Laser ultrasonic dual-system paver and paving construction method

Abstract

The invention discloses a laser ultrasonic dual-system paver which comprises a truss formed by splicing a plurality of truss sections; cantilever trusses are fixedly arranged at two ends of the top surface of the truss, and a paving device is arranged at the bottom; the two walking devices are arranged on the guardrails on the two sides of the bridge floor respectively; lifting devices are fixedly arranged on the walking devices, and the movable ends of the two lifting devices are correspondingly and fixedly connected with the cantilever trusses respectively; the walking device comprises a walking wheel, and a frequency converter and a driving motor which are fixedly connected with a central shaft of the walking wheel; the detection device comprises two laser receivers and two ultrasonic range finders, and the two laser receivers are arranged at the tops of the two cantilever trusses; the two ultrasonic range finders are respectively arranged between the truss and the guardrail, the ultrasonic range finders are fixedly connected with the cantilever truss through mounting rods, and the measuring ends of the ultrasonic range finders face the bridge floor. The device can be suitable for paving construction of a straight-line section and a curved-line section of a bridge floor, and the flatness and continuity of bridge floor paving concrete are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge deck paving construction, and more specifically, to a laser ultrasonic dual-system paver. Background Art

[0002] At present, most domestic bridge deck paving construction is carried out by truss-type pavers. During the paving process, laser receivers or ultrasonic generating / receiving modules are usually used to control the paving height. The two ends of the truss are erected on the anti-collision guardrails on both sides of the bridge deck. For the paving of straight bridge decks, the existing pavers can basically control the elevation of the paving layer. However, for curved bridge decks or curved bridges, due to the different radii of the routes along the guardrails on the inner and outer sides, for wheels with the same diameter, the paver is prone to deviation, which in turn affects the paving quality. It usually takes a lot of manpower and material resources to deal with the impact of the deviation, resulting in reduced construction efficiency. Summary of the invention

[0003] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.

[0004] In order to achieve these purposes and other advantages according to the present invention, a laser ultrasonic dual system paving machine is provided, comprising: A truss is formed by splicing a plurality of truss segments; cantilever trusses are fixedly arranged at both ends of the top surface of the truss; a paving device is arranged at the bottom of the truss; Two walking devices are respectively arranged on the guardrails on both sides of the bridge deck, and the top of the guardrail is paved with a track matched with the walking device; a lifting device is fixedly arranged on the walking device, and the movable ends of the two lifting devices are respectively fixedly connected to one of the cantilever trusses; the walking device includes a walking wheel and a frequency converter and a driving motor fixedly connected to the central axis of the walking wheel; The detection device includes two laser receivers and two ultrasonic rangefinders. The two laser receivers are respectively arranged on the top of the two cantilever trusses; the two ultrasonic rangefinders are respectively arranged between the trusses and the guardrails. The ultrasonic rangefinders are fixedly connected to the cantilever trusses through mounting rods, and their measuring ends face the bridge deck.

[0005] Preferably, it also includes a control system, which includes a controller, and the controller is respectively connected to the detection device, the walking device and the lifting device; the controller receives the height data detected by the detection device, and controls the lifting and lowering of the lifting device, or the output speed of the inverter according to the height data.

[0006] Preferably, it also includes two groups of auxiliary detection devices corresponding to the two ultrasonic rangefinders, and the auxiliary detection devices are arranged on the side walls of the guardrail at intervals along the longitudinal direction of the bridge, and include a cross bar, a T-shaped shaft sleeve and a vertical bar; the T-shaped shaft sleeve includes a vertically staggered vertical sleeve and a horizontal sleeve, which are respectively sleeved on the vertical bar and the cross bar; one end of the cross bar is anchored on the guardrail, and the top of the vertical bar is provided with a positioning groove for placing a wire rope, and the heights of the positioning grooves on the guardrail on the same side are consistent.

[0007] Preferably, the traveling wheel comprises a wheel body and a wheel rim arranged on a side of the wheel body close to the truss.

