Remote real-time control system for slurry seal equipment

Abstract

The present invention discloses a remote real-time control system for slurry sealing equipment, which relates to the technical field of highway construction equipment, and includes an on-site construction part and a remote operation part. The on-site construction part includes a slurry sealing vehicle, and the slurry sealing vehicle is provided with an on-site controller, a sensor module, an operation module and a first communication module. The remote operation part includes a second communication module, a remote end controller, an acceleration feedback module, a display module and an input module. The acceleration feedback module in the present invention can give real-time feedback to the remote operator on the status of the slurry sealing vehicle under on-site construction, so that the remote operator can accurately, intuitively and timely obtain on-site construction information, thereby accurately operating the on-site slurry sealing vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of highway construction equipment, and in particular to a remote real-time control system for slurry sealing equipment. Background Art

[0002] Emulsified asphalt slurry seal is a road maintenance construction method. In order to prevent cracks, potholes and wear on the asphalt pavement, emulsified asphalt, coarse and fine aggregates, fillers and additives are usually mixed into a slurry mixture according to the designed ratio and spread on the original road surface to form a thin layer, which is then solidified as soon as possible to maintain the asphalt concrete pavement.

[0003] However, there is a shortage of skilled workers to operate slurry sealing equipment and other engineering machinery. If a remote operating system is used to allow skilled workers to concentrate their time on operating equipment at multiple construction sites, the effective working time of skilled workers can be fully utilized, and their value can be maximized. It can also alleviate the progress pressure at the construction site, ensure the construction period, and reduce construction costs.

[0004] The utility model with authorization announcement number CN201420224Y discloses a fully automatically controlled micro-surfacing paver, wherein an emulsion tank, a water tank and an aggregate bin are arranged in the middle of the vehicle chassis, an auxiliary engine, an emulsion pump hydraulic motor and an emulsion pump are arranged on the front side of the aggregate bin, a belt scale is arranged under the aggregate bin, a mixer and a stuffing box are arranged at the right end of the vehicle chassis, a stuffing screw feeder is arranged in the stuffing box, a stuffing weighing sensor is arranged at the bottom, and a camera is arranged on the side wall, an additive tank and a water pump are arranged under the aggregate bin on the rear side of the middle part of the vehicle chassis, the additive tank is connected to the mixer through an additive flowmeter and an additive control valve installed on the pipeline, the water pump is connected to the water tank through a water flowmeter and a water control valve installed on the pipeline, a display terminal is arranged in the cab of the vehicle chassis, a programmable controller is arranged on the aggregate bin, and a speed measuring radar is arranged under the vehicle chassis. The programmable controller controls the ratio of raw material aggregates, additives, fillers, emulsions and water according to a pre-set program, and the operator can monitor the construction status and progress in the cab.

[0005] However, for remote construction control, a dedicated construction control system is also required.

[0006] The existing invention patent with publication number CN112614248A discloses a remote control system for construction machinery, which relates to the field of construction machinery control technology. The remote control system for construction machinery of the present invention includes a VR simulation restoration system and a vehicle-mounted monitoring system suitable for installation at the construction machinery; the vehicle-mounted monitoring system includes a first communication device and a data acquisition and processing device, the first communication device is connected to the data acquisition and processing device, and the data acquisition and processing device is also suitable for connection with the main controller of the construction machinery; the VR simulation restoration system includes a second communication device, a control platform and a VR device, and the control platform and the VR device are respectively connected to the second communication device.

[0007] The above technical solution can realize the remote control of general engineering machinery and save construction costs. However, when applied to slurry sealing equipment, the following problems still exist:

[0008] The existing operating system lacks feedback, and operators cannot have a timely and intuitive feeling of the road conditions and other environmental conditions of the on-site construction. The sense of reality and on-site feeling of the operation is insufficient. For example, it is impossible to perceive the bumps and acceleration and deceleration of the slurry sealing vehicle on site, which will affect the operator's physical sense and accuracy. Therefore, the reliability of the existing operating system is relatively low when applied, and it cannot meet the remote construction requirements of the slurry sealing equipment. In addition, the existing operating system cannot perceive the ambient temperature and slurry temperature on site. Since the temperature of the construction environment will affect the efficiency and quality of the highway slurry sealing operation, the untimely perception of the on-site ambient temperature during remote operation will also cause inconvenience in the use of the operating system. Summary of the invention

[0009] The purpose of the present invention is to provide a remote real-time control system for slurry sealing equipment, which uses an acceleration feedback module to give real-time feedback to the remote operator on the status of the slurry sealing vehicle under construction on site, so that the remote operator can accurately, intuitively and timely obtain on-site construction information, thereby accurately operating the on-site slurry sealing vehicle.

