roads where the cladding slopes both lengthwise and widthwise.

Description of drawings

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only exemplary. For those of ordinary skill in the art, other implementation drawings can be obtained based on the extension of the provided drawings without exerting creative efforts.

Figure 1 is a schematic diagram from a top view of the working process of establishing a datum and paving the coating according to the datum when the paver according to the embodiment of the present invention is running on the road;

Figure 2 is a schematic view from the front of the working process of establishing a datum and paving the coating according to the datum when the paver according to the embodiment of the present invention is running on the road;

Figure 3 is a schematic three-dimensional perspective view of the working process of establishing a datum and paving the coating according to the datum when the paver according to the embodiment of the present invention is running on the road;

Figure 4 is a perspective view and a partial enlarged view of an embodiment of the laser emitting part of the present invention;

Figure 5 is a schematic structural diagram of the laser receiving part from the front view according to the embodiment of the present invention;

Figure 6 is an axial view of the rotating part according to the embodiment of the present invention;

Figure 7 is a perspective view of the rotating part according to the embodiment of the present invention;

The labels in the figure are as follows:

1-road; 11-cladding; 12-datum;

2-paver; 21-traveling device; 22-paving device; 23-leveling device; 231-screeding plate; 232-hydraulic cylinder;

3-laser emitting part; 31-laser beam; 32-vertical pole; 33-laser source; 34-first driver;

4-laser receiving part; 41-self-balancing base; 411-ball bowl; 412-ball core; 413-weight; 414-bracket; 42-rotating part; 421-rotating shaft; 422-rotating drum; 423-fins ; 424-recessed portion; 425-prism mirror; 43-driver; 44-photosensitive receiving area; 45-light reflection area; 46-angle sensor;

5-Ranging department.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Roads with sharp curves, whose cladding has slopes both lengthwise and widthwise, make existing laser guidance methods unusable.

To this end, as shown in Figure 1-3, an intelligent paving system based on laser guidance is provided. Its specific structure includes a paver 2, a laser emitting part 3, a laser receiving part 4, a ranging part 5 and a calculation part.

The paver 2 is used to travel on the road 1 and perform the action of laying the cladding 11 with concrete or asphalt material;

A plurality of laser emitting parts 3 are arranged along the road 1 and distributed on both sides of the road 1. The laser emitting parts 3 are used to emit horizontal laser beams 31 to all directions. The three adjacent laser emitting parts 3 are located on the reference plane 12. The design slope of the reference plane 12 and the cladding 11 inside its projection on the road 1 is the same, and the height difference between the reference plane 12 and the cladding 11 is always the same;

The laser receiving part 4 is arranged on the paver 2, and the laser receiving part 4 is used to receive the laser beam 31 and obtain the incident angle and incident height of the laser beam 31;

The ranging part 5 is used to obtain the distance between each laser emitting part 3 and the laser receiving part 4;

The calculation part is used to derive and provide control instructions for the paver 2 based on the data obtained by the laser receiving part 4 and the ranging part 5;

When the paver 2 is operating, the three laser emitting parts 3 closest to the laser receiving part 4 emit laser beams 31, and the other laser emitting parts 3 do not operate.

The paver 2 includes a traveling device 21, a spreading device 22 and a leveling device 23. The traveling device 21 is used to travel on the road 1 along the length direction of the road 1. The spreading device 22 is connected to the front end of the traveling device 21. The paving device 22 is paved with concrete or asphalt materials on the road 1 to form the covering 11. The leveling device 23 is connected to the rear end of the walking device 21. The leveling device 23 includes a screed and is used to adjust the height and angle of the screed. Hydraulic cylinder to smooth the cladding 11.

1. The calculation department derives and provides control instructions for paver 2 based on the following data:

(a) The horizontal distance between the laser emitting part 3 and the laser receiving part 4;

(b) The incident angle and incident height when the laser beam 31 irradiates the laser receiving part 4;

(c) The height difference between the reference plane 12 and the cladding 11 .

2. The derivation and provision process is as follows:

(a) Establish a coordinate system with the laser receiving part 4 as the origin;

(b) Calculate the horizontal coordinates of the laser emitting part 3 through trigonometric functions based on the horizontal distance between the laser emitting part 3 and the laser receiving part 4 and the incident angle of the laser beam 31 emitted by the laser emitting part 3;

(c) Calculate the vertical coordinates of the laser emitting part 3 according to the incident height of the laser beam 31 emitted by the laser emitting part 3;

(d) According to the three-dimensional coordinates of the three laser emitting parts 3, derive the height and slope of the reference plane 12;

(e) According to the height and slope of the base plane 12 and the height difference between the base plane 12 and the cladding 11, obtain the height and slope of the cladding 11;

(f) The paver 2 adjusts the height and slope of the paving according to the height and slope of the cladding 11 .