[0008] Preferably, the detection device further comprises two transverse ultrasonic rangefinders, which are respectively arranged on the two mounting rods, the two transverse ultrasonic rangefinders are flush with the height of the track, and the measuring ends are respectively facing the corresponding track.

[0009] Preferably, the paving device comprises a spiral material distribution shaft and at least one leveling roller which are sequentially arranged along its traveling direction, and the spiral material distribution shaft and the leveling roller are both connected to the driving device via a transmission mechanism.

[0010] Preferably, the spiral fabric shaft comprises a roller shaft and two sections of spiral blades fixedly sleeved on the roller shaft, and the rotation directions of the two sections of spiral blades are opposite.

[0011] Another object of the present invention is to provide a paving construction method using the laser ultrasonic dual system paver, comprising the following steps: S1. Roughness treatment of the bridge deck; S2. Install steel mesh on the bridge deck and add concrete pads under the steel mesh; S3, installing tracks on the guardrails on both sides of the bridge deck; assembling the trusses according to the width of the bridge deck, and installing the cantilever trusses, the paving device, the traveling device and the detection device, and hoisting them onto the bridge deck as a whole, so that the two traveling devices are respectively located on the tracks on both sides; S4, if the truss is currently located on a straight bridge deck, the paving height is detected by the laser receiver. If the paving height meets the requirement, the walking device and the paving device are started to pave the bridge deck concrete, and the laser receiver is continuously used for detection during the paving process; if the paving height does not meet the requirement, the height of the paving device is adjusted by the lifting device until it meets the requirement; if the truss is currently located on a curved bridge deck, proceed to step S5; S5. Install auxiliary detection devices and steel wire ropes on the guardrails on both sides of the curved bridge deck, so that the steel wire ropes pass through the positioning grooves on each vertical rod in sequence along the bridge direction, and then are tensioned and fixed; the steel wire rope is located below the ultrasonic rangefinder, and the distance between it and the steel wire rope is measured by the ultrasonic rangefinder to detect the paving height; if the paving height meets the requirements, the initial side distance positioning is performed by the lateral ultrasonic rangefinders on both sides, and then the walking device and the paving device are started to pave the bridge deck concrete, and the ultrasonic rangefinder is continuously used for detection during the paving process; if the paving height does not meet the requirements, the height of the paving device is adjusted by the lifting device until the requirements are met; S6. During the paving process of the curved bridge deck, if the detection data of the ultrasonic detection device on one side is abnormal or cannot detect data, retrieve the detection data of the lateral ultrasonic distance meters on both sides, compare them with the initial lateral distance, and determine the offset direction of the truss; then adjust the rotation speed of the running wheel until the data measured by the two ultrasonic distance meters are within the normal range; S7. After the bridge deck concrete is paved, the surface is finished and the concrete is cured.

[0012] Preferably, in step S6, if the truss deviates to one side, the frequency converter is used to reduce the rotation speed of the running wheels on the deviated side or to increase the rotation speed of the running wheels on the other side.

[0013] Preferably, a lateral distance difference threshold is set, and different abnormality levels are defined according to the degree of proximity between the difference between the lateral distance detected in real time by the lateral ultrasonic rangefinder on a certain side and the initial lateral distance and the lateral distance difference threshold, and different abnormality levels correspond to different speed regulation ranges.

[0014] The present invention has at least the following beneficial effects: 1. The laser ultrasonic dual-system paver provided by the present invention is provided with two types of detection devices, which are switched according to the shape of the bridge deck; when paving on a straight bridge deck, a laser receiver is used to detect the current paving height; when paving on a curved bridge deck, an ultrasonic rangefinder is used for detection. While detecting the paving height, the detection data is used to determine whether the truss is offset during movement, and then the speed of the corresponding running wheel is adjusted by the frequency converter to correct the truss. It can be applicable to the paving construction of straight and curved sections of the bridge deck, and improves the flatness and continuity of the bridge deck paving concrete.

