Road paving optimization control method and system of full-automatic paver and medium

Abstract

The invention relates to a pavement paving optimization control method and system of a full-automatic paver and a medium, and the method comprises the following steps: U1, the paver travels to a pavement construction area, data information of absolute elevation of a construction pavement is collected, temperature data information of the construction pavement is obtained in real time based on an airborne temperature sensor, and the temperature data information of the construction pavement is calculated; acquiring speed data information of the paver in real time based on an airborne speed sensor, acquiring flow data information of spread materials in real time based on an airborne flow sensor, and acquiring vibration frequency data information of the paver; and U2, establishing a first target correlation function G based on the data information of the absolute elevation of the construction pavement, the temperature data information of the construction pavement and the speed data information of the paver. According to the paver, the speed of the paver, the flow of paving materials and the vibrating frequency of the paver can be optimized, the flatness and the uniformity of pavement paving are improved, and the waste of the paving materials is reduced, so that the cost is saved, and the engineering cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of paver control, and in particular to a road pavement optimization control method, system and medium for a fully automatic paver. Background Art

[0002] With the continuous development of modern cities, in order to facilitate the speed and convenience of transportation, more and more uneven roads need to be paved. In this process, a paver is needed to pave the road surface. During the paving process of the paver, if the paving material flow rate is too large or too small, it will lead to waste of paving materials. Improper control of the speed of the paver will lead to insufficient uniformity of the paving material. The vibration frequency of the paver is too large or too small, which will affect the flatness and efficiency of the road paving. Therefore, how to optimize the paving material flow rate, speed and vibration frequency of the paver has become a problem that we urgently need to solve. Summary of the invention

[0003] In view of the above problems, the present invention provides a pavement paving optimization control method, system and medium for a fully automatic paver, which can not only optimize the speed of the paver, the flow rate of paving materials and the vibration frequency of the paver, improve the flatness and uniformity of the pavement paving, but also reduce the waste of paving materials, thereby saving costs and reducing engineering costs.

[0004] In order to achieve the above-mentioned purpose and other related purposes, the technical solution provided by the present invention is as follows: a road pavement paving optimization control method of a fully automatic paver, the method comprising:

[0005] U1. The paver drives to the road construction area, collects data information on the absolute elevation of the construction road surface, obtains temperature data information on the construction road surface in real time based on the onboard temperature sensor, obtains speed data information on the paver in real time based on the onboard speed sensor, obtains flow data information on the paving material in real time based on the onboard flow sensor, and obtains vibration frequency data information on the paver;

[0006] U2. Based on the data information of the absolute elevation of the construction road surface, the temperature data information of the construction road surface and the speed data information of the paver, a first target correlation function G is established, and the relevant parameter matrix of the road surface paving is calculated to obtain the first relevant parameter matrix data information of the road surface paving;

[0007] U3. Based on the first relevant parameter matrix data information of the pavement paving and the flow data information of the paving material, a second target correlation function H is established, and the relevant parameter matrix of the pavement paving is calculated to obtain the second relevant parameter matrix data information of the pavement paving;

[0008] U4. Based on the second relevant parameter matrix data information of the pavement paving and the vibration frequency data information of the paver, a third target correlation function Q is established, and the relevant parameter matrix of the pavement paving is calculated to obtain the third relevant parameter matrix data information of the pavement paving;

[0009] U5. Based on the third relevant parameter matrix data information of the pavement paving, an optimization control model for pavement paving is constructed to optimize and control the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver to obtain the optimized control data information of the paver.

[0010] Furthermore, the first objective correlation function G is,

[0011]

[0012] Among them, x1 is the data information that determines the elevation of the construction road surface, x2 is the temperature data information of the construction road surface, x3 is the speed data information of the paver, and α1, α2 and α3 are the first target correlation factors of the paved road surface.