[0010] The above technical objectives of the present invention are achieved through the following technical solutions:

[0011] A remote real-time control system for slurry sealing equipment, comprising an on-site construction part and a remote operation part, wherein the on-site construction part comprises a slurry sealing vehicle, wherein the slurry sealing vehicle is provided with an on-site controller, a sensor module, an operation module and a first communication module, and the remote operation part comprises a second communication module, a remote end controller, an acceleration feedback module, a display module and an input module;

[0012] The sensing module includes six acceleration sensors, four of which are respectively located at the left front, left rear, right front, and right rear positions of the slurry sealing vehicle, and the four acceleration sensors are used to sense the acceleration of the slurry sealing vehicle in the vertical direction; the other two acceleration sensors are respectively located at the front and rear sides of the slurry sealing vehicle, and are used to sense the acceleration of the slurry sealing vehicle in the driving direction;

[0013] The acceleration feedback module includes a simulated cab, a connecting seat is fixed to the lower side of the simulated cab, a bearing platform is arranged below the connecting seat, and an articulated limiting mechanism is arranged between the bearing platform and the connecting seat, so that the connecting seat can swing relative to the bearing platform without deviation; four hydraulic cylinders are arranged on the bearing platform to push the connecting seat to swing;

[0014] The acceleration feedback module also includes a base fixed to the ground, two guide rails are fixedly arranged on the top of the base, two rows of rollers are rotatably arranged on the lower side of the support platform, the rollers and guide rollers roll in cooperation, a steel cable winding roller is rotatably arranged on the lower side of the base, a pulling steel cable is wound on the steel cable winding roller, both ends of the base are rotatably arranged with changing direction fixed pulleys, the two ends of the pulling steel cable respectively pass around the two changing direction fixed pulleys and are fixed to the two ends of the support platform, and a driving mechanism for driving the steel cable winding roller is also arranged below the base.

[0015] The present invention is further configured as follows: the articulated limiting mechanism includes a crossbeam hinged to a connecting seat, the connecting seat can swing left and right relative to the crossbeam, four evenly distributed first sliding columns are fixedly arranged under the crossbeam, four first limiting sliding holes are opened on the bearing platform, the first sliding columns are slidingly matched with the corresponding first limiting sliding holes, the hydraulic cylinder is hinged to the bearing platform, and the piston rod end of the hydraulic cylinder is hinged to the connecting seat.

[0016] The present invention is further configured such that the positions of the four hydraulic cylinders for sensing the acceleration of the slurry sealing vehicle in the vertical direction relative to the simulated cab correspond to the positions of the four acceleration sensors relative to the cab of the slurry sealing vehicle.

[0017] The present invention is further configured as follows: the articulated limiting mechanism includes a second sliding column, a second limiting sliding hole is opened on the bearing platform, the second sliding column and the second limiting sliding hole are slidingly matched, the upper end of the second sliding column and the connecting seat are hinged by a universal joint, the connecting seat can swing in any direction without horizontal deviation, the four hydraulic cylinders are fixedly connected to the bearing platform, and the piston rod ends of the hydraulic cylinders are fixedly provided with universal wheels, and the universal wheels are rollingly matched with the connecting seat.

[0018] The present invention is further configured as follows: the sensing module includes a plurality of distance sensors, a plurality of ambient temperature sensors, a slurry temperature sensor and a camera array; the distance sensors and the ambient temperature sensors are arranged in pairs around the slurry sealing vehicle; and the slurry temperature sensor is located at the slurry outlet of the slurry sealing vehicle.

[0019] The present invention is further configured as follows: a plurality of loudspeakers and microphones electrically connected to the on-site controller are fixedly arranged on the slurry sealing vehicle for communication between the remote operator and the on-site construction personnel.

