Intelligent control system for improving precision of asphalt pavement paver and asphalt pavement paver

Abstract

The invention discloses an intelligent control system for improving the precision of an asphalt pavement paver and the asphalt pavement paver, and the system comprises a digital control system which is used for collecting environment data and construction data in real time, processing the collected data, generating control logic, sending out an execution instruction, and precisely adjusting the motion of the paver; the intelligent monitoring and communication system communicates with the digital control system and is used for remotely monitoring and controlling the paver and carrying out fault diagnosis; and the intelligent construction auxiliary system communicates with the digital control system and is used for improving the construction precision and consistency, optimizing the construction efficiency, improving the construction quality and safety and managing and analyzing data. By using a digital control technology and an intelligent monitoring and communication technology, automation and intelligence of paving and tamping of the asphalt pavement are realized, and the construction precision and the construction quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of road construction, and in particular to an intelligent control system for improving the precision of an asphalt pavement paver and an asphalt pavement paver. Background Art

[0002] In the field of road construction, the paving quality of asphalt pavement directly affects the service life of the road and driving safety. Although traditional pavers have improved construction efficiency to a certain extent, they still have problems such as low construction accuracy and difficulty in ensuring construction quality. Summary of the invention

[0003] In order to solve the problems existing in asphalt pavement paving and compaction technology, the purpose of the present invention is to provide an intelligent control system for improving the accuracy of asphalt pavement paver, which is used to meet the technical requirements of adjustable paving width and automatic compaction of the pavement.

[0004] Another object of the present invention is to provide an asphalt pavement paver adopting the aforementioned intelligent control system, which realizes the automation and intelligence of asphalt pavement paving and compaction by using digital control technology, intelligent monitoring and communication technology, and improves construction accuracy and construction quality.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: an intelligent control system for improving the accuracy of an asphalt pavement paving machine, comprising:

[0006] Digital control system, used to collect environmental data and construction data in real time, process the collected data, generate control logic and issue execution instructions to accurately adjust the movement of the paver;

[0007] An intelligent monitoring and communication system, communicating with the digital control system, for realizing remote monitoring and control of the paver and performing fault diagnosis;

[0008] The intelligent construction assistance system communicates with the digital control system and is used to improve construction accuracy and consistency, optimize construction efficiency, improve construction quality and safety, and manage and analyze data.

[0009] Optionally, the digital control system includes:

[0010] The central control unit is responsible for receiving the data from the sensor network module, preprocessing and analyzing the data, and then generating corresponding control instructions according to the preset program and algorithm;

[0011] A sensor network module, which communicates with the central control unit, includes a variety of sensors distributed at different parts of the paver, and is used to aggregate and display the collected data and collect various parameters of the paver in real time during operation;

[0012] The actuator module communicates with the central control unit and is used to enable the paver to accurately adjust its movements according to the control instructions issued by the central control unit.

[0013] Optionally, the intelligent monitoring and communication system includes:

[0014] Wireless communication module, supporting Wi-Fi and 4G / 5G wireless communication methods, used to provide a network environment for remote monitoring and control;

[0015] A remote monitoring module, which communicates with the digital control system through the wireless communication module, is used to display the operating status of the paver in real time and provide remote control function and remote fault diagnosis function;

[0016] The fault diagnosis module communicates with the digital control system through the wireless communication module, and is used to monitor the operating status of the paver in real time according to the data collected by the sensor network module, and automatically identify and diagnose faults occurring during the paving operation.

