An unmanned road paving equipment based on Beidou positioning

Abstract

The present invention relates to the technical field of road paving equipment, and specifically to an unmanned road paving equipment based on Beidou positioning, comprising a road paving unit, a connecting frame, a box, a round rod, a cylinder, a power unit, an auxiliary unit, a sensor unit and a control unit; one side of the connecting frame is fixedly installed on the road paving unit; a plurality of boxes are fixedly installed on the other side of the connecting frame; round rods are slidably installed at the center positions of the four sides of the box; one end of the round rods on the box is fixedly installed together through a cylinder; a power unit is fixedly installed inside the box; the box is fixedly installed on the auxiliary unit; the connecting frame, the box, the cylinder and the auxiliary unit are all equipped with a sensor unit; the present invention can not only realize automatic paving through satellite positioning, but also can perform flatness detection on the paved road surface according to roads of different widths, and send the detected data to an unmanned roller in real time and feed the data back to the paving machine.

Description

Technical Field

[0001] The present invention relates to the technical field of road paving equipment, and in particular to unmanned road paving equipment based on Beidou positioning. Background Art

[0002] With the development of social economy, transportation is becoming more and more convenient. In the past decade or so, the total length of highway construction has been breaking through again and again. In areas with fewer plains, highways are built by digging holes in mountains and building bridges over water. Every region has achieved road access to every village, which facilitates people's travel and also drives economic development. The construction of highways has also developed from traditional construction relying on manpower to the current construction using various mechanical equipment.

[0003] In the process of highway construction, asphalt needs to be laid on the highway surface, which can improve the service life of the highway and reduce the wear of the highway on the tires. The laying of asphalt has strict requirements. It is necessary to lay the asphalt evenly on the road surface and maintain the flatness of the laying. For this reason, the prior art discloses a paving equipment, such as Chinese invention patent: CN106638231B (publication date: 2019-08-27) discloses a paver, which includes a frame, a spiral material distribution mechanism and a large arm that can be lifted and lowered relative to the frame, and the spiral material distribution mechanism or the large arm is provided with a first connecting structure, and the large arm or the spiral material distribution mechanism is provided with a second connecting structure that can be connected to the first connecting structure. When the first connecting structure and the second connecting structure are connected to each other, the spiral material distribution mechanism is lifted and lowered with the large arm relative to the frame. The device improves the uniformity of the paved material by lifting the spiral material distribution mechanism. However, the device can make the material evenly laid, and there are certain limitations on the flatness detection of the road surface after paving.

[0004] The emergence of paving machines has greatly solved various problems in road paving and improved the quality of road paving. With the development of science and technology, paving equipment is no longer limited to one function. The more functional equipment, the more people can free their hands. For example, Chinese invention patent: CN111021204B (publication date: 2021-11-02) A road automatic paving robot, mainly composed of a paver and a perception unit, a control decision unit, an execution unit, and a wireless communication unit. Its autonomous navigation uses satellites and laser distance sensors combined with road design information to achieve paving positioning and steering. The paving operation uses material level ultrasonic radar to autonomously decide the feeding speed and driving speed; the paving thickness and flatness use lidar to measure the roadbed and the paving road surface height difference automatic leveling and ironing device. The control decision unit consists of a host computer, a group of slave computers, and an airborne field bus; the host computer is connected to the engineering dispatch center. The equipment solves the automatic driving of the paver through various sensors, realizes automatic paving, and detects the flatness of the roadbed surface. However, the device has certain limitations during use. After paving is completed, the detection of the flatness of the road surface is not comprehensive, and the overall flatness may have certain errors.

