A real-time measurement method for paving the surface layer of viaduct asphalt pavement

Abstract

The present invention relates to a real-time measurement method for the paving of the surface layer of an elevated asphalt pavement. Step 1: prepare an unmanned aerial vehicle, and set a laser rangefinder at the lower end of the unmanned aerial vehicle. The coordinates of the unmanned aerial vehicle and the laser rangefinder are fed back to a computer through a matching receiving device, and are processed in real time through a predetermined calculation formula; Step 2: during the paving process of the surface layer, the unmanned aerial vehicle is controlled to follow the trajectory of the paver; Step 3: during the paving and compacting process of the surface layer, multiple M-shaped flight trajectories are used for tracking and measurement, and the real-time image of the paved road surface is captured by the unmanned aerial vehicle. The present invention uses the unmanned aerial vehicle to monitor the asphalt paving thickness of the surface layer paving construction of the elevated asphalt pavement in real time, and gives timely feedback, so as to achieve the purpose of paving asphalt while correcting the paving thickness.

Description

Technical Field

[0001] The invention relates to the construction field of road paving, in particular to a real-time measurement method for paving a surface layer of an elevated asphalt road surface. Background Art

[0002] The paving construction of viaduct asphalt pavement is a high-altitude, confined space operation. During the paving process, measurement is carried out while paving. The measurement is difficult and the range of measurable points is relatively small. Sometimes, measurement and construction will interfere with each other, which greatly affects the construction quality and progress, and also has an adverse impact on the safety of the project. Summary of the invention

[0003] The present invention aims to overcome the defects of the prior art and provide a real-time measurement method for the paving of the surface layer of an elevated asphalt pavement, so as to solve the problem of insufficient measurement space in bridge pavement construction.

[0004] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0005] A real-time measurement method for paving a viaduct asphalt pavement surface layer, characterized in that it comprises the following steps:

[0006] Step 1: Prepare the drone and set up a laser rangefinder at the bottom of the drone. The coordinates of the drone and the laser rangefinder are fed back to the computer through the matching receiving device and processed in real time through the established calculation formula;

[0007] Step 2: During the surface paving process, the drone is controlled to follow the trajectory of the paver;

[0008] Step 3: During the surface paving and compaction process, multiple M-shaped flight trajectories are used for tracking and real-time images of the paved road surface are captured by drones.

[0009] The real-time measurement method for the paving of the surface layer of an elevated asphalt pavement is characterized in that: in step one, specifically: prepare three drones, one for real-time tracking of the surface layer paving, one for real-time tracking of the pavement paving compaction, and one for standby re-measurement; set an effective initial ground point of the drone, and set a continuously measuring laser rangefinder at the lower end of the drone, and the frequency of the laser rangefinder is at least 20Hz.

[0010] The real-time measurement method for the paving of the surface layer of the viaduct asphalt pavement is characterized in that: in step 2, specifically: by controlling the drone to follow the paver to move forward at a uniform speed along a Z-shaped trajectory, the lateral direction is the actual paving width, that is, the paving width of the paver, the asphalt pavement paving speed of the viaduct is about 3-6m / min, the one-way flight measurement time to complete the paving width is about 10s, the longitudinal forward interval is about 1m-2m, and the longitudinal forward speed is about 0.05m-0.1m / s; after the drone completes each lateral point measurement, the paving of the middle surface layer is obtained by subtracting the corresponding instantaneous relative height from the height point of the three-dimensional relative coordinate point of the drone. For the relative height coordinate points, select the line that can pass through the most points, and check the discreteness of the original point height coordinates. When there are large discrete points, the compaction can be temporarily suspended, and manual small-scale repairs can be carried out in time; when the drone completes a Z-shaped trajectory, for the points on the diagonal line, select the line that can pass through the most points, and check the discreteness of the original point height coordinates. When there are large discrete points, use the standby drone to add multiple longitudinal straight line measurement points along the paving direction at intervals of about 0.5m. Each straight line measurement point selects the line that can pass through the most points to form multiple longitudinal lines, and manually repair the large discrete points;

[0011] The real-time measurement method for the surface layer of an elevated bridge asphalt pavement is characterized in that: when the drone takes a real-time image of the paved road surface in step 2, when obvious segregation, waves, cracks, and drag marks appear on the paved road surface, they are cleared in time by manual methods. When an intelligent paver is used, the data collected by the drone is connected to the system of the intelligent paver, and the intelligent paver corrects the subsequent paving work according to the data collected by the drone.

[0012] The real-time measurement method for the paving of the surface layer of an elevated bridge asphalt pavement is characterized in that: in step three, specifically: multiple M-shaped flight trajectories are used for tracking and measuring, and the density of the measurement is comprehensively considered according to the flatness requirements of the road surface and the speed of the roller. When a horizontal distance is measured, for points with the same vertical coordinates, the line that can pass through the most points is selected to analyze whether the discreteness of these points meets the flatness requirements of the road surface. When there are large discrete points, a vibrating tamping plate can be used for supplementary rolling of the large discrete points.