3. The working process of paver 2 is as follows:

(a) The calculation part obtains the height and slope of the cladding 11, divides the cladding 11 into several paving sections along the forward direction of the paver 2, and derives the paving value of each paving section through the calculation part. Paving thickness and leveling angle;

(b) Adjust the paving thickness of the paving device 22 according to the paving thickness of each paving section;

(c) Adjust the height and inclination angle of the screed according to the paving angle of each paving section;

(d) When the paver 2 travels to the area of the next reference plane 12, the laser emitting part 3 farthest from the paver 2 stops emitting laser, and the laser emitting part 3 closer to the paver emits laser. Form a new datum 12.

Further: since the paver 2 continues to advance along the road 1, the angle between the laser emitting part 3 and the laser receiving part 4 is constantly changing, and the laser emitting part 3 needs to be able to emit a fan-shaped or circularly expanding laser beam. 31. To this end, an optional embodiment is provided, as shown in Figure 4, and its specific structure is as follows.

The laser emitting part 3 includes a vertical pole 32 , a laser source 33 and a first driver 34 .

The pole 32 is erected on the side of the road 1;

The laser source 33 is rotatably arranged on the top of the vertical pole 32 around the vertical axis;

The first driver 34 is arranged on the vertical pole 32 and its execution part is connected with the laser source 33 . The first driver 34 is used to drive the laser source 33 to rotate.

The first driver 34 is a motor. The laser source 33 is used to emit a horizontal laser beam 31. The first driver 34 drives the laser source 33 to continuously rotate to form a fan-shaped or circular laser surface. The vertical rod 32 is used to adjust the laser. The height of the source 33 is such that the height distance between each laser emitting part 3 and the design elevation of the cladding 11 is the same.

The vertical pole 32 can be a tripod with a bubble level.

Further: in the related art, the relative distance between the laser transmitting part 3 and the laser receiving part 4 can be obtained through various methods, such as laser trackers, but laser trackers are expensive, and the cost of arranging several along the road 1 is high. , To this end, two optional embodiments are provided, and their specific structures are as follows.

First, the ranging part 5 is used to receive the laser beam 31 emitted by the laser source 33 and reflected by the laser receiving part 4, and obtain the distance between the laser emitting part 3 and the laser receiving part 4 through the phase method or the pulse method;

The distance measuring part 5 is fixedly connected to the execution part of the first driver 34 and is driven to rotate by the first driver 34 .

Specifically, the ranging part 5 and the laser source 33 together form a laser rangefinder, which is oriented in the same direction as the laser source 33 and works together. The ranging part 5 is driven and rotated by the first driver 34 .

Second, the ranging part 5 is used to emit the laser beam 31 and receive the laser beam 31 reflected by the laser receiving part 4, and obtain the distance between the laser emitting part 3 and the laser receiving part 4 through the phase method or the pulse method;

The distance measuring part 5 is fixedly connected to the execution part of the first driver 34 and driven to rotate by the first driver 34, or the distance measuring part 5 can rotate by itself.

Specifically, the distance measuring part 5 is an independent laser range finder, which is oriented in the same or different direction as the laser source 33 and works separately. The distance measuring part 5 is driven to rotate by the first driver 34 or another motor.

Part of the laser beam 31 emitted by the laser source 33 or the ranging part 5 is received by the laser receiving part 4 to determine the incident angle and incident height of the laser beam 31, and the other part is reflected by the laser receiving part 4 and received by the ranging part 5, The distance between the laser emitting part 3 and the laser receiving part 4 can be obtained by the phase method or the pulse method.

In the related art, usually the laser source 33 does not rotate. What rotates is a 45-degree prism facing the laser source 33, which continuously rotates to refract the laser light into a horizontal plane.

The distance measuring part 5 can be driven by the first driver 34 to continuously rotate, thereby eliminating the need for a motor dedicated to driving the distance measuring part 5 to rotate.

However, since the laser rangefinder has a minimum response time, the first driver 34 drives the laser source 33 to rotate at a slower speed than the laser level to prevent the laser rangefinder from being unable to obtain the distance in time. If the speed of the laser source 33 cannot To meet the requirement of forming a sector-shaped or circular laser surface, two motors need to be used to drive the laser source 33 and the distance measuring part 5 to rotate at different rotational speeds.