[0013] Furthermore, the constraints of the first target correlation factors α1, α2 and α3 of the paving road are:

[0014]

[0015] Furthermore, the second objective correlation function H is,

[0016]

[0017] Among them, y is the first relevant parameter matrix data information of road paving, x4 is the flow data information of paving materials, f is the covariance function of road paving, β1, β2 and β3 are the second target correlation factors of road paving.

[0018] Furthermore, the covariance function f of the road paving is,

[0019]

[0020] cov(y,x4)=E(yx4)-E(y)E(x4),

[0021] Among them, y is the first relevant parameter matrix data information of road paving, and x4 is the flow data information of paving materials;

[0022] The constraints of the second target correlation factors β1, β2 and β3 of the road paving are:

[0023]

[0024] Furthermore, the third objective correlation function Q is,

[0025]

[0026] Among them, z is the second relevant parameter matrix data information of road paving, x5 is the vibration frequency data information of the paver, and λ1, λ2 and λ3 are the third target correlation factors of road paving.

[0027] Furthermore, in step U5, the construction of the optimization control model for pavement paving, optimizing and controlling the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver includes:

[0028] U51. Based on the third relevant parameter matrix data information of the pavement paving, establish a mean square error cost function M of the pavement paving,

[0029]

[0030] Among them, n is the sample size, h is the third related parameter matrix data information of pavement paving, v is the prediction function of pavement paving, μ i is the mean square error factor of the road surface paving, the mean square error of the road surface paving is calculated, and the data information of the mean square error of the road surface paving is obtained;

[0031] U52. Based on the mean square error data information of the pavement paving, a gradient optimization function L for pavement paving is established.

[0032]

[0033] Among them, q is the data information of the mean square error of the pavement paving, ω1, ω2 and ω3 are the optimization factors of the pavement paving, and the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver are optimized to obtain the data information of the optimized speed of the paver, the flow rate of the paving material and the vibration frequency of the paver;

[0034] U53. Based on the optimized data information of the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver, a control function R of the pavement paving is established.

[0035]

[0036] Among them, p1 is the data information of the speed of the optimized paver, p2 is the data information of the flow rate of the paving materials of the optimized paver, p3 is the data information of the vibration frequency of the optimized paver, θ1, θ2 and θ3 are the multivariable control constant parameters of the paver, which control the speed of the paver, the flow rate of the paving materials and the vibration frequency of the paver to obtain the control data information of the optimized paver.

[0037] Furthermore, the mean square error factor μ of the road paving is i The constraints are:

[0038]

[0039] The constraint function s of the multivariable control constant parameters θ1, θ2 and θ3 of the paver is:

[0040]

[0041] The value range of s is (0,1).

[0042] In order to achieve the above-mentioned and other related purposes, the present invention also provides a pavement paving optimization control system for a fully automatic paver, including a computer device, which is programmed or configured to execute the steps of any one of the pavement paving optimization control methods for a fully automatic paver.

[0043] In order to achieve the above-mentioned purpose and other related purposes, the present invention also provides a computer-readable storage medium, which stores a computer program programmed or configured to execute any one of the pavement paving optimization control methods for a fully automatic paver.

[0044] The present invention has the following positive effects:

[0045] 1. The present invention establishes a first target correlation function G to infer the relevant parameter matrix of pavement paving, and combines the second target correlation function H and the third target correlation function Q to infer the relevant parameter matrix of pavement paving, thereby obtaining the third relevant parameter matrix data information of pavement paving, which can not only accurately control each operation process of the paver, but also optimize and control the pavement paving process of the paver as a whole, thereby improving the efficiency and quality of pavement paving by the paver.

[0046] 2. The present invention optimizes and controls the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver by constructing an optimization control model for pavement paving. It can not only optimize the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver to improve the flatness and uniformity of the pavement paving, but also reduce the waste of paving materials, thereby saving costs and reducing engineering costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0048] Figure 2 A schematic diagram of a process for constructing an optimization control model for road paving according to the present invention;

[0049] Figure 3It is a schematic diagram of the structure of the present invention.