[0020] The present invention is further configured as follows: the simulated cab has the same appearance and size as the cab of the on-site slurry sealing vehicle, the remote controller, the display module and the input module are arranged in the simulated cab, and the display module is a VR device.

[0021] The present invention is further configured as follows: the first communication module communicates with the second communication module through a 5G network, which is used for information transmission between the on-site construction part and the remote operation part.

[0022] The present invention is further configured as follows: the driving mechanism is a matching motor and reduction box.

[0023] In summary, the beneficial technical effects of the present invention are:

[0024] (1) In the present invention, the acceleration feedback module can provide real-time feedback to the remote operator on the status of the slurry sealing vehicle during on-site construction, so that the remote operator can accurately, intuitively and timely obtain on-site construction information, improve the remote operator's sense of being on the scene during operation, thereby enabling the remote operator to improve his concentration and vigilance, ensure the accurate and smooth progress of on-site construction, avoid the occurrence of unexpected situations, and effectively ensure the reliability of the control system;

[0025] (2) In the present invention, the remote operator can use the speaker and microphone on the slurry seal vehicle to communicate with the on-site construction personnel, thereby improving the convenience and efficiency of the construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present invention;

[0027] Figure 2 is a schematic structural diagram of a slurry sealing vehicle in Embodiment 1 of the present invention;

[0028] Figure 3 is a schematic diagram of the structure of the acceleration feedback module in the first embodiment of the present invention;

[0029] Figure 4 is a structural schematic diagram of the upward viewing angle of the acceleration feedback module in the first embodiment of the present invention;

[0030] Figure 5 It is a structural diagram of the acceleration feedback module in the second embodiment of the present invention.

[0031] Figure numerals: 1. slurry sealing vehicle; 2. field controller; 3. sensor module; 4. operation module; 5. first communication module; 6. second communication module; 7. remote controller; 8. display module; 9. input module; 10. distance sensor; 11. ambient temperature sensor; 12. slurry temperature sensor; 13. camera array; 14. acceleration sensor; 15. speaker; 16. microphone; 17. simulated cab; 18. connecting seat; 19. bearing platform; 20. first limit sliding hole; 21. first sliding column; 22. crossbeam; 23. hydraulic cylinder; 24. base; 25. guide rail; 26. roller; 27. steel cable winding roller; 28. pulling steel cable; 29. ​​direction changing fixed pulley; 30. motor; 31. reduction box; 32. second limit sliding hole; 33. second sliding column; 34. universal joint. DETAILED DESCRIPTION

[0032] The present invention will be described clearly and completely below with reference to the embodiments.

[0033] Embodiment 1:

[0034] See attached Figure 1 The remote real-time control system of the slurry sealing equipment includes a field construction part and a remote operation part. The field construction part includes a slurry sealing vehicle 1, and the slurry sealing vehicle 1 is provided with a field controller 2, a sensor module 3, an operation module 4 and a first communication module 5. The remote operation part includes a second communication module 6, a remote end controller 7, an acceleration feedback module, a display module 8 and an input module 9.

[0035] The sensor module 3 includes a plurality of distance sensors 10, a plurality of ambient temperature sensors 11, a slurry temperature sensor 12 and a camera array 13. The distance sensors 10 and the ambient temperature sensors 11 are arranged in pairs around the slurry sealing vehicle 1, and the slurry temperature sensor 12 is located at the slurry outlet of the slurry sealing vehicle 1. The distance sensor 10 is used to sense the distance between the slurry sealing vehicle 1 and obstacles and on-site construction personnel, the ambient temperature sensor 11 is used to sense the ambient temperature of the construction site, and the slurry temperature sensor 12 is used to sense the paving temperature of the slurry.

[0036] There are two camera arrays 13, which are respectively arranged on the top of the cab of the slurry sealing vehicle 1 and the rear of the slurry sealing vehicle 1, and are used to observe the state of the slurry sealing vehicle 1 during driving and the state of slurry spreading. The image information obtained by the camera array 13 is used by the display module 8 to display the operating state of the slurry sealing vehicle 1 to the remote operator. The camera array 13 is a prior art and will not be described in detail here.

