A collaborative construction management method for intelligent paving machine groups on highway pavements

Abstract

The present invention relates to the technical field of road construction, and specifically discloses a collaborative construction management method for an intelligent paving roller group for highway pavement. The method includes: S1: Collect road data through a drone, and automatically establish a construction model with one-key operation based on this data to determine the paving route. By combining road paving information data, environmental data, and the temperature of paving materials, the overall compaction operation environment of the roller can be analyzed and fed back to different regions in different lines. Then, the data processing module will adjust the moving speed of the roller according to the compaction operation environment in different regions in different lines, so that the speed of the roller is more adapted to the compaction operation environment in the current region, thereby achieving precise control of the speed of the roller, avoiding the situation of poor compaction effect caused by too fast or too slow speed and the need to additionally increase the compaction times, and thus improving the compaction effect and work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of road construction, and specifically to a collaborative construction management method for an intelligent road surface paving machine group for highways. Background Art

[0002] Intelligent paving machine groups are an important technological innovation in the current road surface construction field. Through advanced driverless technologies, intelligent control systems, etc., a system for realizing the collaborative operation of multiple paving devices is achieved. Such systems can significantly improve the efficiency, quality, and safety of road surface construction, reduce labor costs, and are an important direction for the intelligent development of road surface construction.

[0003] The paving machine includes a paver and a roller. During collaborative construction, road data is usually collected first to provide basic information for subsequent modeling and construction. Subsequently, based on the collected data, a construction model is automatically established through one-key operation to determine the paving route. Then, the paver is controlled to move along the preset route, and asphalt, cement, and other mixed materials are evenly laid on the roadbed. After waiting for the materials to cool to a suitable temperature for compaction, the roller is then controlled to perform the compaction operation to ensure that the road surface flatness and density meet the design requirements.

[0004] In the prior art, when performing the compaction operation, the moving speed of the roller is set according to the temperature and characteristics of the laid materials. However, due to the insufficient flatness of the roadbed surface, after the paver finishes laying, there may be a situation where the thickness of some paving layers is uneven. If the moving speed of the roller is not adjusted, when compacting the position with uneven paving layer thickness, the compaction effect may be poor due to too fast or too slow speed, resulting in the need to additionally increase the compaction times and reduce the work efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a collaborative construction management method for an intelligent road surface paving machine group for highways, and 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 through the following technical solutions:

[0008] A collaborative construction management method for an intelligent road surface paving machine group for highways, the method includes:

[0009] S1: Collect road data through a drone, and automatically establish a construction model through one-key operation based on this data, determine the paving route, and control the paver to evenly lay asphalt, cement, and other mixed materials on the roadbed along the preset route;

[0010] S2: Collect the road data after paving by using a drone, divide the sections to be compacted into multiple routes according to the size of the roller based on the road data, match a roller for each different route, and divide different routes into multiple areas;

[0011] S3: Use the drone to collect the road paving information data in each area of different routes respectively;

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

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

[0014] S6: When one pass of the compaction operation is completed, evaluate the degree of compaction, and judge whether to continue the operation according to the evaluation result.

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

[0016] S51: Calculate the paving pothole degree in different areas of different routes respectively by the data processing module according to the road paving information data;

[0017] S52: Calculate the adjusted driving speed by combining the paving pothole degree in different areas of different routes, environmental data and the temperature data of the paving material;

[0018] S53: Feed back the adjusted driving speed to the background control system, and adjust the real-time moving speed by the background control system according to the real-time positions of different rollers.

[0019] Further, a photographing unit and an identifying unit are arranged in the drone. The photographing unit is used to respectively photograph the road paving images in different areas of different routes, and the identifying unit is used to identify the road paving information data according to the road paving images, including the thickness of the paving layer and the area of the uneven road surface of the paving layer.

[0020] Further, the process of calculating the paving pothole degree in different areas of different routes respectively in S51 includes:

[0021] Calculate the paving pothole degree δ in the i-th area of the a-th line through the first formula ; ai ;

[0022] where a is any line, i is any area, hd aiis the paving layer thickness in the i-th area of the a-th line, hd1 is the preset paving layer thickness, At ai is the total area of the uneven area of the paving layer in the i-th area of the a-th line, S ai is the total area of the i-th area of the a-th line, f x is the influence function of the number of uneven areas of the paving layer. Based on tests, the influence of the number of uneven areas of the paving layer in the i-th area of the a-th line on the paving pothole degree is obtained, ρ ai is the number of uneven areas of the paving layer in the i-th area of the a-th line, is the first error influence function, which is set by empirical fitting.