[0015] 2. The paving construction method of the laser ultrasonic dual-system paver provided by the present invention provides a control method for using the laser ultrasonic dual-system paver when moving the bridge deck paving elevation, transverse slope and longitudinal slope, which effectively improves the stability and safety of the bridge deck concrete paving process, thereby improving the work efficiency and quality of the paving construction.

[0016] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a side structural schematic diagram of the laser ultrasonic dual system paver of the present invention; Figure 2 It is a structural schematic diagram of the auxiliary detection device of the present invention; Figure 3 It is a schematic diagram of the side structure of the running wheel of the present invention; DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0019] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] like Figures 1 to 3 As shown, the present invention provides a laser ultrasonic dual system paver, comprising: A truss 1 is formed by splicing a plurality of truss segments; cantilever trusses 2 are fixedly arranged at both ends of the top surface of the truss 1; a paving device 6 is arranged at the bottom of the truss 1; Two walking devices 4 are respectively arranged on the guardrails on both sides of the bridge deck, and the top of the guardrail is paved with a track matched with the walking device; the walking device 4 is fixedly provided with a lifting device 3, and the movable ends of the two lifting devices 3 are respectively fixedly connected to one of the cantilever trusses 2; the walking device 4 includes a walking wheel and a frequency converter and a driving motor fixedly connected to the central axis 43 of the walking wheel; The detection device includes two laser receivers 9 and two ultrasonic rangefinders 5. The two laser receivers 9 are respectively arranged on the top of the two cantilever trusses 2; the two ultrasonic rangefinders 5 are respectively arranged between the truss 1 and the guardrail. The ultrasonic rangefinder 5 is fixedly connected to the cantilever truss 2 through a mounting rod 7, and its measuring end faces the bridge deck.

[0021] In this technical solution, the two walking devices 4 drive the truss 1 to move along the track, and cooperate with the paving device 6 to pave the bridge deck concrete. The paving thickness is adjusted by the lifting device 3 on both sides to drive the truss 1 to move up and down according to the difference between the height of the paving device above the ground detected by the detection device and the designed paving height. The lifting device 3 adopts the hydraulic cylinder commonly used in existing truss paving machines. The track can be made of steel, fixedly laid on the top of the guardrail, and the walking wheel moves along the track under the action of the drive motor and the inverter. There are two types of detection devices, which are switched according to the shape of the bridge deck; specifically, when paving on a straight bridge deck, the laser receiver 9 is used, and a laser transmitter is set on the front side of the construction bridge deck. The laser transmitter emits laser to the laser receiver 8 located on the truss 1 to detect the current paving height. This is a prior art and will not be elaborated next time; when paving on a curved bridge deck, considering that the walking radii of the walking wheels located inside and outside the curve are different, the two need to be differentially processed to ensure that the paving device 6 can pave evenly and stably; if the laser receiver 9 is used, the position of the laser transmitter needs to be continuously adjusted, which affects the construction efficiency and construction accuracy. Therefore, when paving on a curved bridge deck, the ultrasonic rangefinder 5 is used for detection. While judging the paving height, the detection data is used to judge whether the truss is offset during travel, and then the frequency converter is used to adjust the rotation speed of the corresponding walking wheel to correct the truss 1.

[0022] In another technical solution, the laser ultrasonic dual system paving machine further includes a control system, which includes a controller, and the controller is respectively connected to the detection device, the walking device 4 and the lifting device 3; the controller receives the height data detected by the detection device, and controls the lifting of the lifting device, or the output speed of the frequency converter according to the height data. The controller can use the control elements conventionally used in existing truss-type paving machines, which obtains the height data detected by the laser receiver and the ultrasonic rangefinder, and controls the lifting device 3 to adjust the height of the truss 1 and the paving device 6, or adjusts the speed of the walking wheel by adjusting the output speed of the frequency converter, thereby controlling the truss 1 to correct the deviation in time when turning.