[0050] Explanation of the numbers in the figure: 1-paving machine, 2-temperature sensor, 3-flow sensor, 4-speed sensor. DETAILED DESCRIPTION

[0051] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0052] Example 1: Figure 1 or Figure 3 As shown, a road pavement paving optimization control method of a fully automatic paver, the method comprising:

[0053] U1. The paver 1 drives to the road construction area, collects data information of the absolute elevation of the construction road surface, obtains temperature data information of the construction road surface in real time based on the onboard temperature sensor 2, obtains speed data information of the paver in real time based on the onboard speed sensor 4, obtains flow data information of the paving material in real time based on the onboard flow sensor 3, and obtains vibration frequency data information of the paver;

[0054] U2. Based on the data information of the absolute elevation of the construction road surface, the temperature data information of the construction road surface and the speed data information of the paver, a first target correlation function G is established, and the relevant parameter matrix of the road surface paving is calculated to obtain the first relevant parameter matrix data information of the road surface paving;

[0055] U3. Based on the first relevant parameter matrix data information of the pavement paving and the flow data information of the paving material, a second target correlation function H is established, and the relevant parameter matrix of the pavement paving is calculated to obtain the second relevant parameter matrix data information of the pavement paving;

[0056] U4. Based on the second relevant parameter matrix data information of the pavement paving and the vibration frequency data information of the paver, a third target correlation function Q is established, and the relevant parameter matrix of the pavement paving is calculated to obtain the third relevant parameter matrix data information of the pavement paving;

[0057] U5. Based on the third relevant parameter matrix data information of the pavement paving, an optimization control model for pavement paving is constructed to optimize and control the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver to obtain the optimized control data information of the paver.

[0058] In this embodiment, the first target correlation function G is,

[0059]

[0060] Among them, x1 is the data information that determines the elevation of the construction road surface, x2 is the temperature data information of the construction road surface, x3 is the speed data information of the paver, and α1, α2 and α3 are the first target correlation factors of the paved road surface.

[0061] In this embodiment, the constraints of the first target correlation factors α1, α2 and α3 of the road paving are:

[0062]

[0063] In this embodiment, the second target correlation function H is,

[0064]

[0065] Among them, y is the first relevant parameter matrix data information of road paving, x4 is the flow data information of paving materials, f is the covariance function of road paving, β1, β2 and β3 are the second target correlation factors of road paving.

[0066] In this embodiment, the covariance function f of the road paving is:

[0067]

[0068] cov(y,x4)=E(yx4)-E(y)E(x4),

[0069] Among them, y is the first relevant parameter matrix data information of road paving, and x4 is the flow data information of paving materials;

[0070] The constraints of the second target correlation factors β1, β2 and β3 of the road paving are:

[0071]

[0072] In this embodiment, the third objective correlation function Q is,

[0073]

[0074] Among them, z is the second relevant parameter matrix data information of road paving, x5 is the vibration frequency data information of the paver, and λ1, λ2 and λ3 are the third target correlation factors of road paving.

[0075] Example 2: Based on the pavement paving optimization control method of a fully automatic paver in Example 1, the present invention is further illustrated and described below.

[0076] like Figure 1 or Figure 3 As shown, a road pavement paving optimization control method of a fully automatic paver, the method comprising:

[0077] U1. The paver 1 drives to the road construction area, collects data information of the absolute elevation of the construction road surface, obtains temperature data information of the construction road surface in real time based on the onboard temperature sensor 2, obtains speed data information of the paver in real time based on the onboard speed sensor 4, obtains flow data information of the paving material in real time based on the onboard flow sensor 3, and obtains vibration frequency data information of the paver;

[0078] U2. Based on the data information of the absolute elevation of the construction road surface, the temperature data information of the construction road surface and the speed data information of the paver, a first target correlation function G is established, and the relevant parameter matrix of the road surface paving is calculated to obtain the first relevant parameter matrix data information of the road surface paving;