[0017] Optionally, the intelligent construction auxiliary system includes:

[0018] The automatic leveling subsystem includes a retractable screed and a variety of sensors installed on it, which are used to automatically adjust the paving thickness and slope to improve the flatness of the road surface;

[0019] The travel hydraulic subsystem includes a drive gear, a rubber track, and a speed sensor, which is used to provide travel power during paving operations, so that the paver can perform paving operations according to a preset speed and route;

[0020] The receiving electronic control subsystem includes an ultrasonic level meter, which is used to monitor the level of asphalt mixture in the paver hopper in real time and control the amount of asphalt mixture received;

[0021] The transport and spreading subsystem includes a discharge port, a guide hopper, a mixing hopper, a discharge limiter, and a discharge limiter plate, which are responsible for conveying the asphalt raw materials longitudinally and spreading them transversely on the road surface to ensure the uniformity of the paving layer;

[0022] A real-time monitoring subsystem, including visual sensors, cameras and BeiDou satellite navigation system, is used to monitor paving operations in real time;

[0023] A quality analysis subsystem, including a variety of sensors distributed in different parts of the paver, for real-time analysis of data collected by the sensor network module and providing construction quality reports and suggestions;

[0024] The resource progress management subsystem has a construction plan edited in it, which is used to track the construction progress in real time and provide progress reports and early warnings, intelligently schedule and optimize resources, and improve construction efficiency.

[0025] From the above, the above-mentioned digital control system, intelligent monitoring and communication system and intelligent construction auxiliary system are both independent and interrelated, operate in an orderly manner and cooperate precisely, realizing the automation and intelligence of asphalt pavement paving, improving construction accuracy and quality, reducing construction costs, and having significant economic and social benefits.

[0026] Furthermore, the sensor includes a pressure sensor, a temperature sensor, a visual sensor, an ultrasonic thickness sensor, a velocity sensor, a longitudinal acceleration sensor, a lateral acceleration sensor and an ultrasonic level meter;

[0027] The pressure sensor is arranged at the bottom of the hopper of the paver, the middle and end of the spiral agitator, and the front end of the ironing plate; the temperature sensor is arranged at the rear end of the ironing plate of the paver and distributed above the paver; the visual sensor is arranged at the front end of the extension frame of the base, both sides of the tamping machine, and the asphalt discharge port; the ultrasonic thickness sensor is arranged on the ironing plate of the paver;

[0028] The speed sensor is arranged on the driving gear axle of the paver; the longitudinal acceleration sensor is arranged at the center of the upper surface of the screw slide rail group connecting block of the paver; the lateral acceleration sensor is arranged at both ends of the upper surface of the first-level telescopic plate of the paver; the ultrasonic level meter is distributed in the middle of the inner side of the material guide hopper of the paver.

[0029] Correspondingly, the present invention also claims protection for an asphalt pavement paver adopting the aforementioned intelligent control system, characterized in that it includes a base and a retractable ironing plate, a tamping machine, a hopper and a roller arranged on the base; wherein: the base includes a base platform, a platform connecting rod, a platform support rod, an extension frame, a camera a, a camera b, a base beam, a driving gear, a rubber track and a gear baffle, the platform connecting rod, the platform support rod, the extension frame, the base beam are connected to the base platform, the base beam is connected to the gear baffle, the driving gear is installed on the inner side of the gear baffle and meshes with the rubber track; the camera a and the camera b are installed on the base platform, and the front end of the extension frame is provided with a first fixing hole and a second fixing hole.

[0030] Optionally, the retractable ironing plate includes a fixed rod a, a connecting rod, a shock absorbing spring a, a hydraulic telescopic rod a, a screw rail group connecting block, a primary telescopic plate, a secondary telescopic plate and a screw rail group, the fixed rod a is installed on the second fixing hole, the fixed rod a is connected to the connecting rod, the shock absorbing spring a is sleeved outside the hydraulic telescopic rod a, the screw rail group connecting block is connected to the connecting rod through the hydraulic telescopic rod a, the screw rail group connecting block is connected to the primary telescopic plate, the screw rail group is assembled with the screw rail group connecting block, and the screw rail group is connected to the secondary telescopic plate;

[0031] The screw rail assembly includes a slide groove, a movable connecting block, a slide rail screw, a slide rail screw fixing block, a slide rail screw fixing ring, a slide rail screw limit block and a screw rail drive motor. The slide rail screw passes through and is installed in the movable connecting block, the slide rail screw fixing block, the slide rail screw fixing ring and the slide rail screw limit block, and is stuck in the slide groove; the slide rail screw is connected to the screw rail drive motor, and a secondary telescopic plate is installed above the movable connecting block and assembled with it in the primary telescopic plate.

