High-speed railway foundation intelligent construction equipment group and construction method thereof

Abstract

This invention discloses an intelligent construction equipment group for high-speed railway subgrade and its construction method, comprising: a loader, including a loader body and a first controller connected to the loader body; a concrete transport vehicle, including a transport vehicle body and a second controller connected to the transport vehicle body; a bulldozer, including a bulldozer body and a third controller connected to the bulldozer body; a grader, including a grader body and a fourth controller connected to the grader body; a road roller, including a road roller body and a fifth controller connected to the road roller body; a concrete placing boom, including a concrete placing boom body and a sixth controller connected to the concrete placing boom body. The aforementioned machines are equipped with cameras, lidar, locators, or angle sensors and inertial measurement units; and a processor connected to the first, second, third, fourth, fifth, and sixth controllers. This invention solves the problem of unstable construction quality in traditional high-speed railway subgrade filling and compaction construction methods.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, specifically to a group of intelligent construction equipment for high-speed railway subgrades and its construction method. Background Technology

[0002] my country's high-speed railways extensively use ballastless track, therefore, ensuring the long-term stability and high smoothness of ballastless track is essential to meet the requirements of high safety, high stability, and high comfort for high-speed trains. As the foundation of the track, the deformation of the roadbed directly affects the high smoothness of the ballastless track; its strength, stiffness, and deformation must meet the specifications.

[0003] The traditional high-speed railway subgrade filling and compaction construction method currently has the following drawbacks:

[0004] 1) The construction surveying and setting out work is extensive, and the edge lines and center lines need to be set out for each layer of fill, which has become a bottleneck restricting construction efficiency.

[0005] 2) Controlling the elevation of the top of the loose-laid thickness requires multiple bulldozing and trimming operations, making it difficult to achieve the design requirements.

[0006] 3) Chemically modified soil has a short initial setting time, but the mixing, transportation, spreading, and compaction processes take a long time, and each process needs to be quickly and tightly connected.

[0007] 4) On-site operations such as soil piling, loosening and leveling, and roadbed compaction are difficult and inefficient to carry out at night;

[0008] 5) The operation of construction machinery such as bulldozers, graders, and road rollers requires a high level of experience from the operators. The construction quality is greatly affected by the operators, which can easily lead to problems such as unstable construction quality.

[0009] 6) Poor coordination among various equipment during roadbed construction, low scheduling efficiency, and problems such as idle work and waste of resources. Summary of the Invention

[0010] To overcome the shortcomings of existing technologies, a smart construction equipment group for high-speed railway subgrade and its construction method are provided to solve the problem that the construction quality of traditional high-speed railway subgrade filling and compaction methods is greatly affected by the operators of engineering machinery such as bulldozers, graders, and road rollers, which easily leads to unstable construction quality.

[0011] To achieve the above objectives, a high-speed railway subgrade intelligent construction equipment group is provided, comprising:

[0012] A loader includes a loader body and a first controller connected to the loader body. The loader body is equipped with a first camera, a first lidar and a first locator. The bucket of the loader body is equipped with an angle sensor and a first inertial measurement unit. The hydraulic cylinder of the loader body is equipped with a pressure sensor. The first controller is connected to the first camera, the first lidar, the first locator, the angle sensor, the first inertial measurement unit and the pressure sensor.

[0013] A concrete transport vehicle includes a transport vehicle body and a second controller connected to the transport vehicle body. The transport vehicle body is equipped with a second camera, a second lidar, a second locator, and a second inertial measurement unit. The second controller is connected to the second camera, the second lidar, the second locator, and the second inertial measurement unit.

[0014] A bulldozer includes a bulldozer body and a third controller connected to the bulldozer body. A third lidar and a third locator are installed on the bulldozer body, and a first elevation locator is installed on the blade of the bulldozer body. The third controller is connected to the third lidar, the third locator and the first elevation locator.

[0015] A grader includes a grader body and a fourth controller connected to the grader body. A fourth lidar and a fourth positioner are installed on the grader body, and a second elevation positioner is installed on the grader blade. The fourth controller is connected to the fourth lidar, the fourth positioner and the second elevation positioner.

[0016] A road roller includes a road roller body and a fifth controller connected to the road roller body. A fifth lidar and a fifth locator are installed on the road roller body, and the fifth controller is connected to the fifth lidar and the fifth locator.