Further: in the related art, since the paver 2 continues to advance along the road 1, the incident angle of the laser beam 31 received by the laser receiving part 4 is constantly changing. In order to enable the laser receiving part 4 to always receive the laser beam 31, the laser receiving part 4 needs to be designed to be capable of receiving the laser beam 31 within a 360-degree range.

At the same time, when the laser receiving part 4 receives the laser beam 31 , it also needs to be able to determine the incident angle and height of the laser beam 31 and distinguish the laser beams 31 emitted by different laser emitting parts 3 .

Moreover, since the road 1 has a slope and the laser beam 31 emitted by the laser emitting part 3 is always horizontal, the photosensitive receiving area 44 and the light reflecting area 45 need to be able to maintain a vertical attitude at all times to obtain the incident height of the laser beam 31 The precise value of , and the optical path that reflects the laser beam 31 to the distance measuring part 5 .

To this end, an optional embodiment is provided to solve the above three technical problems, as shown in Figure 5, and its specific structure is as follows.

The laser receiving part 4 includes a self-balancing base 41, a rotating part 42, a driver 43, a photosensitive receiving area 44, a light reflection area 45 and an angle sensor 46.

The self-balancing base 41 has an execution part that always maintains a vertical posture through gravity induction. The self-balancing base 41 is fixedly connected to the paver 2;

The rotating part 42 is connected to the execution part of the self-balancing base 41 so as to be rotatable around the vertical axis;

The driver 43 is connected to the execution part of the self-balancing base 41. The execution part of the driver 43 is connected to the rotating part 42 and is used to drive the rotating part 42 to rotate;

The photosensitive receiving area 44 is vertically connected to the rotating part 42. The height of the photosensitive receiving area 44 > the maximum height difference between the three adjacent laser emitting parts 3. The receiving angle of the photosensitive receiving area 44 receiving the laser beam 31 on the horizontal plane ≤ 1°;

The light reflection area 45 is vertically connected to the rotating part 42, and the height of the light reflection area 45 is the same as the height of the photosensitive receiving area 44;

The angle sensor 46 is transmission connected with the execution shaft of the rotating part 42 or the driver 43, and is used to obtain the rotation angle of the executing shaft of the rotating part 42 or the driver 43.

The self-balancing base 41 is a tumbler-type structure, which can maintain its own balance under the action of gravity. The driver 43 is a motor. The light reflection area 45 is a mirror or prism, which is used to reflect the vertically incident laser beam 31 back. The angle sensor 46 is a hollow shaft photoelectric encoder.

The incident height of the laser beam 31 is obtained as follows: In the related art, the photosensitive receiving area 44 is usually a linear array image sensor, which together with the corresponding measurement control unit constitutes a linear array laser receiving controller. The linear array image sensor includes several According to the height of the photodiode that is excited, the incident height of the laser beam 31 can be obtained.

The incident angle of the laser beam 31 is obtained as follows: since the photosensitive receiving area 44 continuously rotates, the photosensitive receiving area 44 can receive the laser beam 31 in a 360-degree omnidirectional direction within a certain height range, and its height is such that the photosensitive receiving area 44 has The laser beam 31 emitted by three adjacent laser emitting parts 3 located at different heights can be received at the same time.

Since the laser emitting parts 3 are arranged along the road 1 and distributed on both sides of the road 1, with the paver 2 as the center of the circle, the central angle between the three closest laser emitting parts 3 around the paver 2 must be > 1 degree, so that the photosensitive receiving area 44 can only receive one laser beam 31 at the same time.

The angle sensor 46 is used to obtain the orientation of the photosensitive receiving area 44 on the horizontal plane. When the photosensitive receiving area 44 receives the laser beam 31 , the opposite direction of the orientation of the photosensitive receiving area 44 is the incident angle of the laser beam 31 .

Further: in order to enable the rotating part 42 to always stand upright on the paver 2, an optional embodiment of the self-balancing base 41 is provided, the specific structure of which is as follows.

The self-balancing base 41 includes a ball bowl 411, a ball core 412, a weight 413 and a bracket 414.

The ball bowl 411 is fixedly connected to the top of the paver 2;

The core 412 is rotatably connected to the interior of the bowl 411;

The weight 413 is fixedly connected to the core 412 and suspended below the core 412;

The bracket 414 is fixedly connected to the ball core 412 and is arranged on the side of the ball core 412 away from the weight 413. The driver 43 is fixedly connected to the bracket 414.

Under the action of gravity, the weight 413 always maintains a vertically downward attitude, so that the bracket 414 and the connected driver 43 always maintain a vertically upward attitude.

Further: in order to facilitate the rotation of the rotating part 42 and connect the photosensitive receiving area 44 and the light reflecting area 45 on its surface, an optional embodiment of the rotating part 42 is provided, as shown in Figure 6, and its specific structure is as follows. narrate.