[0032] Optionally, the tamping machine includes a connecting platform, a motor base, a tamping plate base, a tamping plate, a motor, a shock-absorbing spring b, a main hydraulic telescopic rod, a secondary hydraulic telescopic rod and a shock-absorbing spring c, the shock-absorbing spring b is nested with the main hydraulic telescopic rod and the secondary hydraulic telescopic rod, the ends of the main hydraulic telescopic rod and the secondary hydraulic telescopic rod are respectively connected to the connecting platform and the tamping plate base, the motor is connected to the motor base, the motor base is installed on the upper surface of the tamping plate base, the tamping plate base is connected to the tamping plate, and the shock-absorbing spring c is connected to the tamping plate.

[0033] Optionally, the hopper includes a material guiding hopper, a stirring hopper, an insulation hopper, a discharge port, a spiral agitator, a discharge limiter, a discharge limiter plate and a discharge limiter plate gear; the material guiding hopper is connected to the stirring hopper, the stirring hopper is connected to the insulation hopper, the spiral agitator is installed inside the stirring hopper, and a spiral agitator motor driver is provided outside the stirring hopper for driving the spiral agitator to rotate; the discharge port is located below the insulation hopper, a discharge limiter is installed on the discharge port, the discharge limiter plate and the discharge limiter plate gear are assembled inside the discharge limiter, and the discharge limiter plate gear is distributed at both ends of the discharge limiter.

[0034] Optionally, the roller includes a fixed rod b, a shock absorbing spring d, a hydraulic telescopic rod b, a screw electric telescopic rod connecting block, a main telescopic roller, a secondary telescopic roller and a screw electric telescopic rod, the fixed rod b is connected to the first fixing hole, the two sides of the hydraulic telescopic rod b are respectively connected to the fixed rod b and the screw electric telescopic rod connecting block, the shock absorbing spring d is nested outside the hydraulic telescopic rod b, the screw electric telescopic rod connecting block is connected to the main telescopic roller, and the secondary telescopic roller is connected to the screw electric telescopic rod;

[0035] The screw rod electric telescopic rod includes a push rod motor, a push rod fixing frame, a push rod end fixing ring, a push rod active telescopic rod, a push rod fixing ring, a push rod limit plate, a push rod driven telescopic rod and a push plate. The push rod motor is connected to the push rod fixing frame, and the push rod end fixing ring is connected to the push rod fixing frame. The push rod active telescopic rod is inserted through the push rod end fixing ring and the axial opening of the push rod fixing frame, and is screwed into the push rod motor and fixed; the central opening of the push rod fixing ring passes through the push rod active telescopic rod, and the push rod driven telescopic rod passes through three limiting holes evenly distributed in the push rod limit plate, the front end is connected to the push plate by screws, and the end is connected to the push rod fixing ring by screws, and the push plate is connected to the secondary telescopic roller and nested inside the main telescopic roller.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The present invention is used in conjunction with rubber tracks, driving gears, etc., so that the robot can move flexibly and adapt to different working environments when in use.

[0038] 2. The present invention can complete the work of compacting the foundation by setting up a tamping machine and using it in conjunction with a shock-absorbing spring.

[0039] 3. The present invention provides a retractable roller for use in conjunction with a retractable ironing plate, etc., so that the paving width can be freely adjusted during use.

[0040] 4. The present invention provides a display screen, so that operation parameters can be set, operation status can be monitored and remote control can be performed during use.