[0005] The flatness of the road surface not only affects the driver's driving experience on the road, but also reduces the occurrence of traffic accidents. In order to ensure the flatness of the road surface, higher requirements are placed on the paving equipment. In the existing paving equipment, it is necessary not only to improve the stability of the equipment operation, but also to ensure the paving accuracy during the paving process, and to maintain the flatness of the paved road surface to the greatest extent. Based on the above problems, the prior art has also provided some solutions. For example, the Chinese invention patent: CN111979881A (publication date: 2020-11-24) discloses an unmanned intelligent paving equipment assembly, which is provided with a hydraulic drive, and a compensation and precision control drive mechanism is used at the lower end of the drive seat to connect to the upper end of the ironing plate. In this way, the hydraulic drive component can roughly adjust the screed thickness and slope of the screed, and the compensation and precision control drive mechanism can accurately compensate and adjust the screed thickness and slope of the screed, which can effectively improve the high-precision control and adjustment of the paving thickness and slope, improve the paving accuracy, and save materials; the equipment uses the compensation adjustment mechanism to adjust the distance between the upper connecting card and the lower connecting card, effectively improving the driving and control accuracy. However, although the equipment guarantees the flatness of the paved road surface to a great extent, after paving is completed, the temperature on the road surface is different. In the subsequent initial pressing and re-pressing process, the road surface at different temperatures is rolled, which may cause the flatness of the road surface to change.

[0006] In view of this, in order to address the above-mentioned deficiencies, the present invention has improved and optimized the existing unmanned road paving equipment and developed an unmanned road paving equipment based on Beidou positioning. Summary of the invention

[0007] The technical problem to be solved by the present invention is as follows: The present invention provides an unmanned road paving equipment based on Beidou positioning, which can not only realize the detection of the flatness of the road surface after paving and the detection of the road surface temperature, but also realize automatic paving through satellite positioning. It can also be suitable for roads of different sizes according to the width of the road surface, and send the detected data to the unmanned automatic roller in real time and feed back the data to the paver, saving manpower and improving work efficiency and paving accuracy.

[0008] The present invention provides the following technical solutions: an unmanned road paving equipment based on Beidou positioning, comprising a road paving unit, a connecting frame, a box, a round rod, a cylinder, a power unit, an auxiliary unit, a sensor unit and a control unit; one side of the connecting frame is fixedly installed on the road paving unit; a plurality of boxes are fixedly installed on the other side of the connecting frame; a plurality of the boxes are rectangular grooves; a through hole is opened at the center position of the side surface of the plurality of boxes; a circular ring protruding inwardly and outwardly is arranged on the through hole; a plurality of round rods are slidably installed at the center position of the four sides of the plurality of boxes; and a plurality of round rods are not slidably installed on one side of the boxes fixedly installed with the connecting frame; one end of the round rods on the plurality of boxes is fixedly installed through a cylinder Assembled together, the cylinder is used to fix and connect two adjacent round rods; and multiple boxes are arranged and connected in an array form; multiple round rods are installed on the outside of the boxes without sliding; multiple power units are fixedly installed inside the boxes; the power unit is used to drive the movement of each box and control the distance between the boxes; multiple boxes are fixedly installed on the auxiliary unit; the auxiliary unit is used to carry the box; drive the movement of the box; the connecting frame, box, cylinder and auxiliary unit are all equipped with a sensor unit; the sensor unit is used to detect various data of paving the road surface; the power unit and the sensor unit are electrically connected to the control unit, and the control unit is used to control the power unit and the sensor unit.

[0009] The connecting frame includes a rectangular connecting rod, a rectangular block and a cylindrical connecting rod; the two ends of one side of the rectangular block are respectively fixedly installed with one end of the rectangular connecting rod; the specific installation method is bolt connection; the other ends of the two rectangular connecting rods are fixedly installed on the paver; the specific installation method is bolt connection; a plurality of cylindrical connecting rods are evenly installed on the other side of the rectangular block; the specific connection method is welding; the other ends of the plurality of cylindrical connecting rods are fixedly installed at the center position of one side of the plurality of boxes; the cylindrical connecting rod is used to connect the boxes; the interior of the rectangular block is a hollow structure; the rectangular block is composed of multiple sections of hollow aluminum alloy; a plurality of pulleys are arranged on the surface of one end of the hollow aluminum alloy; a plurality of slideways are arranged on the inner surface of the other end of the hollow aluminum alloy; the multiple pulleys on one end of the hollow aluminum alloy are slidably installed with the multiple slideways on one end of the other hollow aluminum alloy; the rectangular block is composed of multiple sections of hollow aluminum alloy in order to reduce the weight of the connecting frame; the hollow aluminum alloy is provided with multiple pulleys and slideways in order to realize the extension and retraction of the rectangular block.