[0023] Further, the process of calculating the adjusted driving speed in S52 includes;

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

[0025] where t0 is the preset initial moving speed, f z is the adjustment coefficient comparison table function, according to The influence of the value range on the adjusted speed of the roller in the i-th area of the a-th line is obtained based on tests, δ aiμ is δ ai The standard value of, θ is the environmental influence coefficient, y1 and y2 are weight coefficients, which are set by empirical fitting, ω is the rolling pass influence coefficient, and the influence of different rolling passes on the adjusted speed of the roller can be obtained based on tests.

[0026] Further, the process of calculating the adjusted driving speed in S52 also includes:

[0027] Calculate the environmental influence coefficient through the formula ;

[0028] where 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 by empirical fitting, f c is the defined 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.

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

[0030] After one compaction operation is completed, calculate the paving pothole degree δ in all areas through the first formula ai ;

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

[0032] Where b is the total number of routes and n is the total number of areas.

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

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

[0035] If Q < Q x , it is judged that the overall paving pothole degree of the paved road surface is high, the road surface flatness and density 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 paving pothole degree of the paved road surface is low, the road surface flatness and density have not reached the design requirements, control multiple groups of rollers to perform secondary compaction operations, and adjust the moving speed of each group of rollers in the secondary compaction operation again through the first formula and the second formula.

[0037] Advantages of the present invention:

[0038] (1) By combining road paving information data, environmental data, and the temperature of paving materials, the present invention can analyze the overall compaction operation environment of the rollers and feedback it to different areas in different lines. Then, the data processing module will adjust the moving speed of the rollers according to the compaction operation environment in different areas of different lines, making the speed of the rollers more adaptable to the compaction operation environment in the current area, thereby realizing precise control of the speed of the rollers, avoiding the situation of poor compaction effect caused by too fast or too slow speed and the need for additional compaction times, and thus improving the compaction effect and work efficiency.

[0039] (2) After integrating the paving pothole degree and environmental impact coefficient in the i-th area of the a-th line, the present invention can accurately calculate the overall compaction operation environment in different areas of different lines and adjust the moving speed of the rollers according to this data, making the speed of the rollers more adaptable to the compaction operation environment in the current area, thereby realizing precise control of the speed of the rollers, avoiding the situation of poor compaction effect caused by too fast or too slow speed and the need for additional compaction times, and thus improving the compaction effect and work efficiency.

[0040] (3) By comparing the overall paving pothole degree Q of the paved road surface with the preset paving pothole degree Q x for comparison, the overall paving pothole degree of the road surface can be judged according to the comparison result, and then it can be judged whether the flatness and density of the road surface have reached 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 adjusts the moving speeds of each group of rollers in the secondary compaction operation again through the first formula and the second formula, so as to realize the coordinated construction of the paving machine group. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0042] Figure 1 is a flowchart of a method for collaborative construction management of an intelligent paving machine group for highway road surfaces in the present invention;

[0043] Figure 2 is a flowchart of real-time adjusting the traveling speed of the roller in different areas in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0045] Please refer to Figure 1 as shown. In one embodiment, the present application provides a method for collaborative construction management of an intelligent paving machine group for highway road surfaces, and the method includes:

[0046] S1: Collect road data through a drone, and automatically establish a construction model with one-key operation according to the data, 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 road data after paving through a drone, divide the section to be compacted into multiple routes according to the size of the roller according to the road data, match a roller for different routes, and divide different routes into multiple areas;

[0048] S3: Collect road paving information data in each area of different routes through a drone respectively;

[0049] S4: Control multiple groups of rollers to move forward simultaneously at a preset initial speed according to the preset route, and collect environmental information and the temperature of the paving material through an external sensor;

[0050] S5: The data processing module adjusts the traveling speed of the roller in different areas in real time by combining the road paving information data, environmental data, and the temperature of the paving material.

[0051] S6: After one pass of compaction operation is completed, evaluate the degree of compaction and determine whether to continue the operation according to the evaluation result.