[0041] 5. The present invention realizes the automation and intelligence of asphalt pavement paving and compaction by using digital control technology, intelligent monitoring and communication technology, and improves construction accuracy and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is the overall structural block diagram of the intelligent control system of the present invention;

[0043] Figure 2 It is a logic block diagram of a digital control system in the intelligent control system of the present invention;

[0044] Figure 3 It is a relative position diagram of some subsystems of the intelligent construction auxiliary system in the intelligent control system of the present invention;

[0045] Figure 4 It is a hierarchical diagram of the intelligent control system of the present invention;

[0046] Figure 5 It is a schematic diagram of the overall structure of the asphalt pavement paver of the present invention;

[0047] Figure 6 A bottom view of the asphalt pavement paver of the present invention;

[0048] Figure 7 This is a schematic diagram of the structure of the retractable ironing board of the present invention;

[0049] Figure 8 This is a schematic diagram of the telescopic rod structure of the telescopic ironing plate of the present invention;

[0050] Fig. 9 This is a schematic diagram of the structure of the screw rod and slide rail assembly of the present invention;

[0051] Fig.10 This is a partial enlarged view of the screw rod slide rail assembly of the present invention;

[0052] Fig.11 It is a schematic diagram of the structure of the compacting machine of the present invention;

[0053] Fig.12 This is a schematic diagram of the telescopic rod structure of the tamping machine of the present invention;

[0054] Fig.13 It is a schematic diagram of the hopper structure of the present invention;

[0055] Fig.14 This is a partial enlarged view of the hopper discharge limiting plate of the present invention;

[0056] Fig.15 A diagram showing the relative positions of the motor driver of the spiral agitator in the hopper of the present invention;

[0057] Fig.16 This is a schematic diagram of the structure of the roller of the present invention;

[0058] Fig.17 This is a schematic diagram of the electric push rod structure of the present invention;

[0059] Fig.18 This is a schematic diagram of the base structure of the present invention;

[0060] Fig.19 This is a relative position diagram of the hopper spiral agitator motor of the present invention.

[0061] Description of reference numerals:

[0062] 10-Digital control system:

[0063] 11-central control unit; 12-sensor network module; 13-actuator module;

[0064] 20-Intelligent monitoring and communication system:

[0065] 21- wireless communication module; 22- remote monitoring module; 23- fault diagnosis module;

[0066] 30-Intelligent construction auxiliary system:

[0067] 31-Automatic leveling subsystem; 32-Travel hydraulic subsystem; 33-Material receiving electronic control subsystem; 34-Transportation and material distribution subsystem; 35-Real-time monitoring subsystem; 36-Quality analysis subsystem; 37-Resource progress management subsystem.

[0068] 1000-Retractable Screed:

[0069] 1101-fixed rod a; 1102-connecting rod; 1103-shock-absorbing spring a; 1104-hydraulic telescopic rod a; 1201-screw rail group connecting block; 1202-first-stage telescopic plate; 1203-second-stage telescopic plate; 1300-screw rail group; 1301-slideway; 1302-movable connecting block; 1303-slide rail screw; 1304-slide rail screw fixing block; 1305-slide rail screw fixing ring; 1306-slide rail screw limit block; 1401-slide rail screw drive motor;

[0070] 2000-Earth Rammer:

[0071] 2101-connecting platform; 2102-motor base; 2103-ramming plate base; 2104-ramming plate; 2201-motor; 2301-shock-absorbing spring b; 2302-main hydraulic telescopic rod; 2303-secondary hydraulic telescopic rod; 2304-shock-absorbing spring c;

[0072] 3000-Hopper:

[0073] 3101- material guide hopper; 3102- stirring hopper; 3103- heat preservation hopper; 3104- discharge port; 3105- spiral agitator; 3106- discharge limiter; 3107- discharge limiter plate; 3108- discharge limiter plate gear; 3109- spiral agitator motor driver; 3110- spiral agitator motor; 3111- spiral agitator transmission bearing;