[0010] The round rod includes a rack and a rectangular block; one end of the rack is fixedly mounted on one end of one side of the rectangular block; the other end of the other side of the rectangular block is fixedly mounted on the other end of the round rod; the rack and the gear are meshed with each other; the rack is used to drive the round rod to move; thereby driving the box to move, expanding or reducing the distance between the boxes; the rectangular block can be used to prevent the rack from exceeding the limit range when moving on the gear, causing the rack to fall off.

[0011] The cylinder includes a flexible connection block and a strain gauge; both ends of the flexible connection block are fixedly connected to the round rod respectively; the flexible connection block cannot be stretched or deformed in the axial direction; the flexible connection block cannot be stretched or deformed in the axial direction so that the strain gauge and the bending sensor will not be damaged due to stretching when the distance between the boxes is extended or retracted; the strain gauge is fixedly installed on the upper surface of the flexible connection block; the flexible connection block is used to ensure that a slight height difference can be generated between the two boxes in the direction of gravity; the strain gauge can detect tiny deviations.

[0012] The power unit includes a servo motor, a rotating shaft and a gear; the servo motor is vertically fixedly installed at the center of the bottom surface inside the box; the rotating shaft is fixedly installed on the top of the servo motor; the gear is fixedly installed on the rotating shaft; the gear is a cylindrical structure, and the top, middle and bottom of the gear are provided with circular protrusions protruding outward; the top and middle parts of the gear and the middle and bottom parts of the gear are respectively meshed with racks; the servo motor is used to drive the entire box to move; the top, middle and bottom parts of the gear are provided with circular protrusions protruding outward to prevent misalignment when multiple racks are meshed on the gear.

[0013] The auxiliary unit includes a supporting cylinder and a universal wheel; the top end of the supporting cylinder is fixedly mounted on the bottom end of the outer surface of the box; the universal wheel is fixedly mounted on the bottom end of the supporting cylinder; the universal wheel is fixedly mounted on the bottom end of the supporting cylinder so that the distance between the boxes can be quickly achieved when extending or retracting.

[0014] The sensing unit includes a high-temperature resistant temperature sensor, a displacement sensor and a bending sensor; multiple high-temperature resistant temperature sensors are fixedly installed at the bottom of the supporting cylinder; multiple displacement sensors are fixedly installed on one side of the box; multiple bending sensors are fixedly installed inside the cylinder; the high-temperature resistant temperature sensor is fixedly installed at the bottom of the supporting cylinder to detect the temperature of the asphalt on the road surface in real time; the displacement sensor is fixedly installed between each box, and the bending sensor is fixedly installed inside the cylinder to detect the flatness of the road surface.

[0015] A Beidou satellite locator is fixedly installed on the top of the connecting frame; the Beidou satellite locator is electrically connected to the control unit; the Beidou satellite locator is used to generate and receive signals, and control the moving distance of the paver through satellite positioning.

[0016] The telescopic range between the multiple boxes is 0.5-1.5m; and the longitudinal number of the multiple boxes is greater than the transverse number; the telescopic range between the boxes is 0.5-1.5m to prevent the distance between the boxes from being too large or too small, which will cause a large detection error of the bending sensor between the two boxes; the longitudinal number of the boxes is greater than the transverse number in order to obtain more reference data.

[0017] The distances between the multiple boxes are always consistent; the distances between the boxes are always consistent in order to prevent errors in the detection data.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The present invention fixes a Beidou satellite locator on the connecting frame, locates the position of the paver through the Beidou satellite, controls the operation of the paver, and moves forward slowly, thereby saving manpower and improving the working efficiency of the paver. In places with relatively harsh environments, automatic paving work can be completed without manual on-site operation.

[0020] 2. The present invention fixes a servo motor in a box, a rotating shaft is fixedly installed on the servo motor, a gear is fixedly installed on the rotating shaft, the gear and the rack are meshed with each other, and the movement of the rack drives the round rod to move toward each other, thereby expanding the distance between the two boxes, and fixing a displacement sensor on the box, so that the boxes can be adjusted according to road surfaces of different widths, and it is suitable for different road conditions and roads under different environments, so as to comprehensively detect the paved road surface.

