Cooperative construction management method for intelligent paving and pressing machine group of highway pavement

Abstract

The invention relates to the technical field of road construction, and particularly discloses a cooperative construction management method for a highway pavement intelligent spreading and pressing machine group, and the method comprises the steps: S1, collecting road data through an unmanned aerial vehicle, automatically building a construction model through one-key operation according to the data, and determining a spreading route, by combining the road paving information data, the environment data and the paving material temperature, the overall compaction operation environment of the road roller can be analyzed and fed back to different areas in different lines; then, the data processing module can adjust the moving speed of the road roller according to the compaction operation environment in different areas in different lines, so that the speed of the road roller is more adaptive to the compaction operation environment in the current area, the speed of the road roller is accurately controlled, and the situation that the compaction effect is poor due to too high or too low speed is avoided; and therefore, the compaction effect and the working efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of road construction, and in particular to a collaborative construction management method for a group of intelligent road pavement compactors. Background Art

[0002] The intelligent group of spreading and compacting machines is an important technological innovation in the current field of road construction. Through advanced unmanned driving technology, intelligent control systems, etc., a system of collaborative operation of multiple spreading and compacting equipment is realized. This type of system can significantly improve the efficiency, quality and safety of road construction, reduce labor costs, and is an important direction for the development of intelligent road construction.

[0003] The paver and roller include pavers and road rollers. When carrying out collaborative construction, they usually first collect road data to provide basic information for subsequent modeling and construction. Then, based on the collected data, a construction model is automatically established through one-click operation to determine the paving route. The paver is then controlled to move along the preset route and asphalt, cement and other mixed materials are evenly laid on the roadbed. After the material cools to a temperature suitable for compaction, the roller is controlled to perform compaction operations to ensure that the flatness and density of the road surface meet the design requirements.

[0004] In the prior art, when performing compaction operations, the moving speed of the roller is set according to the temperature and characteristics of the paving material. However, due to the insufficient flatness of the roadbed surface, some paving layers may have uneven thickness after the paver is completed. If the moving speed of the roller is not adjusted, when compacting the uneven thickness of the paving layer, the compaction effect may be poor due to excessive speed or excessive slowness, resulting in the need to increase the number of compaction times and reduce work efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a collaborative construction management method for a group of intelligent road pavement compactors to solve the following technical problems:

[0006] How to accurately control the moving speed of the roller to ensure the compaction effect.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] A collaborative construction management method for a group of intelligent road pavement compactors, the method comprising:

[0009] S1: Collect road data through drones, and automatically build a construction model based on the data with one click, determine the paving route, and control the paver to evenly lay mixed materials such as asphalt and cement on the roadbed according to the preset route;

[0010] S2: Collect the data of the paved road through drones, and divide the road section to be compacted into multiple routes according to the size of the roller based on the road data, match a roller to each route, and divide each route into multiple areas;

[0011] S3: using drones to collect road paving information data in each area of ​​different routes;

[0012] S4: Control multiple groups of rollers to move forward along a preset route at a preset initial speed at the same time, and collect environmental information and paving material temperature through external sensors;

[0013] S5: The data processing module combines the road paving information data, environmental data and paving material temperature to adjust the driving speed of the roller in different areas in real time;

[0014] S6: After a compaction operation is completed, the degree of compaction completion is evaluated, and whether the operation needs to be continued is determined based on the evaluation result.

[0015] Furthermore, the process of adjusting the travel speed of the roller in different areas in real time in S5 includes:

[0016] S51: Calculating the potholes in different areas of different routes according to the road paving information data by a data processing module;

[0017] S52: Calculate and obtain an adjusted driving speed according to the potholes in different areas of different routes, combined with environmental data and paving material temperature data;

[0018] S53: Feeding back the adjusted travel speed to the background control system, and adjusting the real-time moving speed according to the real-time positions of different road rollers through the background control system.

[0019] Furthermore, the drone is provided with a shooting unit and an identification unit, the shooting unit is used to respectively shoot road paving images in different areas in different routes, and the identification unit is used to identify and obtain road paving information data based on the road paving images, including the paving layer thickness and the uneven road surface area of ​​the paving layer.