[0023] In another technical solution, two sets of auxiliary detection devices corresponding to the two ultrasonic rangefinders 5 are also included. The auxiliary detection devices are arranged on the side wall of the guardrail at intervals along the bridge direction, and include a crossbar 10, a T-shaped shaft sleeve 11, and a vertical bar 12; the T-shaped shaft sleeve 11 includes a vertical sleeve and a cross sleeve arranged in a staggered manner, and the two are respectively sleeved on the vertical bar 12 and the crossbar 10; one end of the crossbar 10 is anchored on the guardrail, and the top of the vertical bar 12 is provided with a positioning groove 13 for placing a steel wire rope, and the height of each positioning groove 13 on the same side of the guardrail is consistent. The steel wire rope is set on the curved bridge deck along the travel route of the truss 1 through the auxiliary detection device, and the ultrasonic rangefinder 5 determines the paving height by detecting the height of the steel wire rope to further improve the detection accuracy. In order to ensure that the height of each positioning groove 13 and the distance from the guardrail are consistent, the spatial position of the positioning groove 13 is adjusted by the T-shaped shaft sleeve 11. Specifically, the vertical sleeve and the horizontal sleeve can be connected with the vertical rod 12 and the cross rod 10 by threads, or fixed by fasteners. By adjusting the relative position between the T-shaped shaft sleeve and the cross rod 10, the distance between the positioning groove 13 and the guardrail can be adjusted; by adjusting the relative position between the T-shaped shaft sleeve and the vertical rod 12, the height of the positioning groove 13 can be adjusted.

[0024] Furthermore, the running wheel includes a wheel body 41 and a wheel rim 42 arranged on one side of the wheel body 41 close to the truss 1. The wheel rims 42 of the running wheels on both sides of the truss 1 are respectively arranged on opposite sides of the two wheel bodies 41, and the wheel rims 42 prevent the wheel bodies 41 from leaving the track. However, the wheel set structure of different trains, when the train wheel set travels on the rails, it moves forward while swinging laterally, and moves in an S shape, and the deviation correction is achieved by the conical slope of the wheel body tread. If the paver performs an S-shaped curve movement, it is difficult to ensure the paving quality, so it is necessary to control the rotation speed of the wheel body 41 so that the wheel bodies 41 on both sides travel at differential speeds. Preferably, the running wheel, the frequency converter and the drive motor are all arranged in a shell with an opening at the lower end, and the lifting device is fixed on the shell.

[0025] In another technical solution, the detection device further includes two transverse ultrasonic rangefinders 8, which are respectively arranged on the two mounting rods 7. The two transverse ultrasonic rangefinders 8 are flush with the height of the track, and the measuring ends are respectively facing the corresponding tracks. Considering that if the truss 1 is offset, the wheel flange 42 on the offset side will contact the side of the track, or even be squeezed, causing equipment damage or even safety accidents. Therefore, the transverse ultrasonic rangefinder 8 is set to detect the distance between the two sides of the truss 1 and the track, so as to determine the direction and degree of offset of the truss 1.

[0026] In another technical solution, the paving device 6 includes a spiral material distribution shaft and at least one leveling roller arranged in sequence along the direction of travel, and the spiral material distribution shaft and the leveling roller are connected to the driving device through a transmission mechanism. The transmission structure and the driving device are fixedly arranged on the truss 1, and the motor and chain transmission mechanism used in conventional pavers can be selected for both. The spiral material distribution shaft is used to spread the concrete, and then the leveling roller at the rear side is used to level the concrete. When there are two or more leveling rollers, they are parallel to the rear side of the spiral material distribution shaft.

[0027] Furthermore, the spiral distribution shaft includes a roller shaft and two sections of spiral blades fixedly mounted on the roller shaft, and the two sections of spiral blades have opposite rotation directions, so that the concrete can be evenly spread on both sides.

[0028] The present invention also provides a paving construction method using the laser ultrasonic dual-system paver, comprising the following steps: S1. Roughness treatment of the bridge deck; Usually before erecting the beams, the beam slabs have been roughened or brushed; if the surface roughness is not enough, it will affect the adhesion of the concrete pavement layer above. Therefore, after erecting the beams, a small milling machine or pneumatic roughening machine can be used for mechanical roughening to remove the slurry on the beam slabs, so that the surface reaches a certain roughness and increases its adhesion.