[0079] U3. Based on the first relevant parameter matrix data information of the pavement paving and the flow data information of the paving material, a second target correlation function H is established, and the relevant parameter matrix of the pavement paving is calculated to obtain the second relevant parameter matrix data information of the pavement paving;

[0080] U4. Based on the second relevant parameter matrix data information of the pavement paving and the vibration frequency data information of the paver, a third target correlation function Q is established, and the relevant parameter matrix of the pavement paving is calculated to obtain the third relevant parameter matrix data information of the pavement paving;

[0081] U5. Based on the third relevant parameter matrix data information of the pavement paving, an optimization control model for pavement paving is constructed to optimize and control the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver to obtain the optimized control data information of the paver.

[0082] In this embodiment, if Figure 2 As shown, in step U5, the construction of the optimal control model for pavement paving, optimizing and controlling the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver includes:

[0083] U51. Based on the third relevant parameter matrix data information of the pavement paving, establish a mean square error cost function M of the pavement paving,

[0084]

[0085] Among them, n is the sample size, h is the third related parameter matrix data information of pavement paving, v is the prediction function of pavement paving, μ iis the mean square error factor of the road surface paving, the mean square error of the road surface paving is calculated, and the data information of the mean square error of the road surface paving is obtained;

[0086] U52. Based on the mean square error data information of the pavement paving, a gradient optimization function L for pavement paving is established.

[0087]

[0088] Among them, q is the data information of the mean square error of the pavement paving, ω1, ω2 and ω3 are the optimization factors of the pavement paving, and the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver are optimized to obtain the data information of the optimized speed of the paver, the flow rate of the paving material and the vibration frequency of the paver;

[0089] U53. Based on the optimized data information of the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver, a control function R of the pavement paving is established.

[0090]

[0091] Among them, p1 is the data information of the speed of the optimized paver, p2 is the data information of the flow rate of the paving materials of the optimized paver, p3 is the data information of the vibration frequency of the optimized paver, θ1, θ2 and θ3 are the multivariable control constant parameters of the paver, which control the speed of the paver, the flow rate of the paving materials and the vibration frequency of the paver to obtain the control data information of the optimized paver.

[0092] In this embodiment, the mean square error factor μ i The constraints are:

[0093] The constraint function s of the multivariable control constant parameters θ1, θ2 and θ3 of the paver is:

[0094]

[0095] The value range of s is (0,1).

[0096] In this embodiment, the present invention provides a pavement paving optimization control system for a fully automatic paver, including a computer device that is programmed or configured to execute any one of the steps of the pavement paving optimization control method for a fully automatic paver.

[0097] In this embodiment, the present invention provides a computer-readable storage medium, on which is stored a computer program programmed or configured to execute any one of the pavement paving optimization control methods for a fully automatic paver.

[0098] Any reference to memory, storage, database or other media used in the embodiments provided in the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM).

[0099] In summary, the present invention can not only optimize the speed of the paver, the flow rate of paving materials and the vibration frequency of the paver, thereby improving the flatness and uniformity of road paving, but also reduce the waste of paving materials, thereby saving costs and reducing engineering costs.

[0100] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A road paving optimization control method for a fully automatic paver, characterized in that: The method comprises: U1. The paver drives to the road construction area, collects data information on the absolute elevation of the construction road surface, obtains temperature data information on the construction road surface in real time based on the onboard temperature sensor, obtains speed data information on the paver in real time based on the onboard speed sensor, obtains flow data information on the paving material in real time based on the onboard flow sensor, and obtains vibration frequency data information on the paver; U2. Based on the data information of the absolute elevation of the construction road surface, the temperature data information of the construction road surface and the speed data information of the paver, a first target correlation function G is established, and the relevant parameter matrix of the road surface paving is calculated to obtain the first relevant parameter matrix data information of the road surface paving; U3. Based on the first relevant parameter matrix data information of the pavement paving and the flow data information of the paving material, a second target correlation function H is established, and the relevant parameter matrix of the pavement paving is calculated to obtain the second relevant parameter matrix data information of the pavement paving; U4. Based on the second relevant parameter matrix data information of the pavement paving and the vibration frequency data information of the paver, a third target correlation function Q is established, and the relevant parameter matrix of the pavement paving is calculated to obtain the third relevant parameter matrix data information of the pavement paving; U5. Based on the third relevant parameter matrix data information of the pavement paving, an optimization control model for pavement paving is constructed to optimize and control the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver to obtain the optimized control data information of the paver.