[0013] The real-time measurement method for the paving of the surface layer of an elevated asphalt pavement is characterized in that: when the drone in step three takes a real-time image of the paved road surface, vertical sensory feedback is given on the paving and compaction quality of the road surface, and parts with poor sensory effects are repaired in a timely manner.

[0014] The beneficial effects of the present invention are as follows: It can be seen from the above technical scheme that the present application provides a real-time measurement method for the paving of the surface layer of an elevated asphalt pavement, using a drone, and setting a laser rangefinder at the lower end of the drone. During the paving process of the surface layer, the drone is controlled to follow the trajectory of the paver; during the paving and compacting process of the surface layer, multiple M-shaped flight trajectories are used for tracking, and the real-time image of the paved road surface is captured by the drone. The present invention uses drones to monitor the paving construction quality of the asphalt pavement in real time. The monitoring data can be fed back to the on-site construction personnel in a timely manner through the rapid processing of the computer, so that the on-site construction personnel can adjust the paving operation in the first time. Moreover, the drone is an aerial operation and does not occupy the paving construction working surface of the asphalt pavement. The drone and the asphalt paving machine do not interfere with each other, which can ensure the construction quality, construction progress and construction safety of the asphalt pavement.

[0015] The present invention adopts a drone to monitor the paving of the asphalt pavement surface layer of the viaduct in real time, which can save measurement space and reduce construction interference with the asphalt paving. Through real-time monitoring, the asphalt paving situation can be digitized, and problems in the paving process can be discovered in a timely and accurate manner. The paving condition of the road surface can also be given a vertical sensory effect through aerial photography. DETAILED DESCRIPTION

[0016] The technical solutions of the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments in the embodiments of the present application are within the scope of protection requested by the present application.

[0017] A real-time measurement method for paving a viaduct asphalt pavement surface layer comprises the following steps:

[0018] Step 1: Prepare the drone and set up a laser rangefinder at the bottom of the drone. The coordinates of the drone and the laser rangefinder are fed back to the computer through the matching receiving device and processed in real time through the established calculation formula;

[0019] Step 2: During the surface paving process, the drone is controlled to follow the trajectory of the paver;

[0020] Step 3: During the surface paving and compaction process, multiple M-shaped flight trajectories are used for tracking and real-time images of the paved road surface are captured by drones.

[0021] Existing laser rangefinders have the advantages of high precision, high speed and high reliability. The range of laser rangefinders is usually between a few meters and a few hundred meters, the measurement accuracy is usually at the millimeter level, the ranging speed is usually between a few hundred milliseconds and a few seconds, the working wavelength is usually between 800 nanometers and 1550 nanometers, the working temperature is usually between -10℃ and 60℃, and the output signal is usually an analog signal or a digital signal. Based on the millimeter-level accuracy required by the road surface flatness specification, the existing ordinary laser rangefinder can meet the construction measurement accuracy requirements.

[0022] Many existing drones are used for geological or urban surveying and mapping. The current market requirements generally require the accuracy of drone surveying and mapping to be 1.5 cm, which generally refers to high-altitude photography (aerial photography). For low-altitude mapping at a flight altitude of 460 m, the 1:1000 topographic mapping accuracy requirement can be met (He Yu. Low-altitude drone aerial photography test and accuracy analysis [J]. Science and Technology Information). For real-time tracking of surface paving on viaducts, the drone's flight altitude is generally around 3 m, that is, the drone can meet the mm-level measurement accuracy requirements for surface paving construction.

[0023] Specifically, in step one, three drones are prepared, one for real-time monitoring of surface paving, one for real-time monitoring of pavement paving and compaction, and one for standby re-measurement; an effective initial ground point of the drone is set, and a laser rangefinder for continuous measurement is set at the lower end of the drone, and the frequency of the laser rangefinder is at least 20Hz.

[0024] Specifically, in step 2, the drone is controlled to follow the paver and move forward at a constant speed along a Z-shaped trajectory. The horizontal direction is the actual paving width, that is, the paving width of the paver. The asphalt pavement paving speed of the viaduct is about 3-6m / min. The one-way flight measurement time to complete the paving width is about 10s. The longitudinal forward interval is about 1m-2m, and the longitudinal forward speed is about 0.05m-0.1m / s. After the drone completes each lateral point measurement, the height point of the three-dimensional relative coordinate point of the drone is subtracted from the corresponding instantaneous relative height to obtain the paving relative height coordinate point of the middle surface layer, and the point that can pass through is selected. The line that connects the most points is used to check the discreteness of the original point height coordinates. When there are points with large discreteness, compaction can be temporarily suspended, and manual small-scale repairs can be carried out in time; when the drone completes a Z-shaped trajectory, for the points on the diagonal line, the line that can pass through the most points is selected to check the discreteness of the original point height coordinates. When there are points with large discreteness, a standby drone is used to add multiple longitudinal straight line measurement points along the paving direction at intervals of about 0.5m. Each straight line measurement point selects the line that can pass through the most points to form multiple longitudinal lines, and the points with large discreteness are manually repaired;

[0025] Furthermore, when the drone takes real-time images of the paved road surface in step 2, if obvious segregation, waves, cracks, or drag marks appear on the paved road surface, they are promptly removed using manual methods. When an intelligent paver is used, the data collected by the drone is connected to the system of the intelligent paver, and the intelligent paver corrects the subsequent paving work based on the data collected by the drone.