[0029] S2. Install steel mesh on the bridge deck and add concrete pads under the steel mesh; Before pouring the bridge deck concrete, points are arranged within the bridge deck range, and the beam and slab elevation is measured to determine the thickness of the pavement layer after pouring, so as to ensure that the bridge deck thickness is consistent with the designed thickness. Then, the steel mesh is paved on the bridge deck, and the vertical and horizontal spacing of the steel mesh is controlled within the allowable error range; the bridge deck steel mesh and the reserved gate steel bars on the surface of the T-beam are tied and fixed in a plum blossom shape. After the tying is completed and the inspection is qualified, vehicles or other machinery are prohibited from walking or rolling on the steel bars after the installation is completed to avoid the distortion of the steel bars. Before pouring concrete, prefabricated concrete pads are added under the steel mesh to ensure the accuracy of the upper and lower positions of the steel mesh and control the thickness of the concrete protective layer.

[0030] S3, installing tracks on the guardrails on both sides of the bridge deck; assembling the truss 1 according to the width of the bridge deck, and installing the cantilever truss 2, the paving device 6, the walking device 4 and the detection device, and hoisting the entire truss onto the bridge deck, so that the two walking devices 4 are respectively located on the tracks on both sides; S4. If the truss 1 is currently located on a straight bridge deck, the paving height is detected by the laser receiver 9. If the paving height meets the requirements, the walking device 4 and the paving device 6 are started to pave the bridge deck concrete, and the laser receiver 9 is continuously used for detection during the paving process. If the paving height does not meet the requirements, the height of the paving device 6 is adjusted by the lifting device 3 until the requirements are met. If the truss 1 is currently located on a curved bridge deck, step S5 is entered. During the paving process, when the data detected by the laser receiver 9 changes and is within the normal range of variation, the lifting device 3 is used to promptly adjust the height of the paving device 6 to the required height.

[0031] S5. Install auxiliary detection devices and steel wire ropes on the guardrails on both sides of the curved bridge deck, so that the steel wire ropes pass through the positioning grooves 13 on each vertical rod 12 in sequence along the bridge direction, and then are tensioned and fixed; the steel wire rope is located below the ultrasonic rangefinder 5, and the distance between it and the steel wire rope is measured by the ultrasonic rangefinder 5 to detect the paving height; if the paving height meets the requirements, the initial side distance positioning is performed by the lateral ultrasonic rangefinder 8 on both sides, and then the walking device 4 and the paving device 6 are turned on to pave the bridge deck concrete, and the ultrasonic rangefinder is continuously used for detection during the paving process; if the paving height does not meet the requirements, the height of the paving device 6 is adjusted by the lifting device 3 until the requirements are met; The initial side distance is the distance between the two sides of the truss 1 and the corresponding track before the curved bridge deck begins to be paved, which is composed of the distance between the transverse ultrasonic rangefinder 8 and the track and the distance between the transverse ultrasonic rangefinder and one side of the truss 1. During the paving process, when the data detected by the ultrasonic rangefinder 5 changes and is within the normal range of change, the lifting device 3 is used to timely adjust the height of the paving device 6 to the required height.

[0032] S6. During the paving process of the curved bridge deck, if the detection data of the ultrasonic detection device 5 on one side is abnormal or cannot detect data, retrieve the detection data of the lateral ultrasonic distance meter 8 on both sides, compare it with the initial side distance, and determine the offset direction of the truss 1; then adjust the rotation speed of the running wheel until the data measured by the two ultrasonic distance meters 5 are within the normal range; The abnormality of the detection data of the ultrasonic detection device 5 means that the distance data detected by it deviates from the normal fluctuation range of the distance between it and the wire rope. For example, when the truss 1 deviates, the distance data detected by it is the distance from it to the bridge deck or other corresponding structures on the bridge deck. Therefore, when the detection data of the ultrasonic detection device 5 is abnormal or the data cannot be detected, it means that the truss 1 may have deviated. Then, by calling the detection data of the lateral ultrasonic rangefinder 8 on both sides and comparing it with the initial side distance, the deviation direction of the truss 1 is determined; specifically, if the detection data of one side is reduced relative to the initial side distance, it means that the truss 1 is deviated to that side.