[0037] The sensor module 3 also includes six acceleration sensors 14, see the attached Figure 2 , where four acceleration sensors 14 are respectively located at the left front, left rear, right front, and right rear positions of the slurry sealing vehicle 1. The slurry sealing vehicle 1 in this embodiment has three pairs of tires. The two front acceleration sensors 14 are located on the vehicle beams corresponding to the front pair of tires, that is, directly below the cab; the two rear acceleration sensors 14 are set on the vehicle beams corresponding to the rear two pairs of tires, and are located in the middle of the two pairs of tires. If the slurry sealing vehicle 1 has only two pairs of tires, the rear two acceleration sensors 14 are installed directly above the rear tires. These four acceleration sensors 14 are used to sense the acceleration of the slurry sealing vehicle 1 in the vertical direction. The remaining two acceleration sensors 14 are respectively located at the front and rear sides of the slurry sealing vehicle 1, and are used to sense the acceleration of the slurry sealing vehicle 1 in the driving direction.

[0038] The distance sensor 10, ambient temperature sensor 11, slurry temperature sensor 12, camera array 13, and acceleration sensor 14 in the sensor module 3 are all electrically connected to the field controller 2. The field controller 2 is used to receive the signal sent by the sensor module 3, perform preliminary processing on the signal, and convert it into a digital signal for signal transmission.

[0039] The operation module 4 is used to control the slurry sealing vehicle 1 to perform on-site construction work. The operation module 4 includes a front operation panel and a rear operation panel, wherein the front operation panel is used to control the driving state of the slurry sealing vehicle 1; the rear operation panel is located at the rear of the slurry sealing vehicle 1, and is used to control the discharge amount and proportion of raw material aggregates, additives, fillers, emulsions, and water, as well as control the speed and direction of the agitator in the paving trough. The front operation panel and the rear operation panel involved in the operation module 4 are both prior art, such as the two patents mentioned in the background technology of the present invention, which can be realized, and no further elaboration is made here.

[0040] The operation module 4 is also electrically connected to the field controller 2, and the field controller 2 controls the operation of the operation module 4 according to the instructions transmitted by the remote operation part. The slurry sealing vehicle 1 is also fixedly provided with a plurality of speakers 15 and microphones 16 electrically connected to the field controller 2 for communication between the remote operator and the on-site construction personnel.

[0041] The first communication module 5 is electrically connected to the on-site controller 2, and the second communication module 6 is electrically connected to the remote controller 7. The first communication module 5 and the second communication module 6 communicate through the 5G network for information transmission between the on-site construction part and the remote operation part.

[0042] See attached Figure 3 and attached Figure 4The acceleration feedback module includes a simulated cab 17, which has the same appearance and size as the cab of the slurry sealing vehicle 1 on site. The remote controller 7, the display module 8 and the input module 9 are arranged in the simulated cab 17, and the display module 8 and the input module 9 are electrically connected to the remote controller 7. After the remote controller 7 processes the data transmitted back from the site, it displays it to the remote operator through the display module 8. In this embodiment, the display module 8 in this embodiment is a VR device. Through the VR device, the remote operator can intuitively understand the on-site situation. The remote operator operates the input module 9 according to the on-site situation. The input module 9 converts the operation behavior of the remote operator into an electrical signal and transmits it to the remote controller 7. After the remote controller 7 processes and converts the signal, it transmits it to the on-site construction part through the first communication module 5 and the second communication module 6, and then remotely controls the slurry sealing vehicle 1 to operate.

[0043] A connection seat 18 is fixed to the lower side of the simulated cab 17, and a bearing platform 19 is arranged below the connection seat 18. The bearing platform 19 is a flat plate structure, and an articulated limiting mechanism is arranged between the bearing platform 19 and the connection seat 18, which is used to enable the connection seat 18 to swing relative to the bearing platform 19 without horizontal displacement. Four first limiting sliding holes 20 are provided on the bearing platform 19, and a first sliding column 21 is slidingly arranged in the first limiting sliding holes 20. A cross beam 22 is fixed to the upper end of the first sliding column 21, and the cross beam 22 is hinged to the connection seat 18, so that the connection seat 18 can swing left and right. Therefore, the articulated limiting mechanism in this embodiment is the first sliding column 21, the cross beam 22, and the articulated structure of the cross beam 22 and the connection seat 18. Four hydraulic cylinders 23 are hingedly arranged on the bearing platform 19, and the piston rod end of the hydraulic cylinder 23 is hinged to the connection seat 18. The positions of the four hydraulic cylinders 23 relative to the simulated cab 17 correspond to the positions of the four acceleration sensors 14 relative to the cab of the slurry sealing vehicle 1 .

