A paving system based on adaptive planar laser receiver

Abstract

The present application relates to the field of paving technology, specifically to a paving system based on an adaptive planar laser receiver and an algorithm thereof. The present invention adjusts the height of the adaptive laser receiver through a control system, receives the signal of the laser transmitter in real time, and the positioning system measures the distance between the 3D paver and the laser transmitter, thereby realizing automatic tracking and calculation of the elevation information of the 3D paver. The cost is low and the applicability is high. In addition, the present invention is equipped with an intelligent system and realizes intelligent and high-precision paving through real-time detection by an intelligent re-measurement vehicle.

Description

Technical Field

[0001] The present application relates to the field of paving technology, and in particular to a paving system based on an adaptive planar laser receiver. Background Art

[0002] Paving is a method of laying, usually used for laying roads, squares, sidewalks and other surfaces. In this process, the material is spread on the ground and then compacted by tools such as rollers and rollers until the surface is uniform. This method can make the ground flat, solid and beautiful. Paving is not only common in urban construction, but can also be used in the laying of floors inside buildings.

[0003] There are currently two solutions for 3D paving system elevation measurement on the market. The first is that the laser transmitter uses a domain laser transmitter, and the laser is emitted in a vertical interval, so that the laser receiver can receive the laser signal in a vertical interval. The laser emission range is large, and all-round elevation detection can be achieved. The domain laser transmitter is monopolized by foreign patent technology and has a high cost of use; the second is that the laser transmitter uses an automatic total station to track the laser detector. The laser transmitter emission and reception are concentrated in one device, but multiple automatic total stations are required to achieve full laser coverage. The unit price of each automatic total station is as high as RMB 150,000, so the cost of using this solution is also relatively high.

[0004] The Chinese invention patent application with application number 2023103155982 discloses "a 3D paving control algorithm based on an automatically adjustable laser gradient and positioning system, characterized in that it includes the following steps: Step 1: the intelligent host automatically obtains the coordinate data of the laser emitter, the initial azimuth of the laser emission direction and the coordinate data of the 3D paver; Step 2: the intelligent host adjusts the height of the laser emitter and the relative elevation h of the laser detector according to the acquired paving thickness and loose paving coefficient, so that the initial gradient value of the laser emitter is 0, the laser emission angle is 0, and the relative elevation h of the laser detector is 0; Step 3: the intelligent host collects the relative elevation h of the laser detector; Step 4: the intelligent host calculates and measures the paving thickness of the 3D paver, and adjusts the screed hydraulic system after comparing the actual measured paving thickness with the designed paving thickness; Step 5: the intelligent host predicts whether the elevation change range of the next pile number is within the detection window range of the laser detector; if so, execute step 8; if If not, execute the next step; Step 6: The intelligent host calculates the gradient value β of the laser transmitter and sends a gradient adjustment instruction to adjust the gradient of the laser transmitter, so that the laser emission of the laser transmitter automatically tracks the laser detector to automatically adapt to different terrains; Step 7: The intelligent host sends the calculated gradient value β to the laser transmitter through wireless data transmission, and the laser transmitter automatically adjusts the gradient according to the calculated gradient value β; Step 8: The intelligent host reads the gradient value β. If the read gradient value β is equal to the calculated gradient value β, the gradient adjustment is successful; if the read gradient value β is not equal to the calculated gradient value β, execute Step 6. "Although the automatic tracking and calculation of the elevation information of the 3D paver is achieved by automatically measuring the laser emission azimuth of the laser transmitter and combining the positioning system to measure the distance between the 3D paver and the laser transmitter, the range of the laser emission azimuth of the laser transmitter is limited, which makes the applicability poor and cannot meet the paving conditions with large fluctuations; and the degree of intelligence is low, and high-precision paving cannot be performed. Summary of the invention

[0005] In order to solve the problems of poor applicability, low intelligence and low paving accuracy of current paving machines, the present application provides a paving system based on an adaptive planar laser receiver.