[0017] A concrete placing boom includes a concrete placing boom body and a sixth controller connected to the concrete placing boom body. The concrete placing boom body is equipped with a liquid level detector for collecting the amount of concrete stored inside the concrete placing boom body, and the sixth controller is connected to the liquid level detector.

[0018] The processor is connected to the first controller, the second controller, the third controller, the fourth controller, the fifth controller, and the sixth controller.

[0019] Furthermore, the third lidar is installed at the front and rear ends of the bulldozer body, respectively.

[0020] Furthermore, the fourth lidar is installed at the front and rear ends of the grader body, respectively.

[0021] Furthermore, the fifth lidar is installed at the front and rear ends of the road roller body, respectively.

[0022] Furthermore, the liquid level detector is a liquid detector.

[0023] This invention provides a construction method for a high-speed railway subgrade intelligent construction equipment group, comprising the following steps:

[0024] The processor acquires electronic construction drawings of the high-speed railway subgrade;

[0025] Based on the electronic construction drawings, the processor calculates and obtains the alignment, location, elevation data, and three-dimensional coordinates of the high-speed railway subgrade.

[0026] The processor divides the high-speed railway subgrade into multiple construction sections, calculates the amount of sand and gravel filler based on the construction sections, and sends it out.

[0027] The first controller acquires the amount of sand and gravel filler used and controls the loader to transport the sand and gravel filler to the multiple construction sections.

[0028] After the sand and gravel are transferred to the multiple construction sections, the processor sends the alignment, location, elevation data and three-dimensional coordinates of the high-speed railway subgrade to the outside world;

[0029] The second controller, the third controller, the fourth controller, the fifth controller, and the sixth controller respectively acquire the alignment, location, elevation data, and three-dimensional coordinates of the high-speed railway subgrade;

[0030] Based on the alignment, location, elevation data and three-dimensional coordinates of the high-speed railway subgrade, and the three-dimensional coordinates and blade elevation of the bulldozer body, the third controller controls the bulldozer body and the fourth controller controls the grader body to lay the sand and gravel filler in the construction section to the design elevation of the filler layer of the high-speed railway subgrade in the construction section.

[0031] After the fill layer in the construction section reaches the design elevation, the fifth controller controls the roller body to compact the fill layer in the construction section.

[0032] After the filler layer in the construction section is compacted, the processor calculates the amount of sand and gravel mixture based on the mix proportion of the raft concrete of the high-speed railway subgrade and sends it out.

[0033] The first controller obtains the amount of sand and gravel mixture and, based on the amount of sand and gravel mixture, transfers the sand and gravel mixture to the mixer to prepare raft concrete.

[0034] After the raft foundation concrete is prepared, the processor sends a pouring signal to the outside world;

[0035] The second controller and the sixth controller respectively acquire the pouring signal;

[0036] The second controller controls the transport vehicle body to transfer the raft concrete into the concrete placing boom body;

[0037] The sixth controller controls the concrete placing machine to pour the raft concrete into the construction section;

[0038] When the amount of raft concrete in the concrete placing boom body is lower than a preset threshold, the second controller controls the transport vehicle body to replenish the raft concrete in the concrete placing boom body until the raft concrete of the high-speed railway subgrade is poured.

[0039] The beneficial effects of this invention are as follows: the construction method of the intelligent construction equipment group for high-speed railway subgrade can achieve survey-free construction, which can greatly improve construction efficiency, ensure construction quality, and reduce construction costs. The construction method of the intelligent construction equipment group for high-speed railway subgrade of this invention can enable subgrade filling work to be carried out at night, effectively shortening the construction period. The construction method of the intelligent construction equipment group for high-speed railway subgrade of this invention can avoid differences in filling quality caused by differences in the experience of machinery operators, and can ensure that the subgrade filling quality meets the specifications to the greatest extent possible. Attached Figure Description

[0040] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0041] Figure 1 This is a schematic diagram of the intelligent construction equipment group for high-speed railway subgrade according to an embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of the loader according to an embodiment of the present invention.

[0043] Figure 3 This is a schematic diagram of the structure of a concrete transport vehicle according to an embodiment of the present invention.

[0044] Figure 4 This is a schematic diagram of the bulldozer according to an embodiment of the present invention.

[0045] Figure 5 This is a schematic diagram of the structure of a grader according to an embodiment of the present invention.

[0046] Figure 6 This is a schematic diagram of the structure of a road roller according to an embodiment of the present invention.