[0021] 3. The present invention has a flexible connection block, a strain gauge and a bending sensor fixedly installed inside the cylinder, and a high-temperature resistant temperature sensor fixedly installed at the bottom of the supporting cylinder. The bending sensor inside the cylinder detects the slight height difference between two adjacent boxes, and then analyzes and processes the curvature of the bending sensors between all the boxes to judge the flatness of the road surface, and sends the signal to the unmanned roller and feeds back to the paver in real time. The high-temperature resistant temperature sensor detects the road surface temperature in real time and sends the signal to the control unit. The control unit sends the signal to the unmanned roller, and the road surface is rolled within a certain temperature range, thereby realizing real-time detection of road surface flatness and temperature, improving work efficiency, reducing errors caused by manual detection, and also reducing labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the box body and the auxiliary unit of the present invention.

[0025] Figure 3 For the present invention Figure 2 main view.

[0026] Figure 4 For the present invention Figure 2 Top view of the .

[0027] Figure 5 It is a three-dimensional structural schematic diagram of the connecting frame of the present invention.

[0028] Figure 6 For the present invention Figure 2 A partial cross-sectional view of .

[0029] Figure 7 For the present invention Figure 6 A cross-sectional view along direction A.

[0030] Figure 8 It is a partial cross-sectional view of the connecting frame of the present invention.

[0031] Fig. 9 It is a cross-sectional view of the cylinder of the present invention.

[0032] Fig.10For the present invention Figure 8 A cross-sectional view along direction B.

[0033] In the figure: connecting frame 1, rectangular connecting rod 11, rectangular block 12, cylindrical connecting rod 13, hollow aluminum alloy 14, pulley 15, slideway 16, box 2, rectangular groove 21, through hole 22, ring 23, round rod 3, rack 31, rectangular block 32, cylinder 4, flexible connecting block 41, strain gauge 42, power unit 5, servo motor 51, rotating shaft 52, gear 53, auxiliary unit 6, supporting cylinder 61, universal wheel 62, sensor unit 7. DETAILED DESCRIPTION

[0034] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, an unmanned road paving equipment based on Beidou positioning includes a road paving unit, a connecting frame 1, a box 2, a round rod 3, a cylinder 4, a power unit 5, an auxiliary unit 6, a sensor unit 7 and a control unit; one side of the connecting frame 1 is fixedly installed on the road paving unit; a plurality of boxes 2 are fixedly installed on the other side of the connecting frame 1; a plurality of boxes 2 are fixedly installed on the other side of the connecting frame 1; a plurality of the boxes 2 are rectangular grooves 21; a through hole 22 is opened at the center position of the side surface around the plurality of boxes 2; a circular ring 23 protruding inwardly and outwardly is provided on the through hole 22; a plurality of round rods 3 are slidably installed at the center position of the surrounding surface of the plurality of boxes 2; and a plurality of round rods 3 are not slidably installed on one side of the boxes 2 fixedly installed with the connecting frame 1; one end of the round rods 3 on the plurality of boxes 2 is fixedly installed through the cylinder 4 Assembled together, the cylinder 4 is used to fix and connect two adjacent round rods 3; and the multiple boxes 2 are arranged and connected in an array form; the round rods 3 are installed on the outside of the multiple boxes 2 without sliding; the power units 5 are fixedly installed inside the multiple boxes 2; the power unit 5 is used to drive the movement of each box 2 and control the distance between each box 2; the multiple boxes 2 are fixedly installed on the auxiliary unit 6; the auxiliary unit 6 is used to carry the box 2 and drive the movement of the box 2; the connecting frame 1, the box 2, the cylinder 4 and the auxiliary unit 6 are all installed with a sensor unit 7; the sensor unit 7 is used to detect various data of paving the road surface; the power unit 5 and the sensor unit 7 are electrically connected to the control unit, and the control unit is used to control the power unit 5 and the sensor unit 7 to keep them from interfering with each other and to coordinate with each other.