[0020] Furthermore, the process of respectively calculating the potholes in different areas of different routes in S51 includes:

[0021] By the first formula Calculate the pothole degree δ in the ith area of ​​the ath line ai ;

[0022] Among them, a is any line, i is any area, hd aiis the paving layer thickness in the ith area of ​​the ath line, hd1 is the preset paving layer thickness, At ai is the total area of ​​uneven paving layer in the ith area of ​​the ath line, S ai is the total area of ​​the ith region in the ath line, f x is the influence function of the number of uneven areas in the paving layer, which is obtained based on the test according to the influence of the number of uneven areas in the ith area of ​​the paving layer on the potholes. ai is the number of uneven areas in the ith area of ​​the paving layer in the ath line, is the first error influence function, which is set based on empirical fitting.

[0023] Furthermore, the process of calculating the adjusted driving speed in S52 includes:

[0024] Through the second formula Calculate the adjusted speed T of the roller in the i-th area of ​​the a-th line ai ;

[0025] Among them, t0 is the preset initial moving speed, f z To adjust the coefficient comparison table function, according to The influence of the value range of on the adjusted speed of the roller in the ith zone in the ath line is obtained based on the test, δ aiμ is δ ai The standard value of θ is the environmental impact coefficient. y1 and y2 are weight coefficients, which are set according to empirical fitting. ω is the impact coefficient of the number of rolling passes, which can be obtained based on the test according to the influence of different rolling passes on the adjusted speed of the roller.

[0026] Furthermore, the process of calculating the adjusted driving speed in S52 further includes:

[0027] By formula Calculate and obtain the environmental impact coefficient;

[0028] Among them, swwd is the current outdoor temperature, clwd is the current paving material temperature, σ is the current outdoor wind speed influence coefficient, which is set according to experience fitting, f c To define a function, if X>1, then f c (X) = X, if X ≤ 1, then f c (X) = 1, sd1 is the preset air humidity, sd is the current air humidity, sd μ is the standard value of sd, and β is the second error influence function.

[0029] Furthermore, the evaluation process in S6 includes:

[0030] After the compaction operation is completed, the paving potholes δ in all areas are calculated by the first formula. ai ;

[0031] And through the formula Calculate and obtain the overall paving pothole degree Q of the paved road surface;

[0032] Among them, b is the total number of routes and n is the total number of areas.

[0033] Furthermore, the evaluation process in S6 further includes:

[0034] By comparing the overall paving pothole degree Q of the paved road surface with the preset paving pothole degree Q x Make a comparison;

[0035] If Q x , it is judged that the overall paving potholes of the paved road surface are high, the flatness and density of the road surface have reached the design requirements, and the compaction operation of the paved road surface has been completed;

[0036] If Q>Q x , it is judged that the overall pothole degree of the paved road surface is low, and the flatness and density of the road surface do not meet the design requirements, and multiple groups of rollers are controlled to perform secondary compaction operations, and the moving speed of each group of rollers in the secondary compaction operation is adjusted again by the first formula and the second formula.

[0037] Beneficial effects of the present invention:

[0038] (1) The present invention can analyze the overall compaction working environment of the roller by combining road paving information data, environmental data and paving material temperature, and feed it back to different areas in different lines. After that, the data processing module will adjust the moving speed of the roller according to the compaction working environment in different areas in different lines, so that the speed of the roller is more suitable for the compaction working environment in the current area, thereby achieving precise control of the speed of the roller, avoiding the situation where the compaction effect is poor due to too fast or too slow speed, and the need to increase the number of compaction times, thereby improving the compaction effect and work efficiency.

[0039] (2) After integrating the paving potholes and the environmental impact coefficient in the i-th area in the a-th route, the present invention can accurately calculate the overall compaction working environment in different areas in different routes, and adjust the moving speed of the roller based on the data to make the speed of the roller more suitable for the compaction working environment in the current area, thereby achieving precise control of the speed of the roller, avoiding the situation where the compaction effect is poor due to too fast or too slow speed, and the need to increase the number of compaction times, thereby improving the compaction effect and work efficiency.