[0047] Figure 7 This is a schematic diagram of the fabric feeding machine according to an embodiment of the present invention. Detailed Implementation

[0048] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0049] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] Reference Figures 1 to 7 As shown, the present invention provides a high-speed railway subgrade intelligent construction equipment group, including: a loader, a concrete transport vehicle, a bulldozer, a grader, a road roller, a concrete placing boom, and a processor 7.

[0051] See Figure 2 As shown, the loader includes a loader body 1 and a first controller connected to the loader body 1. The loader body 1 is equipped with a first camera 11, a first lidar 12, and a first positioner 13. The bucket of the loader body 1 is equipped with an angle sensor 14 and a first inertial measurement unit 15. The hydraulic cylinders of the loader body 1 are equipped with pressure sensors 16. The first controller is connected to the first camera 11, the first lidar 12, the first positioner 13, the angle sensor 14, the first inertial measurement unit 15, and the pressure sensor 16.

[0052] In this embodiment, the loader is an unmanned loader, mainly used for unmanned autonomous loading of various sand and gravel mixtures, as well as autonomous feeding into the concrete mixing bins of high-speed railway subgrade raft slabs. The unmanned loader utilizes hardware systems such as IMU (Inertial Measurement Unit), angle sensors, and pressure sensors, along with software systems for positioning, navigation, control, and communication. Through a controller, it achieves precise navigation and real-time environmental perception for stopping, shifting gears, accelerating / decelerating, braking, steering, shoveling, transporting, and unloading materials. It automatically generates tasks and plans paths, and can automatically adjust the work path and strategy based on real-time on-site data to ensure the continuity and stability of construction. The entire operation requires no manual intervention, resulting in high efficiency and reliable safety.

[0053] See Figure 3 As shown, the concrete transport vehicle includes a transport vehicle body 2 and a second controller connected to the transport vehicle body 2. A second camera 21, a second lidar 22, a second locator 23, and a second inertial measurement unit 25 are installed on the transport vehicle body 2. The second controller is connected to the second camera 21, the second lidar 22, the second locator 23, and the second inertial measurement unit 25.

[0054] As a preferred implementation, a third lidar 32 is installed at the front and rear ends of the bulldozer body 3.

[0055] In this embodiment, the concrete transport vehicle is an unmanned concrete transport vehicle, primarily used to transport concrete mixed at the batching plant to the raft foundation construction site. High-precision GPS, LiDAR, and IMU are installed to scan motion information and accurately locate the vehicle. High-definition cameras and other visual sensors reconstruct 3D information of the site environment, detecting and identifying obstacles and target work points. The controller automatically plans and generates a driving trajectory based on the assigned task requirements, autonomously completing the concrete transport vehicle's movement and work tasks.

[0056] See Figure 4 As shown, the bulldozer includes a bulldozer body 3 and a third controller connected to the bulldozer body 3. A third lidar 32 and a third positioner 32 are installed on the bulldozer body 3. A first elevation positioner 36 is installed on the blade of the bulldozer body 3. The third controller is connected to the third lidar 32, the third positioner 32, and the first elevation positioner 36.

[0057] In this embodiment, the bulldozer is an intelligent bulldozer, primarily used for leveling earthwork at the construction site. It consists of a roadbed design drawing import system, a high-precision GPS positioning system, a bulldozer blade elevation locator, a lidar system, and a controller. By importing the roadbed design drawing, the alignment, location, and corresponding elevation data of the high-speed railway subgrade design are extracted, thus obtaining the three-dimensional coordinates of the subgrade to be filled. Therefore, during construction, no further on-site surveying is required; the intelligent bulldozer can retrieve the design coordinates based on the location and determine the design elevation at which the subgrade should be filled.

[0058] The specific functions of a bulldozer are as follows:

[0059] ①The location of the bulldozer is determined in real time through the GPS positioning system. The controller works in conjunction with the GPS base station to compare and link the location of the bulldozer with the location on the drawing, and automatically determine the design elevation of the roadbed at the position of the bulldozer blade.

[0060] ② The elevation of the bottom of the bulldozer blade is obtained by the bulldozer blade elevation positioner and the data is fed back to the controller. The controller controls the blade to move up and down according to the difference between the design elevation of the roadbed at the position of the bulldozer blade and the actual elevation of the bottom of the blade, so as to adjust the blade elevation and make the filling height meet the design requirements.