[0036] like Figure 1 , Figure 5 , Figure 8 and Fig.10 As shown, the connecting frame 1 includes a rectangular connecting rod 11, a rectangular block 12 and a cylindrical connecting rod 13; the two ends of one side of the rectangular block 12 are respectively fixedly installed with one end of the rectangular connecting rod 11; the specific installation method adopts bolt connection; because the bolt is convenient and quick in the subsequent disassembly and assembly process; the other ends of the two rectangular connecting rods 11 are fixedly installed on the paver; the specific installation method adopts bolt connection; it is convenient to install and disassemble, and can keep the rectangular connecting rod 11 and the paver on the same horizontal line; ensure the accuracy and precision of subsequent detection; a plurality of cylindrical connecting rods 13 are evenly installed on the other side of the rectangular block 12; specifically, welding is adopted for connection; the other ends of the plurality of cylindrical connecting rods 13 are fixedly installed at the center position of one side of the plurality of boxes 2; the cylindrical connecting rod 13 is used to connect the box 2; the interior of the rectangular block 12 is a hollow structure; the rectangular block 12 is composed of multiple hollow sections The hollow aluminum alloy 14 is composed of a plurality of pulleys 15 on the surface of one end of the hollow aluminum alloy 14; a plurality of slideways 16 are arranged on the inner surface of the other end of the hollow aluminum alloy 14; the plurality of pulleys 15 on one end of the hollow aluminum alloy 14 are slidably installed with the plurality of slideways 16 on one end of the other hollow aluminum alloy 14; the rectangular block 12 is composed of multiple sections of hollow aluminum alloy 14 in order to reduce the weight of the connecting frame 1; the plurality of pulleys 15 and the plurality of slideways are arranged on the hollow aluminum alloy 14 in order to realize the extension and retraction of the rectangular block 12; when the road surface is relatively wide, the distance between the boxes 2 will be expanded, and then the rectangular block 12 will be driven to extend and retract through the cylindrical connecting rod 13, and the aluminum alloy on the rectangular block 12 slides back and forth on the slideway 16 through the pulley 15, thereby realizing the extension and retraction of the rectangular block 12, and the distance between the rectangular connecting rods 11 can also be adjusted according to the width of the paver.

[0037] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, the round rod 3 includes a rack 31 and a rectangular block 32; one end of the rack 31 is fixedly mounted on one end of one side of the rectangular block 32; the other end of the other side of the rectangular block 32 is fixedly mounted on the other end of the round rod 3; the rack 31 is meshed with the gear 53; the rack 31 is used to drive the round rod 3 to move; thereby driving the box body 2 to move, expanding or reducing the distance between the boxes 2; the rectangular block 32 can be used to prevent the rack 31 from exceeding the limit range when moving on the gear 53, causing the rack 31 to fall off. When the rack 31 moves, it will drive the rectangular block 32 to move, and the rectangular block 32 moves back and forth between the gear 53 and the inner wall of the box body 2, ensuring that the rack 31 is always meshed with the gear 53.

[0038] like Fig. 9As shown, the cylinder 4 includes a flexible connection block 41 and a strain gauge 42; both ends of the flexible connection block 41 are fixedly connected to the round rod 3 respectively; the flexible connection block 41 is not stretchable and deformable in the axial direction; the flexible connection block 41 is not stretchable and deformable in the axial direction so that the strain gauge 42 and the bending sensor will not be damaged due to stretching when the distance between the boxes 2 is extended or retracted; the strain gauge 42 is fixedly installed on the upper surface of the flexible connection block 41; the flexible connection block 41 is to ensure that a slight height difference can be generated between the two boxes 2 in the direction of gravity; the strain gauge 42 can detect slight deviations; a bending sensor is fixedly installed on the strain gauge 42; the deformation amount is transmitted to the bending sensor through the deformation of the strain gauge 42, and the bending sensor detects the deformation amount and sends a signal to the control unit.

[0039] like Figure 1 , Figure 6 and Figure 7 As shown, the power unit 5 includes a servo motor 51, a rotating shaft 52 and a gear 53; the servo motor 51 is vertically fixedly installed at the center of the bottom surface inside the box body 2; the rotating shaft 52 is fixedly installed on the top of the servo motor 51; the gear 53 is fixedly installed on the rotating shaft 52; the gear 53 is a cylindrical structure, and the top, middle and bottom of the gear 53 are provided with outwardly protruding circular protrusions; the top and middle parts and the middle and bottom parts of the gear 53 are respectively meshed with the rack 31; the servo motor 51 is used to drive the entire box body 2 to move; the top, middle and bottom parts of the gear 53 are provided with outwardly protruding circular protrusions to prevent the multiple racks 31 from being misaligned when meshing on the gear 53, and at the same time, it can also increase the stability of the rack 31 when meshing with the gear 53.