[0074] 4000-Roller:

[0075] 4101-fixed rod b; 4102-shock-absorbing spring d; 4103-hydraulic telescopic rod b; 4201-screw electric telescopic rod connecting block; 4202-main telescopic roller; 4203-secondary telescopic roller; 4300-screw electric telescopic rod; 4301-push rod motor; 4302-push rod fixing frame; 4303-push rod end fixing ring; 4304-push rod active telescopic rod; 4305-push rod fixing ring; 4306-push rod limit plate; 4307-push rod driven telescopic rod; 4308-push plate;

[0076] 5000-Base:

[0077] 5101-base platform; 5102-platform connecting rod; 5103-platform support rod; 5104-extension frame; 5105-fuel tank; 5106-display screen; 5107a-camera a; 5107b-camera b; 5201-base crossbeam; 5202-driving gear; 5203-rubber track; 5204-gear baffle;

[0078] a-first fixing hole; b-second fixing hole. DETAILED DESCRIPTION

[0079] 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 examples 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.

[0080] The present invention provides an intelligent control system and an asphalt pavement paver for improving the accuracy of an asphalt pavement paver during road construction, so as to achieve flexible changes in the paving width according to the width of the road surface while compacting the ground. At the same time, through the precise collaboration of digital control technology, intelligent monitoring and communication technology, the automation and intelligence of asphalt pavement paving is achieved, thereby improving construction accuracy and construction quality.

[0081] Embodiment 1:

[0082] This embodiment provides an intelligent control system for improving the accuracy of asphalt pavement paving machines, which is used to solve the problems of low construction accuracy, difficult to ensure construction quality and lack of intelligence during asphalt paving. Figure 1 As shown, the system comprises:

[0083] The digital control system 10 is used to collect environmental data and construction data in real time, process the collected data, generate control logic and issue execution instructions, so as to accurately adjust the action of the paver.

[0084] Specifically, Figure 2 As shown, the digital control system 10 includes a central control unit 11, a sensor network module 12 and an actuator module 13. The main functions of the digital control system 10 are data collection, data analysis and intelligent decision-making. The data collection task is completed by the sensor network module 12.

[0085] The sensor network module 12 includes a variety of sensors such as the Beidou satellite navigation system, a pressure sensor, a temperature sensor, a visual sensor, an ultrasonic thickness sensor, a speed sensor, a longitudinal acceleration sensor, a lateral acceleration sensor and an ultrasonic level meter. The access to the Beidou satellite navigation system enables the asphalt pavement paver to plan its path on a given map through positioning information and realize autonomous navigation. The high-precision positioning data provided by the Beidou satellite navigation system can be used for the navigation of the asphalt pavement paver. By receiving the signals transmitted by the Beidou satellite, the asphalt pavement paver can realize accurate positioning and navigation functions and has a strong obstacle avoidance capability. Specifically, the Beidou satellite navigation system can realize accurate positioning of the paver in three-dimensional space through the positioning signals provided by the satellite, which is the basis for the asphalt pavement paver to realize autonomous walking. The pressure sensor is specifically the HDP301W flat film anti-blocking pressure sensor, which is distributed at the bottom of the hopper, the middle and end of the spiral agitator and the front end of the ironing plate. When paving the asphalt pavement, the HDP301W flat film anti-blocking pressure sensor can monitor the pressure changes of asphalt during the paving process in real time to ensure the uniform distribution of asphalt. By measuring the pressure, the flow state and paving effect of asphalt can be indirectly judged, so as to adjust the operating parameters of the asphalt paver in time. The temperature sensor includes ET930 infrared temperature sensor and DS18B20 intelligent temperature sensor. The ET930 infrared temperature sensor is distributed at the rear end of the ironing plate. After the asphalt is ironed by the ironing plate, the ET930 infrared temperature sensor can measure the temperature of the upper surface of the asphalt. It is easy to operate and does not damage the road surface. The DS18B20 intelligent temperature sensor is distributed above the asphalt paver to measure the ambient temperature. The DS18B20 intelligent temperature sensor can directly convert the measured temperature into a serial digital signal and transmit the measurement results in the form of 9-12 digital quantities. At the same time, the data transmission adopts the "one-line bus" method to improve the anti-interference ability of the system. The visual sensor is distributed at the front end of the extension frame of the asphalt paver base, on both sides of the tamping machine and at the asphalt discharge port. It is used to capture image information in the working environment of the asphalt paver, collect information such as the flatness of the road surface, the location of obstacles, and the location of the road edge in real time, and analyze this information through image processing technology to make corresponding adjustments to ensure the correct working mode of the asphalt paver. The ultrasonic thickness sensor is installed on the screed of the asphalt paver and measures the distance by emitting ultrasonic waves and receiving the reflected signals. During the asphalt paving process, the distance from the screed to the asphalt pavement is measured and then the paving thickness of the asphalt is calculated.The speed sensor is installed on the axle of the driving gear. When the asphalt pavement paver is moving, the rotation of the driving gear causes the Hall element in the speed sensor to produce a magnetic field change. The sensed rotation information will be converted into an electrical signal and the electrical signal is proportional to the rotation speed of the driving gear. The converted electrical signal will be transmitted to the sensor network module 12 in the intelligent control system of the high-precision asphalt pavement paver. After further processing and calculation by the central control unit 11, the travel speed of the asphalt pavement paver is finally obtained.