[0061] ③ By installing multiple lidar sensors on the fuselage, the system can detect obstacles around the fuselage. When an obstacle is detected 5m in front of the fuselage, a warning signal is issued. When an obstacle is detected 1.5m in front of the fuselage, the system will automatically stop to ensure safety during nighttime operations when visibility is poor.

[0062] ④ Multiple intelligent bulldozers for high-speed railway subgrade filling can work together simultaneously and cooperate with each other. The controller can ensure that the longitudinal interval between each pair is not less than 20m and the overlap width of the bulldozing area is not less than 2m to meet the construction specifications.

[0063] See Figure 5 As shown, the grader includes a grader body 4 and a fourth controller connected to the grader body 4. A fourth lidar 42 and a fourth positioner 43 are mounted on the grader body 4. A second elevation positioner 46 is mounted on the grader's blade. The fourth controller is connected to the fourth lidar 42, the fourth positioner 43, and the second elevation positioner 46.

[0064] As a preferred implementation, a fourth lidar 42 is installed at the front and rear ends of the grader body 4.

[0065] In this embodiment, the intelligent grader primarily performs leveling operations at the construction site. First, real-time location information provided by GPS positioning and laser ranging ensures the grader remains at a precise geographical coordinate position throughout the construction process. Then, by importing the roadbed design drawings, the grader extracts the alignment, location, and corresponding elevation data of the high-speed railway subgrade design, thus obtaining the three-dimensional coordinates of the subgrade to be filled. Based on the pre-imported three-dimensional design data, a target flatness is set, and the height difference between the grader and the laser reference surface is determined. Finally, the grader converts this design data into operating instructions, adjusting the grader's blade height and automatically leveling according to the design requirements.

[0066] The specific functions of a grader are as follows:

[0067] ①The location of the bulldozer is determined in real time by using a GPS positioning system in conjunction with a laser rangefinder. The controller, in cooperation with the GPS base station, compares and links the location of the grader with the location on the drawing, and automatically determines the design elevation of the roadbed at the position of the grader blade.

[0068] ② The elevation of the bottom of the blade is obtained by the blade elevation positioner of the grader and the data is fed back to the controller. The controller controls the blade to move up and down according to the difference between the design elevation of the roadbed at the blade position and the actual elevation of the bottom of the blade, so as to adjust the blade elevation and make the filling height meet the design requirements.

[0069] ③ By installing multiple lidar sensors on the fuselage, the system can detect obstacles around the fuselage. When an obstacle is detected 5m in front of the fuselage, a warning signal is issued. When an obstacle is detected 1.5m in front of the fuselage, the system will automatically stop to ensure safety during nighttime operations when visibility is poor.

[0070] ④ Multiple intelligent graders for high-speed railway subgrade filling can work together simultaneously and cooperate with each other. The controller can ensure that the longitudinal interval between each pair is not less than 20m and the overlap width of the leveled area is not less than 2m to meet the construction specifications.

[0071] See Figure 6 As shown, the road roller includes a road roller body 5 and a fifth controller connected to the road roller body 5. A fifth lidar 52 and a fifth positioner 53 are installed on the road roller body 5.

[0072] The fifth controller is connected to the fifth lidar 52 and the fifth positioner 53.

[0073] As a preferred implementation, a fifth lidar 52 is installed at the front and rear ends of the roller body 5.

[0074] In this embodiment, the road roller is an intelligent road roller, mainly used for compacting earthwork at the construction site. High-precision GPS, lidar, and other sensors detect terrain elevation, obstacles, and dynamic changes at the construction site, acquiring detailed terrain information. A controller then assists in optimizing path planning, ensuring the road roller covers every grid cell along the shortest path. Furthermore, based on real-time feedback control principles, data collected by vibration sensors during compaction is used to infer the modulus of the compacted subgrade soil, thus determining the compaction effect.

[0075] The specific functions of a road roller are as follows:

[0076] ①The location of the road roller is determined in real time through the GPS positioning system. Through the controller, in cooperation with the GPS base station, the location of the grader is compared and linked with the location on the drawing, and the area to be compacted is automatically determined.

[0077] ② The controller controls the roller to carry out construction in the area to be compacted, and collects and records the compaction status of each area through vibration sensors.

[0078] ③ After all the areas to be compacted are completed, automatic additional compaction is performed on areas where the compaction degree has not reached 100%.