[0044] The acceleration feedback module also includes a base 24 fixed to the ground. Before installing the base 24, it is necessary to first dig a pit of factory slot piles on the ground to facilitate the installation of the structure below the base 24. Two guide rails 25 are fixedly arranged above the base 24, and two rows of rollers 26 are rotatably arranged on the lower side of the bearing platform 19. The waist of the roller 26 is a concave structure and can be embedded with the guide rail 25, and the roller 26 and the guide roller are rollingly matched. A steel cable winding roller 27 is rotatably arranged in the middle of the lower side of the base 24, and a pulling steel cable 28 is wound around the steel cable winding roller 27. Both ends of the base 24 are rotatably arranged with a change of direction fixed pulley 29, and the two ends of the pulling steel cable 28 are respectively bypassed by the two change of direction fixed pulleys 29 and fixed to the two ends of the bearing platform 19. A driving mechanism for driving the steel cable winding roller 27 is also arranged below the base 24. In order to facilitate control, the driving mechanism in this embodiment is a matching motor 30 and a reduction box 31.

[0045] The working principle of this embodiment is: the on-site construction part and the remote operation part are connected through the first communication module 5 and the second communication module 6, so that the situation on the construction site can be transmitted to the remote operation part in a timely manner, and the remote operator can control the slurry sealing vehicle 1 in the on-site construction part to operate by operating the remote operation part.

[0046] In this embodiment, the ambient temperature sensor 11 and the slurry temperature sensor 12 are used to sense the ambient temperature of the construction site and the temperature during slurry paving, so that the remote operator can judge whether the construction quality is up to standard and take corresponding measures. The distance sensor 10 is used to sense the distance between the slurry sealing vehicle 1 and the surrounding obstacles and the on-site construction personnel. When encountering obstacles or needing to cooperate with the on-site construction personnel, the speaker 15 and the microphone 16 can be used to communicate with the on-site construction personnel.

[0047] Two acceleration sensors 14 for sensing the acceleration in the driving direction of the slurry sealing vehicle 1 transmit the detected electrical signals to the field controller 2. After the field controller 2 performs preliminary processing and signal conversion, the signal is transmitted to the remote controller 7 through the first communication module 5 and the second communication module 6. The remote controller 7 can obtain the state of the slurry sealing vehicle 1 by calculating and processing the signal and combining it with the information obtained from the camera array 13. If the slurry sealing vehicle 1 is in a uniform speed, the simulated cab 17 does not move, and the remote operator can feel the movement of the simulated cab 17 through the constantly moving picture on the display module 8. If the slurry sealing vehicle 1 is accelerating or decelerating or starting or braking, the remote controller 7 controls the driving mechanism to rotate the steel cable winding roller 27. When the steel cable winding roller 27 rotates, the pulling steel cable 28 will pull the load platform 19 and the simulated cab 17 above it to move forward and backward, so that the remote operator can feel the forward or backward acceleration and intuitively obtain the driving state of the slurry sealing vehicle 1.

[0048] The four acceleration sensors 14 used to sense the vertical acceleration of the slurry seal vehicle 1 sense the vertical acceleration information of the four parts of the slurry seal vehicle 1 respectively. When the road surface during construction is uneven or there are debris, the acceleration sensor 14 on the corresponding side will generate an electrical signal. After the signal is converted and transmitted to the remote controller 7, the remote controller 7 will control the solenoid valve of the hydraulic cylinder 23 corresponding to the position of the acceleration sensor 14, so that the hydraulic cylinder 23 on the corresponding side is actuated, so that the cab swings left and right, and the remote operator feels bumpy. The cooperation between the first sliding column 21 and the first limit sliding hole 20 can make the central axis of the connecting seat 18 and the simulated cab 17 only move up and down without horizontal displacement. The connecting seat 18 and the simulated cab 17 are supported by four hydraulic cylinders 23. The hydraulic cylinders 23 on both sides can push and pull the simulated cab 17 up and down at the same time, or only the hydraulic cylinder 23 on one side can push and pull the simulated cab 17 up and down, so that the remote operator has a richer experience and fully simulates the construction road conditions on site.