[0006] In a first aspect, the present application provides a paving system based on an adaptive planar laser receiver, which adopts the following technical solution:

[0007] A paving system based on an adaptive planar laser receiver, comprising:

[0008] 3D Pavers;

[0009] Positioning system;

[0010] Laser transmitter;

[0011] Adaptive laser receiver;

[0012] Intelligent systems;

[0013] The intelligent system comprises:

[0014] Induction system;

[0015] Data processing systems;

[0016] Control systems;

[0017] Real-time visualization system;

[0018] Real-time monitoring system;

[0019] The induction system comprises:

[0020] Laser ranging sensor;

[0021] Camera vision system;

[0022] IMU sensor;

[0023] The algorithm of the paving system includes the following steps:

[0024] S1: Import the design file to be paved into the control system, and the control system will provide the placement position information of the laser transmitter. If the paving distance exceeds the effective range of a single laser transmitter, the control system will provide the placement position information of multiple laser transmitters;

[0025] S2: 3D paver is positioned by positioning system;

[0026] S3: According to the design file data in S1, the control system adjusts the height of the adaptive laser receiver, receives the signal of the laser transmitter in real time, and the positioning system measures the distance between the 3D paver and the laser transmitter, realizing the automatic tracking and calculation of the elevation information of the 3D paver;

[0027] S4: If the paving distance exceeds the effective range of a single laser transmitter, the adaptive laser receiver automatically receives the signal from the new laser transmitter when the 3D paver reaches the preset location;

[0028] S5: The control system obtains the position coordinate information through the laser receiver and the positioning system, and calculates the coordinate information of the screed in real time according to the mechanical model of the paver and the IMU sensor data;

[0029] S6: The control system uses a model predictive control algorithm to adjust the screed height of the 3D paver based on the real-time design data and sensor data in S1, achieving efficient and accurate paving;

[0030] S7: The real-time visualization system uses virtual reality technology to overlay the real-time 3D ground model in S3 on the actual scene, helping operators to monitor the construction process in real time;

[0031] S8: The intelligent re-testing vehicle detects paving data in real time along a preset path, fits it into point cloud data, and uploads it to the server in real time for quality assessment and remote management.

[0032] Optionally, the positioning system is a GPS positioning system or a Beidou positioning system.

[0033] Optionally, the adaptive laser receiver can receive the intelligent system signal to perform altitude adjustment.

[0034] Optionally, the real-time visualization system includes:

[0035] Real-time 3D modeling software;

[0036] Virtual reality technology system.

[0037] Optionally, the real-time monitoring system has an adaptive adjustment function.

[0038] Optionally, the intelligent retest vehicle is provided with multiple sensors.

[0039] Optionally, the multi-sensor includes:

[0040] Laser height measurement sensor;

[0041] Beidou, GPS location sensors;

[0042] Servo displacement sensor.

[0043] Beneficial effects of the present invention:

[0044] The present invention adjusts the height of the adaptive laser receiver through the control system, receives the signal of the laser transmitter in real time, and the positioning system measures the distance between the 3D paver and the laser transmitter, thereby realizing automatic tracking and calculation of the elevation information of the 3D paver. The cost is low and the applicability is high. In addition, the present invention is equipped with an intelligent system and realizes intelligent and high-precision paving through real-time detection by an intelligent re-measurement trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the structure of a paving system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0047] like Figure 1 As shown, a paving system based on an adaptive planar laser receiver is characterized by comprising:

[0048] 3D Pavers;

[0049] Positioning system;

[0050] Laser transmitter;

[0051] Adaptive laser receiver;

[0052] Intelligent systems;

[0053] The intelligent system comprises:

[0054] Induction system;

[0055] Data processing systems;

[0056] Control systems;

[0057] Real-time visualization system;

[0058] Real-time monitoring system;

[0059] The induction system comprises:

[0060] Laser ranging sensor;

[0061] Camera vision system;

[0062] IMU sensor;

[0063] The algorithm of the paving system includes the following steps:

[0064] S1: Import the design file to be paved into the control system, and the control system will provide the placement position information of the laser transmitter. If the paving distance exceeds the effective range of a single laser transmitter, the control system will provide the placement position information of multiple laser transmitters;

[0065] S2: 3D paver is positioned by positioning system;

[0066] S3: According to the design file data in S1, the control system adjusts the height of the adaptive laser receiver, receives the signal of the laser transmitter in real time, and the positioning system measures the distance between the 3D paver and the laser transmitter, realizing the automatic tracking and calculation of the elevation information of the 3D paver;