[0079] ④ Multiple intelligent road rollers for high-speed railway subgrade filling can work together simultaneously and cooperate with each other. The controller can ensure that the longitudinal interval between each pair is not less than 20m and the overlap width of the compacted area is not less than 2m to meet the construction specifications.

[0080] See Figure 7 As shown, the concrete placing boom includes a placing boom body 6 and a sixth controller connected to the placing boom body 6. A level detector 61 for collecting the amount of concrete stored within the placing boom body 6 is installed on the placing boom body 6. The sixth controller is connected to the level detector 61.

[0081] As a preferred embodiment, the liquid level detector 61 is a liquid detector.

[0082] In this embodiment, the concrete placing boom is an intelligent concrete placing boom, mainly used for placing concrete materials on the construction site. It is equipped with a concrete placing boom controller to achieve automatic material placement and automatic feedback of the remaining material in the hopper. When the material in the hopper is less than 20%, it automatically sends a material delivery signal to the processor.

[0083] Processor 7 is connected to the first controller, second controller, third controller, fourth controller, fifth controller and sixth controller.

[0084] The processor can achieve unified management and scheduling of all construction equipment. With the help of Beidou high-precision positioning data, the processor can grasp the real-time location and working status of each piece of equipment, automatically generate task plans, and schedule each piece of equipment through status information feedback from loaders, concrete transport trucks, bulldozers, graders, road rollers, and concrete placing booms.

[0085] This invention provides a construction method for a high-speed railway subgrade intelligent construction equipment group, comprising the following steps:

[0086] S1, Processor 7 acquires electronic construction drawings of the high-speed railway subgrade.

[0087] S2. Based on the electronic construction drawings, the processor 7 calculates and obtains the alignment, location, elevation data and three-dimensional coordinates of the high-speed railway subgrade.

[0088] S3, see reference Figure 1 As shown, processor 7 divides the above-mentioned high-speed railway subgrade into multiple construction sections, calculates the amount of sand and gravel filler based on the construction sections, and sends it out.

[0089] S4. The first controller obtains the amount of sand and gravel filler and controls the loader body 1 to transfer the sand and gravel filler to multiple construction sections.

[0090] S5. After the sand and gravel are transported to multiple construction sections, the processor 7 sends the alignment, location, elevation data and three-dimensional coordinates of the high-speed railway subgrade to the outside world.

[0091] S6, the second controller, the third controller, the fourth controller, the fifth controller, and the sixth controller respectively acquire the alignment, location, elevation data, and three-dimensional coordinates of the high-speed railway subgrade.

[0092] S7. Based on the alignment, location, elevation data and three-dimensional coordinates of the high-speed railway subgrade, and the three-dimensional coordinates of the bulldozer body 3 and the elevation of the blade, the third controller controls the bulldozer body 3 and the fourth controller controls the grader body 4 to level the sand and gravel filler in the construction section to the design elevation of the filler layer of the high-speed railway subgrade.

[0093] S8. After the fill layer in the construction section reaches the design elevation, the fifth controller controls the roller body 5 to compact the fill layer in the construction section.

[0094] S9. After the fill layer in the construction section is compacted, the processor 7 calculates the amount of sand and gravel mixture based on the mix proportion of the raft concrete of the high-speed railway subgrade and sends it out.

[0095] S10. The first controller obtains the amount of sand and gravel mixture and transfers the sand and gravel mixture to the mixer based on the amount of sand and gravel mixture to prepare raft concrete.

[0096] S11. After the raft foundation concrete is prepared, the processor 7 sends a pouring signal to the outside world.

[0097] S12, the second controller, and the sixth controller respectively acquire the pouring signal.

[0098] S13, the second controller controls the transport vehicle body 2 to transfer the raft concrete to the placing boom body 6.

[0099] S14, the sixth controller controls the concrete placing boom 6 to pour raft concrete into the construction section.

[0100] S15. When the amount of raft concrete in the concrete placing boom body 6 is lower than the preset threshold, the second controller controls the transport vehicle body 2 to replenish the raft concrete in the concrete placing boom body 6 until the raft concrete of the high-speed railway subgrade is poured.

[0101] The construction method of the intelligent construction equipment group for high-speed railway subgrade of the present invention involves modifying existing loaders and concrete transport vehicles into wire-controlled systems, installing various sensors to enable them to achieve unmanned driving and be controlled by a processor, including the various sensors and their installation positions.