[0049] The road conditions of the on-site construction have a great impact on the construction of the slurry sealer 1. Although the on-site construction personnel will level the road surface before construction, it is still possible that there will be potholes or debris on the on-site construction road surface, which will cause the road surface to bulge, thereby causing the slurry sealer 1 to bump; and when the slurry sealer 1 is driving along the road, if it is moving along the edge of the road, if the road has a small turn or the slurry sealer 1 deviates from the road, one side of the tire of the slurry sealer 1 will fall under the road surface, thereby causing bumps. The bumps of the slurry sealer 1 may cause the construction status of the slurry sealer 1 to be different from that displayed in the simulated cab 17, thereby affecting the accuracy of the construction. This bumpy feedback method can remind the remote operator to pay attention to the road conditions, correct the construction status of the slurry sealer in time, and notify the on-site construction personnel to assist when necessary to avoid construction problems.

[0050] When starting or braking the slurry sealing vehicle 1, the remote operator can also feel it intuitively, thereby improving the concentration and vigilance of the remote construction personnel and ensuring the smooth progress of the construction process.

[0051] The above two acceleration feedback methods are used in combination to enhance the remote operator's immersive feeling during operation, thereby enabling the remote operator to improve his concentration and vigilance, ensure the accurate and smooth progress of on-site construction, avoid the occurrence of unexpected situations, and effectively ensure the reliability of the control system.

[0052] Embodiment 2:

[0053] The remote real-time control system of the slurry sealing device is based on the first embodiment, and the difference from the first embodiment is that, see the attached Figure 5The bearing platform 19 is provided with a second limited sliding hole 32, in which a second sliding column 33 is slidably arranged, and the upper end of the second sliding column 33 is hinged to the connecting seat 18 through a universal joint 34, so that the connecting seat 18 can swing in any direction. The hinged limiting mechanism in this embodiment is the second sliding column 33 and the universal joint 34. The four hydraulic cylinders 23 are fixedly connected to the bearing platform 19, and the piston rod ends of the hydraulic cylinders 23 are fixedly provided with universal wheels, which are rollingly matched with the connecting seat 18.

[0054] The working principle of this embodiment is as follows: in this embodiment, the simulated cab 17 can swing in any direction with the universal joint 34 as the center, and cannot produce lateral deviation. In this way, the connecting seat 18 and the simulated cab 17 in this embodiment are still supported by four hydraulic cylinders 23, and the piston rods of the hydraulic cylinders 23 can only move in the vertical direction. Since the piston rod ends of the hydraulic cylinders 23 cooperate with the connecting seat 18 through universal wheels, each hydraulic cylinder 23 can be controlled separately, simulating different bumps in the left and right directions of the front and rear wheels, with higher realism.