[0040] like Figure 1 , Figure 2 , Figure 3 and Figure 6 As shown, the auxiliary unit 6 includes a supporting cylinder 61 and a universal wheel 62; the top of the supporting cylinder 61 is fixedly mounted on the bottom end of the outer surface of the box body 2; the universal wheel 62 is fixedly mounted on the bottom end of the supporting cylinder 61; the universal wheel 62 is fixedly mounted on the bottom end of the supporting cylinder 61 so that the distance between the boxes 2 can be quickly achieved when they are extended or retracted. At the same time, a temperature sensor can be installed on the universal wheel 62 to detect the road surface temperature in real time. When the road surface width is large, the servo motor 51 rotates, driving the gear 53 and the rack 31 to move. The round rod 3 on the box body 2 is pushed by the rack 31, which will increase the distance between the two boxes 2, and when the distance between the boxes 2 is expanded, it expands both horizontally and longitudinally. At this time, the moving trajectory of the middle universal wheel 62 is different from the moving trajectory of the universal wheel 62 on the edge. If a fixed unidirectional wheel is used, the box body 2 will be affected when it moves.

[0041] The sensing unit 7 includes a high-temperature resistant temperature sensor, a displacement sensor and a bending sensor; a plurality of the high-temperature resistant temperature sensors are fixedly mounted at the bottom of the supporting cylinder 61; a plurality of the displacement sensors are fixedly mounted on one side of the box 2; a plurality of the bending sensors are fixedly mounted inside the cylinder 4; the high-temperature resistant temperature sensor is fixedly mounted at the bottom of the supporting cylinder 61, detects the temperature of the asphalt on the road surface in real time, and sends a signal to the control unit, the control unit sends the signal to the unmanned roller to roll the road surface, when it detects that the road surface temperature is between 110-140°C, the unmanned roller starts working to roll the road surface, the displacement sensor is fixedly mounted between each box 2, when the box 2 moves, the distance between the boxes 2 is detected in real time, so that the box 2 can move accurately and keep the distance between the two boxes 2 equal, and at the same time when the entire device starts to move, the displacement sensor can also be used to detect the box 2 when it moves. When displacement occurs, the displacement sensor sends a signal to the control unit, and the control unit controls the servo motor 51 in the box body 2 to rotate and adjust the distance between the boxes 2; when the bending sensor is installed inside the cylinder 4, in order to detect the flatness of the road surface, when multiple boxes 2 are driven by the paver, the box body 2 moves on the road surface. When the road surface is uneven or has a certain inclination, a slight height difference will be formed between the two boxes 2, and the strain gauge 42 inside the cylinder 4 will be deformed. The strain gauge 42 causes the movement of the bending sensor to bend, and the bending sensor sends a signal to the control unit. The control unit will analyze and process the signals sent by the bending sensors between all the boxes 2 to obtain the overall flatness of the road surface and send the data to the unmanned roller. The unmanned roller will repeatedly roll the higher parts of the road surface for many times. The bending sensor not only detects the flatness of the road surface in the length direction, but also detects the flatness in the width direction.

[0042] A Beidou satellite locator is fixedly installed on the top of the connecting frame 1; the Beidou satellite locator is electrically connected to the control unit; the Beidou satellite locator is used to generate and receive signals, and control the moving distance of the paver through satellite positioning. In relatively harsh weather conditions, the working condition and working position of the paver can be detected in real time through satellites, thereby controlling the operation of the paver.

[0043] The telescopic range between the multiple boxes 2 is 0.5-1.5m; and the longitudinal number of the multiple boxes 2 is greater than the transverse number; the telescopic range between the boxes 2 is 0.5-1.5m to prevent the distance between the boxes 2 from being too large or too small, which will cause a large detection error of the bending sensor between the two boxes 2, thereby causing data errors. At the same time, the distance between the boxes 2 can also be adjusted according to the width of the road surface so that the entire road surface can be fully detected. The longitudinal number of the boxes 2 is greater than the transverse number in order to obtain more reference data, because the detection of the road surface in the length direction requires multiple data for comparison, which can make the detected data more accurate, and can also determine the flatness of the entire road surface.