[0040] ​(3) The present invention compares the overall paving pothole degree Q of the paved road surface with the preset paving pothole degree Q x By comparison, the overall pothole degree of the road surface can be judged according to the comparison results, and then whether the flatness and density of the road surface have met the design requirements. If it is judged that the flatness and density of the road surface do not meet the design requirements, the background controls multiple groups of rollers to perform secondary compaction operations, and again adjusts the moving speed of each group of rollers in the secondary compaction operation through the first and second formulas, thereby realizing the coordinated construction of the roller group. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] Figure 1 It is a flow chart of a collaborative construction management method for a group of intelligent road pavement compactors in the present invention;

[0043] Figure 2 It is a flow chart of adjusting the travel speed of the roller in different areas in real time in the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] See also Figure 1 As shown, in one embodiment, the present application provides a collaborative construction management method for a group of intelligent road pavement compactors, the method comprising:

[0046] S1: Collect road data through drones, and automatically build a construction model based on the data with one click, determine the paving route, and control the paver to evenly lay mixed materials such as asphalt and cement on the roadbed according to the preset route;

[0047] S2: Collect the data of the paved road through drones, and divide the road section to be compacted into multiple routes according to the size of the roller based on the road data, match a roller to each route, and divide each route into multiple areas;

[0048] S3: using drones to collect road paving information data in each area of ​​different routes;

[0049] S4: Control multiple groups of rollers to move forward along a preset route at a preset initial speed at the same time, and collect environmental information and paving material temperature through external sensors;

[0050] S5: The data processing module combines the road paving information data, environmental data and paving material temperature to adjust the driving speed of the roller in different areas in real time;

[0051] S6: After the compaction operation is completed, the degree of compaction completion is evaluated, and whether the operation needs to be continued is determined based on the evaluation result;

[0052] Through the above technical scheme, when the method of this embodiment is used, firstly, the road data is collected by the drone, and the construction model is automatically established with one-click operation according to the data, the paving route is determined, and the paver is controlled to evenly lay mixed materials such as asphalt and cement on the roadbed according to the preset route. After the paver is finished paving, the road data after the paving is collected again by the drone, and the road section to be compacted is divided into multiple routes according to the size of the roller according to the road data, and a roller is matched for different routes, and different routes are divided into multiple areas, and the road paving information data in each area of ​​different routes is collected respectively, and then multiple groups of rollers are controlled to move forward according to the preset route at the same time at a preset initial speed, and environmental information and paving material temperature are collected through external sensors. During the movement of the roller, the data processing module is combined with the road paving information data, environmental data and paving material temperature to adjust the driving speed of the roller in different areas in real time;

[0053] Through such a setting, by combining road paving information data, environmental data and paving material temperature, the overall compaction working environment of the roller can be analyzed and fed back to different areas in different lines. After that, the data processing module will adjust the moving speed of the roller according to the compaction working environment in different areas in different lines, so that the speed of the roller is more suitable for the compaction working environment in the current area, thereby achieving precise control of the speed of the roller, avoiding poor compaction effect due to too fast or too slow speed, and the need to increase the number of compaction times, thereby improving the compaction effect and work efficiency.

[0054] See also Figure 2 As shown, the process of adjusting the travel speed of the roller in different areas in real time in S5 includes:

[0055] S51: Calculating the potholes in different areas of different routes according to the road paving information data by a data processing module;

[0056] S52: Calculate and obtain an adjusted driving speed according to the potholes in different areas of different routes, combined with environmental data and paving material temperature data;

[0057] S53: Feeding back the adjusted travel speed to the background control system, and adjusting the real-time moving speed according to the real-time positions of different road rollers through the background control system;

[0058] Through the above technical solution, this embodiment provides a process for adjusting the driving speed of the road roller in different areas in real time. First, the data processing module calculates the paving potholes in different areas of different routes according to the road paving information data, and then calculates the adjusted driving speed according to the paving potholes in different areas of different routes, combined with environmental data and paving material temperature data. Finally, the adjusted driving speed is fed back to the background control system, and the background control system adjusts the real-time moving speed according to the real-time positions of different road rollers.