[0102] Various sensors are installed on bulldozers, graders, and road rollers to enable them to have functions such as intelligent control of the blade and intelligent positioning, and to be controlled by a processor. These sensors and their installation locations are also included.

[0103] Within the on-site construction area, install GPS navigation system base stations and determine the coordinates of the base stations.

[0104] By importing the roadbed design drawings from the system mounted on intelligent bulldozers, intelligent graders, and intelligent rollers, the completed base stations are marked on the CAD-format electronic construction drawings. The roadbed design drawing import processor automatically uses the coordinates of the base station locations installed on site as a reference to calculate the coordinates of each construction location in the design drawings.

[0105] The processor uses the base station coordinates as a reference to extract the alignment, location, and corresponding elevation data of the high-speed railway subgrade design, and obtains the three-dimensional data coordinates of the subgrade to be filled.

[0106] During the roadbed filling construction phase, managers set the construction sections that need to be filled that day, and the processor automatically calculates the required amount of sand and gravel filler, automatically plans production tasks, and schedules operations.

[0107] First, the processor controls the amount of fill material required at the current time based on the location of the dump trucks on site. It then issues instructions to the corresponding number of dump trucks and unmanned loaders. The dump trucks drive to the hopper, and the unmanned loaders load the corresponding size of sand and gravel into the dump trucks according to the instructions from the processor. The dump trucks then unload the sand and gravel into the corresponding positions as required.

[0108] Once the required amount of sand and gravel has been transported, the processor issues instructions to the intelligent bulldozer, intelligent grader, and intelligent roller, which then perform intelligent bulldozing, leveling, and compaction operations.

[0109] The intelligent bulldozer and intelligent grader use a GPS positioning system to determine the bulldozer's location in real time. Their respective controllers compare and link the bulldozer's and grader's locations with the locations on the drawings to determine the roadbed design elevation at the position of the bulldozer's and grader's blades.

[0110] The elevation of the bottom of the bulldozer blade is obtained through the blade elevation positioner of the bulldozer and grader, and the data is fed back to their respective controllers. Each controller, based on the difference between the design elevation of the roadbed at the blade position and the actual elevation of the blade bottom, controls the blade to move up and down to adjust the blade elevation so that the filling height meets the design requirements. When the blade elevation within the roadbed filling area remains consistent with the design elevation (with a control error of ±2cm), the filling construction for this section is completed.

[0111] After the grader completes its work, the intelligent compaction machine performs intelligent compaction until all sections are completed.

[0112] During the raft foundation construction phase, managers set the raft foundation sections that need to be constructed that day. The processor automatically calculates the required concrete, automatically plans production tasks, and schedules operations.

[0113] The loader inside the mixing plant shovels the corresponding sand and gravel to the mixing machine according to the concrete mix requirements. After the mixing machine has finished mixing the concrete, the processor dispatches an unmanned concrete transport vehicle to transport the concrete from the mixing plant to the corresponding placing boom position.

[0114] The intelligent concrete placing boom operates under the control of the processor. When the concrete level in the hopper is less than 20%, it sends a material shortage signal to the processor, which then dispatches a corresponding unmanned concrete transport vehicle to deliver the material to the placing boom until all sections of construction are completed.

[0115] The construction method of the intelligent construction equipment group for high-speed railway subgrade of this invention enables survey-free construction, which can greatly improve construction efficiency, ensure construction quality, and reduce construction costs. The construction method of the intelligent construction equipment group for high-speed railway subgrade of this invention allows for subgrade filling work to be carried out at night, effectively shortening the construction period. The construction method of the intelligent construction equipment group for high-speed railway subgrade of this invention can avoid differences in filling quality caused by differences in the experience of machinery operators, and can maximize the guarantee that the subgrade filling quality meets the specifications.