[0052] With the above technical solution, when the method of this embodiment is used, first, the road data is collected by the drone, and a construction model is automatically established with one-key operation according to the data, the paving route is determined, and the paver is controlled to evenly lay the mixed materials such as asphalt and cement on the roadbed according to the preset route. After the paver finishes laying, the road data after laying is collected again by the drone, and the road sections to be compacted are divided into multiple routes according to the size of the roller, and a roller is matched for each route. Different routes are divided into multiple areas, and the road paving information data in each area of different routes is collected respectively. Then, multiple groups of rollers are controlled to move forward along the preset route at the preset initial speed, and the environmental information and the temperature of the paving material are collected by external sensors. During the movement of the roller, the data processing module adjusts the traveling speed of the roller in different areas in real time by combining the road paving information data, environmental data, and the temperature of the paving material.

[0053] By setting like this, by combining the road paving information data, environmental data, and the temperature of the paving material, the overall compaction operation environment of the roller can be analyzed and fed back to different areas in different routes. Then, the data processing module will adjust the moving speed of the roller according to the compaction operation environment in different areas of different routes, making the speed of the roller more suitable for the compaction operation environment in the current area, so as to achieve precise control of the speed of the roller, avoid the situation that the compaction effect is not good due to too fast or too slow speed and additional compaction times are required, thereby improving the compaction effect and work efficiency.

[0054] Please refer to Figure 2 As shown, the process of adjusting the traveling speed of the roller in different areas in real time in S5 includes:

[0055] S51: The data processing module calculates the paving pothole degree in different areas of different routes according to the road paving information data.

[0056] S52: According to the paving pothole degree in different areas of different routes, combined with the environmental data and the paving material temperature data, calculate the adjusted traveling speed.

[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 i-th area of the a-th line, hd1 is the preset paving layer thickness, At ai is the total area of the uneven area of the paving layer in the i-th area of the a-th line, S ai is the total area of the i-th area of the a-th line, f x is the influence function of the number of uneven areas of the paving layer. Based on the influence of the number of uneven areas of the paving layer in the i-th area of the a-th line on the paving pothole degree, it is obtained through testing, ρ ai is the number of uneven areas of the paving layer in the i-th area of the a-th line, is the first error influence function, which is set by empirical fitting;

[0065] Through the above technical solution, the paving pothole degree δ in the i-th area of the a-th line is provided in this embodiment ai , which can be obtained by the first formula Calculated. Obviously, when the paving layer thickness in the i-th area of 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 of the a-th line is larger, the paving pothole degree of this area is larger, indicating that the road condition of the paving layer in the i-th area of the a-th line is worse at this time. On the contrary, when the paving layer thickness in the i-th area of 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 of the a-th line is smaller, the paving pothole degree of this area is smaller, indicating that the road condition of the paving layer in the i-th area of the a-th line is better at this time. By setting like this, the compaction operation environment information in the i-th area of the a-th line can be digitalized, so as to facilitate subsequent adjustment of the moving speed of the roller, and the accuracy of the digitalized compaction operation environment information is higher, so as to accurately control the moving speed of the roller to ensure the compaction effect.

[0066] The process of calculating the adjusted traveling speed in S52 includes;

[0067] Calculated by the second formula The adjusted speed T of the roller in the i-th area of the a-th line is obtained ai ;

[0068] Among them, t0 is the preset initial moving speed, f z is the adjustment coefficient comparison table function, according to The influence of the value range on the adjusted speed of the roller in the i-th area of the a-th line is obtained through testing, δ aiμ is δ aiThe standard value, θ is the environmental impact coefficient, y1 and y2 are weight coefficients, which are set by empirical fitting. ω is the compaction pass number impact coefficient, which can be obtained based on tests of the impact of different compaction pass numbers 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 , which can be calculated according to the second formula . By setting it in this way, after integrating the paving pothole degree and the environmental impact coefficient in the i-th area of the a-th line, the overall compaction operation environment in different areas of different routes can be accurately calculated, and the moving speed of the roller can be adjusted according to this data, making the speed of the roller more adaptable to the compaction operation environment in the current area, so as to achieve precise control of the speed of the roller, avoid the situation of poor compaction effect caused by too fast or too slow speed and the need to increase the compaction times additionally, thereby improving the compaction effect and work efficiency.