[0026] Specifically, in step three, multiple M-shaped flight trajectories are used for tracking and measurement, and the density of measurement is comprehensively considered according to the flatness requirements of the road surface and the speed of the roller. When a horizontal distance is measured, for points with the same vertical coordinates, the line that can pass through the most points is selected to analyze whether the degree of discreteness of these points meets the flatness requirements of the road surface. When there are points with larger discreteness, a vibrating tamping plate can be used for additional rolling.

[0027] Furthermore, in step three, when the drone takes real-time images of the paved road surface, vertical sensory feedback is given on the paving and compaction quality of the road surface, and parts with poor sensory effects are repaired in a timely manner.

[0028] Drones are used to monitor the construction quality of asphalt pavement in real time. The monitoring data can be quickly processed by computers and fed back to on-site construction personnel in a timely manner, so that on-site construction personnel can adjust the paving operations at the first time. Moreover, drones are aerial operations and do not occupy the asphalt pavement paving construction work surface. Drones and asphalt paving machinery do not interfere with each other, which can ensure the construction quality, progress and safety of the asphalt pavement.

[0029] The paving construction of the viaduct asphalt pavement is a high-altitude, confined space operation. Setting up measuring instruments nearby for real-time measurement will occupy the construction space. Using drones to take aerial photos and records can reduce the impact of the measurement process on the construction, and more points can be measured, which is superior to traditional measurement methods and has promotion and application value.

[0030] The above are only embodiments provided for the present application and are not intended to limit the present application. Although the present application is described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A real-time measurement method for the paving of an elevated asphalt pavement surface layer, characterized in that It includes the following steps: Step 1: Prepare the drone and set up a laser rangefinder at the bottom of the drone. The coordinates of the drone and the laser rangefinder are fed back to the computer through the matching receiving device and processed in real time through the established calculation formula; Step 2: During the surface paving process, the drone is controlled to follow the trajectory of the paver; Step 3: During the surface paving and compaction process, multiple M-shaped flight trajectories are used for tracking and real-time images of the paved road surface are captured by drones; In step one, specifically: prepare three drones, one for real-time tracking of surface paving, one for real-time tracking of pavement paving and compaction, and one for standby re-measurement; set an effective drone initial ground point, and set a laser rangefinder that can measure continuously at the bottom of the drone, with a minimum frequency of 20Hz; In step 2, specifically: control the drone to follow the paver and move forward at a constant speed along a Z-shaped trajectory. The horizontal direction is the actual paving width, that is, the paving width of the paver. The asphalt pavement paving speed of the viaduct is 3-6m / min. The one-way flight measurement time for the paving width is 10s. The longitudinal forward interval is 1m-2m, and the longitudinal forward speed is 0.05m-0.1m / s. After the drone completes each lateral point measurement, the corresponding instantaneous relative height is subtracted from the height point of the drone's three-dimensional relative coordinate point to obtain the paving relative height coordinate point of the middle surface layer, and the point that passes through the most The discreteness of the original point height coordinates is checked by connecting the lines of the most points. When there are points with large discreteness, compaction can be temporarily suspended, and manual small-scale repairs can be carried out in time. When the drone completes a Z-shaped trajectory, for the points on the diagonal line, the lines that pass through the most points are selected to check the discreteness of the original point height coordinates. When there are points with large discreteness, a standby drone is used to add multiple longitudinal straight line measuring points along the paving direction at intervals of 0.5m. Each straight line measuring point selects the lines that pass through the most points to form multiple longitudinal lines, and the points with large discreteness are manually repaired. In step 2, when the drone takes real-time images of the paved road surface, if there are obvious segregation, waves, cracks, and drag marks on the paved road surface, they are removed in time by manual methods. When the intelligent paver is used, the data collected by the drone is connected to the system of the intelligent paver, and the intelligent paver corrects the subsequent paving work according to the data collected by the drone. In step three, the specific steps are as follows: multiple M-shaped flight trajectories are followed and measured, and the density of the measurement is comprehensively considered according to the flatness requirements of the road surface and the speed of the roller. When a horizontal distance is measured, for points with the same vertical coordinates, the connecting line that passes through the most points is selected to analyze whether the discreteness of these points meets the flatness requirements of the road surface. When there are points with large discreteness, the vibrating tamping plate is used for additional rolling at the points with large discreteness. In step three, when the drone takes real-time images of the paved road surface, it provides vertical sensory feedback on the paving and compaction quality of the road surface, and promptly repairs areas with poor sensory effects.