[0067] S4: If the paving distance exceeds the effective range of a single laser transmitter, the adaptive laser receiver automatically receives the signal from the new laser transmitter when the 3D paver reaches the preset location;

[0068] S5: The control system obtains the position coordinate information through the laser receiver and satellite antenna, and calculates the coordinate information of the screed in real time according to the mechanical model of the paver and the IMU sensor data;

[0069] S6: The control system uses a model predictive control algorithm to adjust the screed height of the 3D paver based on the real-time design data and sensor data in S1, achieving efficient and accurate paving;

[0070] S7: The real-time visualization system uses virtual reality technology to overlay the real-time 3D ground model in S3 on the actual scene, helping operators to monitor the construction process in real time;

[0071] S8: The intelligent re-testing vehicle detects paving data in real time along a preset path, fits it into point cloud data, and uploads it to the server in real time for quality assessment and remote management.

[0072] Furthermore, the positioning system is a GPS positioning system or a Beidou positioning system.

[0073] Furthermore, the adaptive laser receiver can receive the intelligent system signal to perform height adjustment.

[0074] Furthermore, the real-time visualization system includes:

[0075] Real-time 3D modeling software;

[0076] Virtual reality technology system.

[0077] Furthermore, the real-time monitoring system has an adaptive adjustment function.

[0078] Furthermore, the intelligent retest vehicle is provided with multiple sensors.

[0079] Furthermore, the multi-sensor includes:

[0080] Laser height measurement sensor;

[0081] Beidou, GPS location sensors;

[0082] Servo displacement sensor.

[0083] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A paving system based on an adaptive planar laser receiver, characterized in that: include: 3D Pavers; Positioning system; Laser transmitter; Adaptive laser receiver; Intelligent systems; The intelligent system comprises: Induction system; Data processing systems; Control systems; Real-time visualization system; Real-time monitoring system; The induction system comprises: Laser ranging sensor; Camera vision system; IMU sensor; The algorithm of the paving system includes the following steps: S1: Import the design file to be paved into the control system, and the control system will provide the placement position information of the laser transmitter. If the paving distance exceeds the effective range of a single laser transmitter, the placement position information of multiple laser transmitters will be provided; S2: 3D paver is positioned by positioning system; S3: According to the design file data in S1, the control system adjusts the height of the adaptive laser receiver, receives the signal of the laser transmitter in real time, and the positioning system measures the distance between the 3D paver and the laser transmitter, realizing the automatic tracking and calculation of the elevation information of the 3D paver; S4: If the paving distance exceeds the effective range of a single laser transmitter, the adaptive laser receiver automatically receives the signal from the new laser transmitter when the 3D paver reaches the preset location; S5: The control system obtains the position coordinate information through the laser receiver and satellite antenna, and calculates the coordinate information of the screed in real time according to the mechanical model of the paver and the IMU sensor data; S6: The control system uses a model predictive control algorithm to adjust the screed height of the 3D paver based on the real-time design data and sensor data in S1, achieving efficient and accurate paving; S7: The real-time visualization system uses virtual reality technology to overlay the real-time 3D ground model in S3 on the actual scene, helping operators to monitor the construction process in real time; S8: The intelligent re-testing vehicle detects paving data in real time along a preset path, fits it into point cloud data, and uploads it to the server in real time for quality assessment and remote management.

2. A paving system based on an adaptive planar laser receiver according to claim 1, characterized in that: The positioning system is a GPS positioning system or a Beidou positioning system.

3. A paving system based on an adaptive planar laser receiver according to claim 1, characterized in that: The adaptive laser receiver can receive the intelligent system signal to perform height adjustment.

4. A paving system based on an adaptive planar laser receiver according to claim 2, characterized in that: The real-time visualization system comprises: Real-time 3D modeling software; Virtual reality technology system.

5. The paving system based on an adaptive planar laser receiver according to claim 2, characterized in that: The real-time monitoring system has an adaptive adjustment function.

6. The paving system based on an adaptive planar laser receiver according to claim 1, characterized in that: The intelligent retest trolley is provided with multiple sensors.

7. A paving system based on an adaptive planar laser receiver according to claim 6, characterized in that: The multi-sensor comprises: Laser height measurement sensor; Beidou, GPS location sensors; Servo displacement sensor.

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