[0044] The distance between the multiple boxes 2 is always consistent; the distance between the boxes 2 is always consistent in order to prevent errors in the detection data. When the specific distance between two boxes is different from the distance between the other two boxes 2, this will cause the bending degree of the bending sensor to be different. Therefore, when multiple data are compared and referenced, the error of the result will be relatively large, and the detection will be inaccurate.

[0045] During operation, the Beidou satellite locates the entire paver through the satellite positioning device on the connecting frame 1, and the paver is started by wireless remote control. At the same time, the servo motor 51 in the box 2 rotates, and the distance between each box 2 and the distance between the box 2 and the road surface is detected by the displacement sensor, and a signal is sent to the control unit. The control unit receives the signal, controls the servo motor 51 to rotate, drives the rotating shaft 52 to rotate, the rotating shaft 52 drives the gear 53 to rotate, the gear 53 drives the rack 31 to move, the rack 31 drives the round rod 3 to move, and the two connected round rods 3 move toward each other, so that the distance between the boxes 2 is gradually expanded. At the same time, the rectangular block 12 on the connecting frame 1 is moved as the distance between the boxes 2 is expanded. The pulley 15 on the outer surface of one end of the hollow aluminum alloy 14 on the rectangular block 12 slides on the slide 16 on the inner wall of one end of the connected hollow aluminum alloy 14, and moves with the box 2. The free end of the rectangular connecting rod 11 on the connecting frame 1 is fixedly connected to the paver. The paver starts to work and moves forward slowly, driving the connecting frame 1 to move. The connecting frame 1 drives multiple arrays of boxes 2 to move slowly. During the movement of the box 2, on the paved road surface, the high-temperature resistant temperature sensor at the bottom of the supporting cylinder 61 detects the temperature of the road surface in real time and sends a signal to the control unit. After receiving the signal, the control unit will process the signal and send it to the unmanned press.

[0046] When the road surface temperature is detected to be between 110-140°C, the unmanned roller starts to work and rolls the road surface. At the same time, when the box 2 moves forward, due to the uneven road surface, a slight height difference will be generated in the horizontal and longitudinal directions between the boxes 2, and a slight deformation will occur through the flexible connection block 41. The flexible connection block 41 drives the strain gauge 42 to undergo the same slight deformation. Since the bending sensor is fixedly installed on the strain gauge 42, the bending sensor will also change with the change of the strain gauge 42. The bending sensor converts the slight height difference between the boxes 2 into a curvature value and sends the signal value to the control unit in real time. The control unit analyzes and processes the signal and finally sends the signal to the unmanned roller. The unmanned roller receives the signal and rolls the road surface with high temperature and high road surface for multiple times. The paver moves forward slowly through the Beidou satellite positioning system. Box 2 detects in real time and sends a signal. If the box 2 detects that the road surface flatness exceeds the standard range, the control unit will send a signal to the paver. The paver will adjust the forward speed and the working angle of the machine through the satellite positioning system, so as to improve the flatness of the paved road surface during paving. When the paving is completed, the bolts connecting the connecting frame 1 and the paver are removed, and a signal is sent through the Beidou satellite. The control unit controls the servo motor 51 to rotate, so that the distance between each box 2 of the array is gradually shortened, and finally the boxes 2 are brought together to complete the contraction.

[0047] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An unmanned road paving device based on Beidou positioning, comprising a road paving unit, a connecting frame (1), a box (2), a round rod (3), a cylinder (4), a power unit (5), an auxiliary unit (6), a sensor unit (7) and a control unit; characterized in that: One side of the connecting frame (1) is fixedly mounted on the road paving unit; a plurality of boxes (2) are fixedly mounted on the other side of the connecting frame (1); a plurality of the boxes (2) are rectangular grooves (21); through holes are provided at the center positions of the sides of the plurality of boxes (2); a circular ring (23) protruding inwardly and outwardly is provided on the through hole (22); round rods (3) are slidably mounted at the center positions of the sides of the plurality of boxes (2); and the round rods (3) are not slidably mounted on the side where the plurality of boxes (2) are fixedly mounted to the connecting frame (1); the plurality of boxes One end of the round rod (3) on the connecting frame (1) is fixedly mounted together through a cylinder (4), and the plurality of boxes (2) are arranged and connected in an array; the round rods (3) are non-slidingly mounted on the outside of the plurality of boxes (2); a power unit (5) is fixedly mounted inside the plurality of boxes (2); the plurality of boxes (2) are fixedly mounted on an auxiliary unit (6); a sensor unit (7) is mounted on the connecting frame (1), the box (2), the cylinder (4) and the auxiliary unit (6); the power unit (5) and the sensor unit (7) are electrically connected to the control unit; The cylinder (4) comprises a flexible connection block (41) and a strain gauge (42); both ends of the flexible connection block (41) are fixedly connected to the round rod (3) respectively; the flexible connection block (41) cannot be axially telescopically deformed; and the strain gauge (42) is fixedly mounted on the upper surface of the flexible connection block (41).