[0033] If the truss 1 deviates to one side, the frequency converter is used to reduce the rotation speed of the running wheels on the deviating side or to increase the rotation speed of the running wheels on the other side.

[0034] Specifically, the rotation speed of the running wheels is adjusted according to the following principles: A lateral distance difference threshold is set, and different abnormal levels are defined according to the degree of proximity between the difference between the lateral distance detected in real time by the lateral ultrasonic rangefinder on a certain side and the initial lateral distance and the lateral distance difference threshold. Different abnormal levels correspond to different speed regulation amplitudes.

[0035] When the side distance detected in real time by the lateral ultrasonic rangefinder on one side is close to the difference between the initial side distance and the side distance difference threshold, it means that the wheel rim 42 is very close to the track, so it needs to be corrected quickly. During actual construction, the ratio R of the difference between the lateral distance detected in real time by the lateral ultrasonic rangefinder on one side and the initial lateral distance to the lateral distance difference threshold is divided into three levels. When R≤30%, it is a level one abnormality; when 30%<R≤60%, it is a level two abnormality; when 60%<R≤90%, it is a level three abnormality. When R>90%, the walking device needs to be stopped immediately. The corresponding speed adjustment range is ±10%, ±20%, and ±30%; the adjustment range is the adjustment range relative to the current speed of the running wheel. For example, if the ratio R=23% between the difference between the lateral distance detected in real time by the lateral ultrasonic rangefinder on one side and the initial lateral distance to the lateral distance difference threshold, the speed of the running wheel on the offset side is reduced by 10% (-10%) or the speed of the running wheel on the other side is increased by 10% (+10%) through the frequency converter.

[0036] S7. After the bridge deck concrete is paved, the surface is finished and the concrete is cured.

[0037] After the concrete is plastered, it should be cured in time, covered with non-woven fabric with good water permeability, and watered regularly. It must be kept moist during the curing period. It is strictly forbidden for people to step on the surface of the bridge deck after the concrete is paved, which will cause foot pits on the surface of the bridge deck. The finished product must be effectively protected.

[0038] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A laser ultrasonic dual system paver, characterized in that: include: A truss is formed by splicing a plurality of truss segments; cantilever trusses are fixedly arranged at both ends of the top surface of the truss; a paving device is arranged at the bottom of the truss; Two walking devices are respectively arranged on the guardrails on both sides of the bridge deck, and the top of the guardrail is paved with a track matched with the walking device; a lifting device is fixedly arranged on the walking device, and the movable ends of the two lifting devices are respectively fixedly connected to one of the cantilever trusses; the walking device includes a walking wheel and a frequency converter and a driving motor fixedly connected to the central axis of the walking wheel; The detection device includes two laser receivers and two ultrasonic rangefinders. The two laser receivers are respectively arranged on the top of the two cantilever trusses; the two ultrasonic rangefinders are respectively arranged between the trusses and the guardrails. The ultrasonic rangefinders are fixedly connected to the cantilever trusses through mounting rods, and their measuring ends face the bridge deck.

2. The laser-ultrasonic dual-system paver according to claim 1, characterized in that: It also includes a control system, which includes a controller, which is respectively connected to the detection device, the walking device and the lifting device; the controller receives the height data detected by the detection device, and controls the lifting and lowering of the lifting device or the output speed of the inverter according to the height data.

3. The laser-ultrasonic dual-system paver according to claim 1, characterized in that: It also includes two groups of auxiliary detection devices corresponding to the two ultrasonic rangefinders, which are arranged on the side walls of the guardrail at intervals along the longitudinal direction of the bridge, and include a cross bar, a T-shaped shaft sleeve and a vertical bar; the T-shaped shaft sleeve includes a vertical sleeve and a cross sleeve arranged in a staggered manner, and the two are respectively sleeved on the vertical bar and the cross bar; one end of the cross bar is anchored on the guardrail, and the top of the vertical bar is provided with a positioning groove for placing a wire rope, and the heights of the positioning grooves on the guardrail on the same side are consistent.