2. The pavement paving optimization control method of a fully automatic paver according to claim 1, characterized in that: The first objective correlation function G is, Among them, x1 is the data information that determines the elevation of the construction road surface, x2 is the temperature data information of the construction road surface, x3 is the speed data information of the paver, and α1, α2 and α3 are the first target correlation factors of the paved road surface.

3. The pavement paving optimization control method of a fully automatic paver according to claim 2, characterized in that: The constraints of the first target correlation factors α1, α2 and α3 of the paving are:

4. The pavement paving optimization control method of a fully automatic paver according to claim 1, characterized in that: The second objective correlation function H is, Among them, y is the first relevant parameter matrix data information of road paving, x4 is the flow data information of paving materials, f is the covariance function of road paving, β1, β2 and β3 are the second target correlation factors of road paving.

5. The pavement paving optimization control method of a fully automatic paver according to claim 4 is characterized in that: The covariance function f of the road paving is, cov(y,x4)=E(yx4)-E(y)E(x4), Among them, y is the first relevant parameter matrix data information of road paving, and x4 is the flow data information of paving materials; The constraints of the second target correlation factors β1, β2 and β3 of the road paving are:

6. The pavement paving optimization control method of a fully automatic paver according to claim 1, characterized in that: The third objective correlation function Q is, Among them, z is the second relevant parameter matrix data information of road paving, x5 is the vibration frequency data information of the paver, and λ1, λ2 and λ3 are the third target correlation factors of road paving.

7. The pavement paving optimization control method of a fully automatic paver according to claim 1, characterized in that: In step U5, the construction of the optimized control model for pavement paving, optimizing and controlling the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver includes: U51. Based on the third relevant parameter matrix data information of the pavement paving, establish a mean square error cost function M of the pavement paving, Among them, n is the sample size, h is the third related parameter matrix data information of pavement paving, v is the prediction function of pavement paving, μ i is the mean square error factor of the road surface paving, the mean square error of the road surface paving is calculated, and the data information of the mean square error of the road surface paving is obtained; U52. Based on the mean square error data information of the pavement paving, a gradient optimization function L for pavement paving is established. Among them, q is the data information of the mean square error of the pavement paving, ω1, ω2 and ω3 are the optimization factors of the pavement paving, and the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver are optimized to obtain the data information of the optimized speed of the paver, the flow rate of the paving material and the vibration frequency of the paver; U53. Based on the optimized data information of the speed of the paver, the flow rate of the paving material and the vibration frequency of the paver, a control function R of the pavement paving is established. Among them, p1 is the data information of the speed of the optimized paver, p2 is the data information of the flow rate of the paving materials of the optimized paver, p3 is the data information of the vibration frequency of the optimized paver, θ1, θ2 and θ3 are the multivariable control constant parameters of the paver, which control the speed of the paver, the flow rate of the paving materials and the vibration frequency of the paver to obtain the control data information of the optimized paver.

8. The pavement paving optimization control method of a fully automatic paver according to claim 7, characterized in that: The mean square error factor μ of the road paving i The constraints are: The constraint function s of the multivariable control constant parameters θ1, θ2 and θ3 of the paver is: The value range of s is (0,1).

9. A road paving optimization control system for a fully automatic paver, comprising a computer device, characterized in that: The computer device is programmed or configured to execute the steps of the pavement paving optimization control method of a fully automatic paver as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program programmed or configured to execute the pavement paving optimization control method for a fully automatic paver according to any one of claims 1 to 8.

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