The rotating part 42 includes a rotating shaft 421 and a rotating drum 422

The rotating shaft 421 is connected to the execution part of the driver 43;

The rotating drum 422 is coaxially sleeved on the outside of the rotating shaft 421 and is fixedly connected to the rotating shaft 421 through the ribs 423;

A recessed portion 424 extending along the axial direction of the rotating drum 422 is formed on the outer wall of the rotating drum 422 , and the photosensitive receiving area 44 is connected to the inside of the recessed portion 424 .

The function of the rotating shaft 421, the rotating drum 422 and the fins 423 is to form a lightweight cylindrical rotating part, which has space for arranging the photosensitive receiving area 44 and the light reflecting area 45, and is light and strong enough to avoid affecting the self-balancing base. Block 41 works while avoiding being affected by strong winds.

The recessed portion 424 is used to shield the laser beams 31 emitted by the two laser emitting parts 3, so that the photosensitive receiving area 44 can only receive the laser beam 31 emitted by one laser emitting part 3 at the same time, which facilitates the laser receiving part 4 to determine the incidence of the laser beam 31. angle.

Further: in order to facilitate the laser receiving part 4 to determine the incident angle of the laser beam 31 of the laser emitting part 3, for this purpose, an optional embodiment is provided, the specific structure of which is as follows.

The central angle of the area occupied by the recessed portion 424 on the cross section of the drum 422 is ≤1°.

In order to clearly show the recessed portion 424 in the drawing, the central angle occupied by the recessed portion 424 in the figure is relatively large. In fact, the central angle occupied by the recessed portion 424 is ≤1°, so that the laser beam 31 irradiates the photosensitive receiving area 44 through the recessed portion 424. When , the incident angle of the laser beam 31 derived by the calculation part can be accurate within 1°.

Further: since the incident angle of the laser beam 31 emitted by the three laser emitting parts 3 can be judged through the photosensitive receiving area 44 after the rotating part 42 rotates once, when the paving speed is fast, the rotation speed of the rotating part 42 is required to be higher, and the rotating part is required to rotate. 42 also has high structural strength requirements, and increasing the structural strength of the rotating part 42 will inevitably increase its weight, which is not in line with the principle of lightweight design of the rotating part 42. To this end, an optional embodiment is provided, whose specific structure As described below.

There are multiple recessed portions 424 and they are evenly distributed around the axis of the rotating shaft 421 . Each recessed portion 424 is connected with a photosensitive receiving area 44 inside.

When each photosensitive receiving area 44 sends a signal, the calculation part independently judges the signal sent by each photosensitive receiving area 44, and obtains the angle when each photosensitive receiving area 44 sends a signal through the angle sensor 46, as well as the height of the photodiode. , thereby obtaining the incident angle and incident height of the laser beam 31.

One rotation of the rotating part 42 can receive the laser beams 31 emitted by the three laser emitting parts 3 multiple times through the plurality of photosensitive receiving areas 44, and the incident angle of the laser beam 31 can be deduced multiple times without increasing the rotation speed of the rotating part 42.

To this end, an optional embodiment is provided, the specific structure of which is described below.

A prism mirror surface 425 is formed on the outer wall of the rotating drum 422 in a portion where the recessed portion 424 is not formed, and a light reflection area 45 is formed on the outer wall of each prism mirror surface 425 .

The prism mirror 425 is used to reflect the laser beam 31 emitted by the laser emitting part 3 or the ranging part 5 so that it is vertically reflected and received by the ranging part 5 to determine the distance between the ranging part 5 and the laser receiving part 4. No need Lenses or prisms are hung on the outer wall of the rotating drum 422 .

The above embodiments are only exemplary embodiments of the present invention and are not used to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention. Such modifications or equivalent substitutions should also be regarded as falling within the protection scope of the present invention.

Claims

An intelligent paving system based on laser guidance, which is characterized by including:

A paver (2) for traveling on a road (1) and performing the action of laying a cladding (11) with concrete or asphalt material;

A plurality of laser emitting parts (3) are arranged along the road (1) and distributed on both sides of the road (1). The laser emitting parts (3) are used to emit horizontal laser beams (31) to all directions. ), the three adjacent laser emitting parts (3) are located on the reference plane (12), and the coating (11) inside the reference plane (12) and its projection on the road (1) The design slope is the same, and the height difference between the reference plane (12) and the cladding (11) is always the same;

A laser receiving part (4) is arranged on the paver (2). The laser receiving part (4) is used to receive the laser beam (31) and obtain the incident angle sum of the laser beam (31). incident height;