[0116] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A construction method for a high-speed railway subgrade intelligent construction equipment group, characterized in that, The intelligent construction equipment group for high-speed railway subgrade includes: a loader, comprising a loader body and a first controller connected to the loader body; the loader body is equipped with a first camera, a first lidar, and a first locator; the bucket of the loader body is equipped with an angle sensor and a first inertial measurement unit; the hydraulic cylinder of the loader body is equipped with a pressure sensor; and the first controller is connected to the first camera, the first lidar, the first locator, the angle sensor, the first inertial measurement unit, and the pressure sensor; a concrete transport vehicle, comprising a transport vehicle body and a second controller connected to the transport vehicle body; the transport vehicle body is equipped with a second camera, a second lidar, a second locator, and a second inertial measurement unit; and the second controller is connected to the second camera, the second lidar, the second locator, and the second inertial measurement unit; and a bulldozer, comprising a bulldozer body and a third controller connected to the bulldozer body; the bulldozer body is equipped with a third lidar and a third locator; and the blade of the bulldozer body is equipped with a first elevation sensor. A locator, wherein the third controller is connected to the third lidar, the third locator, and the first elevation locator; a grader, comprising a grader body and a fourth controller connected to the grader body, wherein the grader body is equipped with a fourth lidar and a fourth locator, and a second elevation locator is installed on the grader's blade, and the fourth controller is connected to the fourth lidar, the fourth locator, and the second elevation locator; a road roller, comprising a road roller body and a fifth controller connected to the road roller body, wherein the road roller body is equipped with a fifth lidar and a fifth locator, and the fifth controller is connected to the fifth lidar and the fifth locator; a concrete placing boom, comprising a placing boom body and a sixth controller connected to the placing boom body, wherein the placing boom body is equipped with a liquid level detector for collecting the amount of concrete stored inside the placing boom body, and the sixth controller is connected to the liquid level detector; a processor, connected to the first controller, the second controller, the third controller, the fourth controller, the fifth controller, and the sixth controller; The construction method of the intelligent construction equipment group for high-speed railway subgrade includes the following steps: The processor acquires electronic construction drawings of the high-speed railway subgrade; Based on the electronic construction drawings, the processor calculates and obtains the alignment, location, elevation data, and three-dimensional coordinates of the high-speed railway subgrade. The processor divides the high-speed railway subgrade into multiple construction sections, calculates the amount of sand and gravel filler based on the construction sections, and sends it out. The first controller acquires the amount of sand and gravel filler used and controls the loader to transport the sand and gravel filler to the multiple construction sections. After the sand and gravel filler is transferred to the multiple construction sections, the processor sends the alignment, location, elevation data and three-dimensional coordinates of the high-speed railway subgrade to the outside world; The second controller, the third controller, the fourth controller, the fifth controller, and the sixth controller respectively acquire the alignment, location, elevation data, and three-dimensional coordinates of the high-speed railway subgrade; Based on the alignment, location, elevation data and three-dimensional coordinates of the high-speed railway subgrade, and the three-dimensional coordinates and blade elevation of the bulldozer body, the third controller controls the bulldozer body and the fourth controller controls the grader body to lay the sand and gravel filler in the construction section to the design elevation of the filler layer of the high-speed railway subgrade in the construction section. After the fill layer in the construction section reaches the design elevation, the fifth controller controls the roller body to compact the fill layer in the construction section. After the filler layer in the construction section is compacted, the processor calculates the amount of sand and gravel mixture based on the mix proportion of the raft concrete of the high-speed railway subgrade and sends it out. The first controller obtains the amount of sand and gravel mixture and, based on the amount of sand and gravel mixture, transfers the sand and gravel mixture to the mixer to prepare raft concrete. After the raft foundation concrete is prepared, the processor sends a pouring signal to the outside world; The second controller and the sixth controller respectively acquire the pouring signal; The second controller controls the transport vehicle body to transfer the raft concrete into the concrete placing boom body; The sixth controller controls the concrete placing machine to pour the raft concrete into the construction section; When the amount of raft concrete in the concrete placing boom body is lower than a preset threshold, the second controller controls the transport vehicle body to replenish the raft concrete in the concrete placing boom body until the raft concrete of the high-speed railway subgrade is poured.

2. The construction method of the intelligent construction equipment group for high-speed railway subgrade according to claim 1, characterized in that, The third lidar is installed at the front and rear ends of the bulldozer body, respectively.

3. The construction method of the intelligent construction equipment group for high-speed railway subgrade according to claim 1, characterized in that, The fourth lidar is installed at the front and rear ends of the grader body, respectively.

4. The construction method of the intelligent construction equipment group for high-speed railway subgrade according to claim 1, characterized in that, The fifth lidar is installed at the front and rear ends of the road roller body, respectively.

5. The construction method of the intelligent construction equipment group for high-speed railway subgrade according to claim 1, characterized in that, The liquid level detector is a liquid detector.

Images