[0055] The above description is only a preferred specific implementation manner of the present invention, and is not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made according to the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The remote real-time control system of the slurry seal equipment includes an on-site construction part and a remote operation part, which is characterized by: The on-site construction part comprises a slurry sealing vehicle (1), on which a field controller (2), a sensor module (3), an operation module (4) and a first communication module (5) are arranged, and the remote operation part comprises a second communication module (6), a remote end controller (7), an acceleration feedback module, a display module (8) and an input module (9); The sensing module (3) comprises six acceleration sensors (14), wherein four of the acceleration sensors (14) are respectively located at the left front, left rear, right front and right rear positions of the slurry sealing vehicle (1), and the four acceleration sensors (14) are used to sense the acceleration of the slurry sealing vehicle (1) in the vertical direction; the other two acceleration sensors (14) are respectively located at the front and rear sides of the slurry sealing vehicle (1), and are used to sense the acceleration of the slurry sealing vehicle (1) in the driving direction; The acceleration feedback module comprises a simulated cab (17), a connecting seat (18) is fixed on the lower side of the simulated cab (17), a bearing platform (19) is arranged below the connecting seat (18), and an articulated limiting mechanism is arranged between the bearing platform (19) and the connecting seat (18), so that the connecting seat (18) can swing relative to the bearing platform (19) without deviation; four hydraulic cylinders (23) are arranged on the bearing platform (19) for pushing the connecting seat (18) to swing; The acceleration feedback module also includes a base (24) fixed to the ground, two guide rails (25) are fixedly arranged above the base (24), two rows of rollers (26) are rotatably arranged on the lower side of the support platform (19), the rollers (26) and the guide rollers are rollingly matched, a steel cable winding roller (27) is rotatably arranged on the lower side of the base (24), a pulling steel cable (28) is wound around the steel cable winding roller (27), both ends of the base (24) are rotatably arranged with a changing fixed pulley (29), the two ends of the pulling steel cable (28) respectively pass through the two changing fixed pulleys (29) and are fixed to the two ends of the support platform (19), and a driving mechanism for driving the steel cable winding roller (27) is also arranged below the base (24); The articulated limiting mechanism comprises a cross beam (22) articulated with a connecting seat (18); the connecting seat (18) can swing left and right relative to the cross beam (22); four evenly distributed first sliding columns (21) are fixedly arranged below the cross beam (22); four first limiting sliding holes (20) are opened on the bearing platform (19); the first sliding columns (21) are slidingly matched with the corresponding first limiting sliding holes (20); the hydraulic cylinder (23) is articulated with the bearing platform (19); and the piston rod end of the hydraulic cylinder (23) is articulated with the connecting seat (18).

2. The remote real-time control system for slurry sealing equipment according to claim 1, characterized in that: The positions of the four hydraulic cylinders (23) for sensing the acceleration of the slurry sealing vehicle (1) in the vertical direction relative to the simulated cab (17) correspond to the positions of the four acceleration sensors (14) relative to the cab of the slurry sealing vehicle (1).

3. The remote real-time control system for slurry sealing equipment according to claim 1, characterized in that: The articulated limiting mechanism comprises a second sliding column (33), a second limiting sliding hole (32) is provided on the bearing platform (19), the second sliding column (33) and the second limiting sliding hole (32) are slidingly matched, the upper end of the second sliding column (33) is hinged to the connecting seat (18) through a universal joint (34), and the connecting seat (18) can swing in any direction without horizontal deviation, the four hydraulic cylinders (23) are fixedly connected to the bearing platform (19), and the piston rod ends of the hydraulic cylinders (23) are fixedly provided with universal wheels, and the universal wheels are rollingly matched with the connecting seat (18).

4. The remote real-time control system for slurry sealing equipment according to claim 1, characterized in that: The sensor module (3) comprises a plurality of distance sensors (10), a plurality of ambient temperature sensors (11), a slurry temperature sensor (12) and a camera array (13); the distance sensors (10) and the ambient temperature sensors (11) are arranged in pairs around the slurry sealing vehicle (1); and the slurry temperature sensor (12) is located at the slurry outlet of the slurry sealing vehicle (1).

5. The remote real-time control system for slurry sealing equipment according to claim 4, characterized in that: The slurry sealing vehicle (1) is fixedly provided with a plurality of loudspeakers (15) and microphones (16) electrically connected to the on-site controller (2) for communication between the remote operator and the on-site construction personnel.

6. The remote real-time control system of the slurry seal equipment according to claim 1, characterized in that: The simulated cab (17) has the same appearance and size as the cab of the on-site slurry sealing vehicle (1); a remote controller (7), a display module (8) and an input module (9) are arranged in the simulated cab (17); and the display module (8) is a VR device.

7. The remote real-time control system for slurry sealing equipment according to claim 1, characterized in that: The first communication module (5) communicates with the second communication module (6) via a 5G network and is used for information transmission between the on-site construction part and the remote operation part.

8. The remote real-time control system for slurry sealing equipment according to claim 1, characterized in that: The driving mechanism is a matching motor (30) and a reduction box (31).

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