[0059] The data processing module calculates the paving potholes in different areas of different routes, which can reflect the flatness of the road after paving. After combining the environmental data and the temperature data of the paving materials, the compaction working environment of the roller in different areas can be accurately digitized. After that, the data processing module will adjust the moving speed of the roller according to the compaction working environment data. The speed of the roller is more suitable for the compaction working environment in the current area, thereby realizing precise control of the roller speed, avoiding poor compaction effect due to too fast or too slow speed, and the need to increase the number of compaction times, thereby improving the compaction effect and work efficiency.

[0060] The drone is provided with a shooting unit and a recognition unit, wherein the shooting unit is used to respectively shoot road paving images in different areas of different routes, and the recognition unit is used to identify and obtain road paving information data according to the road paving images, including the thickness of the paving layer and the concave and convex road surface area of ​​the paving layer;

[0061] Through the above technical scheme, this embodiment can respectively shoot road paving images in different areas in different routes through the cooperation of the shooting unit and the recognition unit, and identify and obtain data information on the thickness of the paving layer and the uneven road surface area of ​​the paving layer. Through such a setting, accurate data can be provided for the subsequent calculation of the paving potholes in different areas in different routes, thereby improving the accuracy of the subsequent adjustment of the roller's moving speed.

[0062] The process of respectively calculating the potholes in different areas of different routes in S51 includes:

[0063] By the first formula Calculate the pothole degree δ in the ith area of ​​the ath line ai ;

[0064] Among them, a is any line, i is any area, hd aiis the paving layer thickness in the ith area of ​​the ath line, hd1 is the preset paving layer thickness, At ai is the total area of ​​uneven paving layer in the ith area of ​​the ath line, S ai is the total area of ​​the ith region in the ath line, f x is the influence function of the number of uneven areas in the paving layer, which is obtained based on the test according to the influence of the number of uneven areas in the ith area of ​​the paving layer on the potholes. ai is the number of uneven areas in the ith area of ​​the paving layer in the ath line, is the first error influence function, which is set according to empirical fitting;

[0065] Through the above technical solution, this implementation provides the laying pothole degree δ in the i-th area of ​​the a-th line ai , can be obtained by the first formula It is calculated that, obviously, when the thickness of the paving layer in the i-th area in the a-th line is thicker than the preset paving layer thickness, and the total area of ​​the uneven area of ​​the paving layer in the i-th area in the a-th line is larger, the paving potholes in this area are larger, indicating that the road condition of the paving layer in the i-th area in the a-th line is poor at this time; conversely, when the thickness of the paving layer in the i-th area in the a-th line is smaller than the preset paving layer thickness, and the total area of ​​the uneven area of ​​the paving layer in the i-th area in the a-th line is smaller, the paving potholes in this area are smaller, indicating that the road condition of the paving layer in the i-th area in the a-th line is better at this time. Through such a setting, the compaction working environment information in the i-th area in the a-th line can be digitized, thereby facilitating the subsequent adjustment of the moving speed of the roller, and the digitized compaction working environment information has higher accuracy, thereby realizing precise control of the moving speed of the roller to ensure the compaction effect.

[0066] The process of calculating the adjusted driving speed in S52 includes:

[0067] Through the second formula Calculate the adjusted speed T of the roller in the i-th area of ​​the a-th line ai ;

[0068] Among them, t0 is the preset initial moving speed, f z To adjust the coefficient comparison table function, according to The influence of the value range of on the adjusted speed of the roller in the ith zone in the ath line is obtained based on the test, δ aiμ is δ aiThe standard value of θ is the environmental impact coefficient, y1 and y2 are weight coefficients, which are set according to empirical fitting, and ω is the rolling pass influence coefficient, which can be obtained based on the test according to the influence of different rolling passes on the adjusted speed of the roller;

[0069] Through the above technical solution, this embodiment provides the adjusted speed T of the roller in the i-th area of ​​the a-th line. ai , can be obtained through the second formula It is calculated that through such settings, after integrating the paving potholes and the environmental impact coefficient in the i-th area in the a-th line, the overall compaction working environment in different areas in different routes can be accurately calculated, and the moving speed of the roller can be adjusted according to the data to make the speed of the roller more suitable for the compaction working environment in the current area, thereby achieving precise control of the speed of the roller, avoiding the situation where the compaction effect is poor due to too fast or too slow speed, and the need to increase the number of compaction times, thereby improving the compaction effect and work efficiency.