A distance measuring part (5) used to obtain the distance between each of the laser emitting parts (3) and the laser receiving part (4);

A calculation part, used to derive and provide control instructions for the paver (2) based on the data obtained by the laser receiving part (4) and the ranging part (5);

in,

When the paver (2) is working, the three laser emitting parts (3) closest to the laser receiving part (4) emit laser beams (31).
An intelligent paving system based on laser guidance according to claim 1, characterized in that:

The laser emitting part (3) includes:

Vertical pole (32), erected on the side of the road (1);

The laser source (33) is rotatably arranged on the top of the vertical pole (32) around the vertical axis;

The first driver (34) is arranged on the vertical pole (32) and its execution part is connected to the laser source (33). The first driver (34) is used to drive the laser source (33) to rotate. .
An intelligent paving system based on laser guidance according to claim 2, characterized in that:

The ranging part (5) is used to receive the laser beam (31) emitted by the laser source (33) and reflected by the laser receiving part (4), and obtain the laser beam (31) through a phase method or a pulse method. The distance between the laser emitting part (3) and the laser receiving part (4);

The distance measuring part (5) is fixedly connected to the execution part of the first driver (34) and is driven to rotate by the first driver (34).
An intelligent paving system based on laser guidance according to claim 2, characterized in that:

The ranging part (5) is used to emit the laser beam (31) and receive the laser beam (31) reflected by the laser receiving part (4), and obtain the laser beam through a phase method or a pulse method. The distance between the emitting part (3) and the laser receiving part (4);

The distance measuring part (5) is fixedly connected to the execution part of the first driver (34) and driven to rotate by the first driver (34), or the distance measuring part (5) can rotate by itself.
An intelligent paving system based on laser guidance according to any one of claims 1-4, characterized in that:

The laser receiving part (4) includes:

A self-balancing base (41), which has an execution part that always maintains a vertical posture through gravity induction, and is fixedly connected to the paver (2);

The rotating part (42) is rotatably connected to the execution part of the self-balancing base (41) around the vertical axis;

The driver (43) is connected to the execution part of the self-balancing base (41). The execution part of the driver (43) is connected to the rotating part (42) and is used to drive the rotating part (42) to rotate. ;

The photosensitive receiving area (44) is vertically connected to the rotating part (42), the height of the photosensitive receiving area (44) > the maximum height difference between the three adjacent laser emitting parts (3), The photosensitive receiving area (44) receives the laser beam (31) at a receiving angle ≤ 1° on the horizontal plane;

The light reflection area (45) is vertically connected to the rotating part (42), and the height of the light reflection area (45) is the same as the height of the photosensitive receiving area (44);

Angle sensor (46), which is transmission connected with the rotation part (42) or the execution shaft of the driver (43), and is used to obtain the angle of the rotation part (42) or the execution shaft of the driver (43). Angle of rotation.
An intelligent paving system based on laser guidance according to claim 5, characterized in that:

The self-balancing base (41) includes:

Ball bowl (411), which is fixedly connected to the top of the paver (2);

The core (412) is rotatably connected to the interior of the bowl (411);

A weight (413), which is fixedly connected to the core (412) and suspended below the core (412);

A bracket (414) is fixedly connected to the ball core (412) and is arranged on the side of the ball core (412) away from the weight (413). The driver (43) and the bracket (414) ) fixed connection.
An intelligent paving system based on laser guidance according to claim 5, characterized in that:

The rotating part (42) includes:

The rotating shaft (421) is connected to the execution part of the driver (43);

The rotating drum (422) is coaxially sleeved on the outside of the rotating shaft (421) and is fixedly connected to the rotating shaft (421) through ribs (423);

A recessed portion (424) is formed on the outer wall of the rotating drum (422) and extends along the axial direction of the rotating drum (422), and the photosensitive receiving area (44) is connected to the recessed portion (424) internal.
An intelligent paving system based on laser guidance according to claim 7, characterized in that:

The central angle of the area occupied by the recessed portion (424) on the cross section of the rotating drum (422) is ≤1°.
An intelligent paving system based on laser guidance according to claim 7, characterized in that:

The recessed portions (424) have multiple and are evenly distributed around the axis of the rotating shaft (421), and the photosensitive receiving area (44) is connected inside each recessed portion (424).
An intelligent paving system based on laser guidance according to claim 7, characterized in that:

A prismatic mirror surface (425) is formed on the outer wall of the rotating drum (422) where the recessed portion (424) is not formed, and the light reflection area (45) is formed on each of the prism mirror surfaces (425). outer wall.