2. The unmanned road paving equipment based on Beidou positioning according to claim 1 is characterized in that: The connecting frame (1) comprises a rectangular connecting rod (11), a rectangular block (12) and a cylindrical connecting rod (13); the two ends of one side of the rectangular block (12) are respectively fixedly mounted on one end of the rectangular connecting rod (11); the other ends of the two rectangular connecting rods (11) are fixedly mounted on the paving machine; a plurality of cylindrical connecting rods (13) are evenly mounted on the other side of the rectangular block (12); the other ends of the plurality of cylindrical connecting rods (13) are fixedly mounted at the center position of one side of the plurality of boxes (2) ; The interior of the rectangular block (12) is a hollow structure; the rectangular block (12) is composed of multiple sections of hollow aluminum alloy (14); a plurality of pulleys (15) are arranged on the surface of one end of the hollow aluminum alloy (14); a plurality of slideways (16) are arranged on the inner surface of the other end of the hollow aluminum alloy (14); the plurality of pulleys (15) on one end of the hollow aluminum alloy (14) are slidably mounted with the plurality of slideways (16) on one end of the other hollow aluminum alloy (14).

3. The unmanned road paving equipment based on Beidou positioning according to claim 2 is characterized in that: The round rod (3) comprises a rack (31) and a rectangular block (32); one end of the rack (31) is fixedly mounted on one end of one side of the rectangular block (32); the other end of the other side of the rectangular block (32) is fixedly mounted on the other end of the round rod (3); the rack (31) and the gear (53) are meshed with each other.

4. The unmanned road paving equipment based on Beidou positioning according to claim 1 is characterized in that: The power unit (5) comprises a servo motor (51), a rotating shaft (52) and a gear (53); the servo motor (51) is vertically fixedly mounted at the center of the bottom surface inside the box (2); the rotating shaft (52) is fixedly mounted on the top of the servo motor (51); the gear (53) is fixedly mounted on the rotating shaft (52); the gear (53) is a cylindrical structure, and the top, middle and bottom of the gear (53) are provided with outwardly protruding circular protrusions (54); the gear (53) is meshed with the rack (31) between the top and the middle and between the middle and the bottom respectively.

5. The unmanned road paving equipment based on Beidou positioning according to claim 4 is characterized in that: The auxiliary unit (6) comprises a supporting cylinder (61) and a universal wheel (62); the top end of the supporting cylinder (61) is fixedly mounted on the bottom end of the outer surface of the box body (2); and the universal wheel (62) is fixedly mounted on the bottom end of the supporting cylinder (61).

6. The unmanned road paving equipment based on Beidou positioning according to claim 5, characterized in that: The sensing unit (7) comprises a high temperature resistant temperature sensor, a displacement sensor and a bending sensor; a plurality of the high temperature resistant temperature sensors are fixedly mounted on the bottom of the supporting cylinder (61); a plurality of the displacement sensors are fixedly mounted on one side of the box (2); and a plurality of the bending sensors are fixedly mounted inside the cylinder (4).

7. The unmanned road paving equipment based on Beidou positioning according to claim 6 is characterized in that: A Beidou satellite locator is fixedly mounted on the top of the connecting frame (1); the Beidou satellite locator is electrically connected to the control unit.

8. The unmanned road paving equipment based on Beidou positioning according to claim 7, characterized in that: The telescopic range between the multiple boxes (2) is 0.5-1.5m; and the number of the multiple boxes (2) in the longitudinal direction is greater than the number in the transverse direction.

9. The unmanned road paving equipment based on Beidou positioning according to claim 8, characterized in that: The distance between the multiple boxes (2) is always kept consistent.

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