[0070] The process of calculating the adjusted driving speed in S52 further includes:

[0071] By formula Calculate and obtain the environmental impact coefficient;

[0072] Among them, swwd is the current outdoor temperature, clwd is the current paving material temperature, σ is the current outdoor wind speed influence coefficient, which is set according to experience fitting, f c To define a function, if X>1, then f c (X) = X, if X ≤ 1, then f c (X) = 1, sd1 is the preset air humidity, sd is the current air humidity, sd μ is the standard value of sd, β is the second error influence function;

[0073] Through the above technical solution, this embodiment provides a method for calculating the environmental impact coefficient, which can be calculated by the formula It is obvious that the outdoor temperature and wind speed as well as the temperature of the current paving material will affect the size of the environmental impact coefficient, thereby affecting the adjustment of the roller's moving speed. Therefore, by combining the outdoor temperature and wind speed as well as the temperature of the current paving material to calculate the environmental impact coefficient, accurate data can be provided for the second formula, thereby improving the accuracy of the calculation results of the second formula, and then achieving precise control of the roller's moving speed, improving the compaction effect, and ensuring that the road surface flatness and density meet the design requirements.

[0074] The evaluation process in S6 includes:

[0075] After the compaction operation is completed, the paving potholes δ in all areas are calculated by the first formula. ai ;

[0076] And through the formula Calculate and obtain the overall paving pothole degree Q of the paved road surface;

[0077] Among them, b is the total number of routes, n is the total number of regions;

[0078] Through the above technical solution, this embodiment provides the overall paving pothole degree Q of the paved road surface, which can be expressed by the formula It is calculated that through such settings, when the roller performs a compaction operation once, it will compact the material of the paving layer. At this time, the overall paving potholes of the paving road surface are obtained by calculation, and the effect of the compaction operation can be fed back in the form of data. The background management system can evaluate and judge the flatness and density of the road surface according to the overall paving potholes of the paving road surface, and judge whether it is necessary to continue the operation according to the evaluation results. Through such settings, the work progress of the roller can be monitored through the overall paving potholes data of the paving road surface, thereby ensuring the normal progress of the compaction operation.

[0079] The evaluation process in S6 further includes:

[0080] By comparing the overall paving pothole degree Q of the paved road surface with the preset paving pothole degree Q x Make a comparison;

[0081] If Q x , it is judged that the overall paving potholes of the paved road surface are high, the flatness and density of the road surface have reached the design requirements, and the compaction operation of the paved road surface has been completed;

[0082] If Q>Q x , it is judged that the overall pothole degree of the paved road surface is low, and the road surface flatness and density do not meet the design requirements, and multiple groups of rollers are controlled to perform secondary compaction operations, and the moving speed of each group of rollers in the secondary compaction operation is adjusted again by the first formula and the second formula;

[0083] Through the above technical solution, this embodiment compares the overall paving pothole degree Q of the paved road surface with the preset paving pothole degree Q x By comparison, the overall pothole degree of the road surface can be judged according to the comparison results, and then whether the flatness and density of the road surface have met the design requirements. If it is judged that the flatness and density of the road surface do not meet the design requirements, the background controls multiple groups of rollers to perform secondary compaction operations, and again adjusts the moving speed of each group of rollers in the secondary compaction operation through the first and second formulas, thereby realizing the coordinated construction of the roller group.

[0084] ​The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A collaborative construction management method for a group of intelligent road pavement compactors, characterized in that: The method comprises: S1: Collect road data through drones, and automatically build a construction model based on the data with one click, determine the paving route, and control the paver to evenly lay mixed materials such as asphalt and cement on the roadbed according to the preset route; S2: Collect the data of the paved road through drones, and divide the road section to be compacted into multiple routes according to the size of the roller based on the road data, match a roller to each route, and divide each route into multiple areas; S3: using drones to collect road paving information data in each area of ​​different routes; S4: Control multiple groups of rollers to move forward along a preset route at a preset initial speed at the same time, and collect environmental information and paving material temperature through external sensors; S5: The data processing module combines the road paving information data, environmental data and paving material temperature to adjust the driving speed of the roller in different areas in real time; S6: After a compaction operation is completed, the degree of compaction completion is evaluated, and whether the operation needs to be continued is determined based on the evaluation result.