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

[0071] The environmental impact coefficient is calculated through the formula ;

[0072] Among them, swwd is the current outdoor temperature, clwd is the current paving material temperature, σ is the current outdoor wind speed impact coefficient, which is set by empirical fitting, f c is a defined 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 impact function;

[0073] Through the above technical solution, this embodiment provides a calculation method for the environmental impact coefficient, which can be calculated through the formula . Obviously, the outdoor temperature, wind speed and the temperature of the current paving material will affect the magnitude of the environmental impact coefficient, thus affecting the adjustment of the moving speed of the roller. Therefore, by calculating the environmental impact coefficient by combining the outdoor temperature, wind speed and the temperature of the current paving material, accurate data can be provided for the second formula, thereby improving the accuracy of the calculation result of the second formula, and further achieving precise control of the moving speed of the roller, 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 one compaction operation is completed, calculate the laying pothole degree δ in all areas through the first formula ai ;

[0076] And calculate the overall laying pothole degree Q of the paved road surface through the formula ;

[0077] Wherein, b is the total number of routes, and n is the total number of areas;

[0078] Through the above technical solution, the present embodiment provides the overall laying pothole degree Q of the paved road surface, which can be calculated through the formula . By setting like this, when the roller performs one compaction operation, it will compact the materials of the paving layer. At this time, by calculating the overall laying pothole degree of the paved road surface, the effect of the compaction operation can be feedback in the form of data. The background management system can evaluate and judge the road surface flatness and density according to the overall laying pothole degree of the paved road surface, and judge whether it is necessary to continue the operation according to the evaluation result. By setting like this, the working progress of the roller can be monitored through the overall laying pothole degree data of the paved road surface, so as to ensure the normal progress of the compaction operation.

[0079] The evaluation process in S6 further includes:

[0080] By comparing the overall laying pothole degree Q of the paved road surface with the preset laying pothole degree Q x ;

[0081] If Q < Q x , it is judged that the overall laying pothole degree of the paved road surface is high, and the road surface flatness and density 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 laying pothole degree of the paved road surface is low, and the road surface flatness and density have not reached the design requirements. Control multiple groups of rollers to perform secondary compaction operations, and adjust the moving speeds of each group of rollers in the secondary compaction operations again through the first formula and the second formula;

[0083] Through the above technical solution, the present embodiment compares the overall laying pothole degree Q of the paved road surface with the preset laying pothole degree Q x , and can judge the overall laying pothole degree of the road surface according to the comparison result, and further judge whether the road surface flatness and density have reached the design requirements. If it is judged that the road surface flatness and density have not reached the design requirements, the background controls multiple groups of rollers to perform secondary compaction operations, and adjusts the moving speeds of each group of rollers in the secondary compaction operations again through the first formula and the second formula, so as to realize the coordinated construction of the paving machine group.

[0084] The above has described in detail an embodiment of the present invention, but the above content is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention shall still fall within the scope covered by the patent 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 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; 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; The process of respectively calculating the potholes in different areas of different routes in S51 includes: By the first formula Calculate the potholes in the ith area of ​​the ath line ; Among them, a is any line, i is any area, is the paving layer thickness in the ith area of ​​the ath line, is the preset paving layer thickness, is the total area of ​​uneven paving layer in the ith area of ​​the ath line, is the total area of ​​the ith region in the ath line, 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 pothole degree. 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; The process of calculating the adjusted driving speed in S52 includes: By the second formula Calculate the adjusted speed of the roller in the i-th area of ​​the a-th line ; in, is the preset initial moving speed, 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. for The standard value of is the environmental impact coefficient, and 2 is the weight coefficient, which is set based on empirical fitting. 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; The process of calculating the adjusted driving speed in S52 further includes: By formula Obtain environmental impact coefficient; in, is the current outdoor temperature, is the current paving material temperature, is the current outdoor wind speed influence coefficient, which is set based on empirical fitting. To define a function, if ,but ,like ,but , is the preset air humidity, is the current air humidity, for The standard value of is the second error influence function.

2. A collaborative construction management method for a group of intelligent road pavement compactors according to claim 1, 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.

3. The collaborative construction management method for a group of intelligent road pavement compactors according to claim 1 is characterized in that: The evaluation process in S6 includes: When the compaction operation is completed, the paving potholes in all areas are calculated using the first formula. ; And through the formula Calculate the overall potholes of the paved road surface ; in, is the total number of routes, is the total number of regions.

4. A collaborative construction management method for a group of intelligent road pavement compactors according to claim 3, characterized in that: The evaluation process in S6 further includes: By paving the entire surface of the pavement to Compared with the preset paving potholes Make a comparison; like , 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; like , 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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