4. The laser-ultrasonic dual-system paver according to claim 3, characterized in that: The traveling wheel comprises a wheel body and a wheel rim arranged on one side of the wheel body close to the truss.

5. The laser-ultrasonic dual-system paver according to claim 4, characterized in that: The detection device also includes two transverse ultrasonic rangefinders, which are respectively arranged on the two mounting rods. The two transverse ultrasonic rangefinders are flush with the height of the track, and the measuring ends are respectively facing the corresponding track.

6. The laser-ultrasonic dual-system paver according to claim 1, characterized in that: The paving device comprises a spiral material distribution shaft and at least one leveling roller which are sequentially arranged along its travel direction, and the spiral material distribution shaft and the leveling roller are both connected to a driving device via a transmission mechanism.

7. The laser-ultrasonic dual-system paver according to claim 6, characterized in that: The spiral material distribution shaft comprises a roller shaft and two sections of spiral blades fixedly sleeved on the roller shaft, and the rotation directions of the two sections of spiral blades are opposite.

8. A paving construction method using the laser ultrasonic dual system paver as claimed in claim 5, characterized in that: The following steps are involved: S1. Roughness treatment of the bridge deck; S2. Install steel mesh on the bridge deck and add concrete pads under the steel mesh; S3, installing tracks on the guardrails on both sides of the bridge deck; assembling the trusses according to the width of the bridge deck, and installing the cantilever trusses, the paving device, the traveling device and the detection device, and hoisting them onto the bridge deck as a whole, so that the two traveling devices are respectively located on the tracks on both sides; S4, if the truss is currently located on a straight bridge deck, the paving height is detected by the laser receiver. If the paving height meets the requirement, the walking device and the paving device are started to pave the bridge deck concrete, and the laser receiver is continuously used for detection during the paving process; if the paving height does not meet the requirement, the height of the paving device is adjusted by the lifting device until it meets the requirement; if the truss is currently located on a curved bridge deck, proceed to step S5; S5. Install auxiliary detection devices and steel wire ropes on the guardrails on both sides of the curved bridge deck, so that the steel wire ropes pass through the positioning grooves on each vertical rod in sequence along the bridge direction, and then are tensioned and fixed; the steel wire rope is located below the ultrasonic rangefinder, and the distance between it and the steel wire rope is measured by the ultrasonic rangefinder to detect the paving height; if the paving height meets the requirements, the initial side distance positioning is performed by the lateral ultrasonic rangefinders on both sides, and then the walking device and the paving device are started to pave the bridge deck concrete, and the ultrasonic rangefinder is continuously used for detection during the paving process; if the paving height does not meet the requirements, the height of the paving device is adjusted by the lifting device until the requirements are met; S6. During the paving process of the curved bridge deck, if the detection data of the ultrasonic detection device on one side is abnormal or cannot detect data, retrieve the detection data of the lateral ultrasonic distance meters on both sides, compare them with the initial lateral distance, and determine the offset direction of the truss; then adjust the rotation speed of the running wheel until the data measured by the two ultrasonic distance meters are within the normal range; S7. After the bridge deck concrete is paved, the surface is finished and the concrete is cured.

9. The paving construction method of the laser ultrasonic dual system paver according to claim 8, characterized in that: In step S6, if the truss deviates to one side, the frequency converter is used to reduce the rotation speed of the running wheels on the deviated side or to increase the rotation speed of the running wheels on the other side.

10. The paving construction method of the laser ultrasonic dual system paver according to claim 9, characterized in that: A lateral distance difference threshold is set, and different abnormal levels are defined according to the degree of proximity between the difference between the lateral distance detected in real time by the lateral ultrasonic rangefinder on a certain side and the initial lateral distance and the lateral distance difference threshold. Different abnormal levels correspond to different speed regulation amplitudes.

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