2. A collaborative construction management method for a group of intelligent road pavement compactors according to claim 1, characterized in that: The process of adjusting the travel speed of the roller in different areas in real time in S5 includes: S51: Calculating the potholes in different areas of different routes according to the road paving information data by a data processing module; S52: Calculate and obtain an adjusted driving speed according to the potholes in different areas of different routes, combined with environmental data and paving material temperature data; S53: Feeding back the adjusted travel speed to the background control system, and adjusting the real-time moving speed according to the real-time positions of different road rollers through the background control system.

3. A collaborative construction management method for a group of intelligent road pavement compactors according to claim 2, characterized in that: The drone is provided with a shooting unit and a recognition unit. The shooting unit is used to respectively shoot road paving images in different areas of different routes. The recognition unit is used to identify and obtain road paving information data based on the road paving images, including the paving layer thickness and the concave and convex road surface area of ​​the paving layer.

4. A collaborative construction management method for a group of intelligent road pavement compactors according to claim 3, characterized in that: The process of respectively calculating the potholes in different areas of different routes in S51 includes: By the first formula Calculate the pothole degree δ in the ith area of ​​the ath line ai ; Among them, a is any line, i is any area, hd ai is the paving layer thickness in the ith area of ​​the ath line, hd1 is the preset paving layer thickness, At ai is the total area of ​​uneven paving layer in the ith area of ​​the ath line, S ai is the total area of ​​the ith region in the ath line, f x is the influence function of the number of uneven areas in the paving layer, which is obtained based on the test according to the influence of the number of uneven areas in the ith area of ​​the paving layer on the potholes. ai is the number of uneven areas in the ith area of ​​the paving layer in the ath line, is the first error influence function, which is set based on empirical fitting.

5. A collaborative construction management method for a group of intelligent road pavement compactors according to claim 4, characterized in that: The process of calculating the adjusted driving speed in S52 includes: By the second formula Calculate the adjusted speed T of the roller in the i-th area of ​​the a-th line ai ; Among them, t0 is the preset initial moving speed, f z To adjust the coefficient comparison table function, according to The influence of the value range of on the adjusted speed of the roller in the ith zone in the ath line is obtained based on the test, δ aiμ is δ ai The standard value of θ is the environmental impact coefficient. y1 and y2 are weight coefficients, which are set according to empirical fitting. ω is the impact coefficient of the number of rolling passes, which can be obtained based on the test according to the influence of different rolling passes on the adjusted speed of the roller.

6. A collaborative construction management method for a group of intelligent road pavement compactors according to claim 5, characterized in that: The process of calculating the adjusted driving speed in S52 further includes: By formula Calculate and obtain the environmental impact coefficient; Among them, swwd is the current outdoor temperature, clwd is the current paving material temperature, σ is the current outdoor wind speed influence coefficient, which is set according to experience fitting, f c To define a function, if X>1, then f c (X) = X, if X ≤ 1, then f c (X) = 1, sd1 is the preset air humidity, sd is the current air humidity, sd μ is the standard value of sd, and β is the second error influence function.

7. A collaborative construction management method for a group of intelligent road pavement compactors according to claim 6, characterized in that: The evaluation process in S6 includes: After the compaction operation is completed, the paving potholes δ in all areas are calculated by the first formula. ai ; And through the formula Calculate and obtain the overall paving pothole degree Q of the paved road surface; Among them, b is the total number of routes and n is the total number of areas.

8. A collaborative construction management method for a group of intelligent road pavement compactors according to claim 7, characterized in that: The evaluation process in S6 further includes: By comparing the overall paving pothole degree Q of the paved road surface with the preset paving pothole degree Q; If Q x , it is judged that the overall paving potholes of the paved road surface are high, the flatness and density of the road surface have reached the design requirements, and the compaction operation of the paved road surface has been completed;​ If Q>Q x , it is judged that the overall pothole degree of the paved road surface is low, and the flatness and density of the road surface do not meet the design requirements, and multiple groups of rollers are controlled to perform secondary compaction operations, and the moving speed of each group of rollers in the secondary compaction operation is adjusted again by the first formula and the second formula.

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