[0086] The travel speed of the asphalt paver can be calculated by the following formula:

[0087]

[0088] Where C is the circumference of the rotating part in meters (m), which can be calculated by measuring the diameter of the drive gear. T The rotation speed at time T is directly measured by the speed sensor and is expressed in revolutions per minute (rpm). 60 is a constant. V T is the travel speed of the asphalt paver at time T, in meters per second (m / s).

[0089] The central control unit 11 is the core part of the intelligent control system, which is composed of a high-performance processor and control software. The central control unit 11 receives data from the sensor network module 12, pre-processes and analyzes the data, and then generates corresponding control instructions according to the preset program and algorithm. The algorithm includes a PID control algorithm and a fuzzy adaptive PID control algorithm. The PID control algorithm controls the parameters such as the walking speed and paving thickness of the asphalt pavement paver, which is specifically divided into three control aspects: proportional control (P), according to the error, such as the difference between the set paving speed and the actual paving speed, or the difference between the set paving thickness and the actual paving thickness, the control amount is adjusted according to the proportion after the simulation test, such as the driving gear speed. When the error increases, the control amount is adjusted more to quickly reduce the error, so that the asphalt pavement paver responds to the error quickly, adjusts the walking speed and paving thickness to approach the set value; integral control (I), integrates the error, that is, accumulates the past error values, and adjusts the control amount according to the result of the integration to eliminate the static error of the system, that is, when the error exists for a long time, the control amount is gradually adjusted through integral control to make the error approach zero. During the paving process, integral control can ensure that the asphalt pavement paver can still maintain a stable paving speed and thickness after working for a long time, avoiding the decline in paving quality due to error accumulation; differential control (D) adjusts the control amount according to the derivative of the error to predict the future error trend and make adjustments in advance to reduce the dynamic error of the intelligent control system during the paving process. Differential control can predict the changing trend of paving speed and thickness, and adjust the control amount in advance to avoid paving quality fluctuations caused by sudden changes in speed or thickness.

[0090] The fuzzy adaptive PID control algorithm can dynamically adjust the PID parameters according to the actual working conditions and error conditions of the asphalt paver to improve the paving quality and construction efficiency. It specifically includes the fuzzy control part and the adaptive PID control part. The fuzzy control part is based on fuzzy sets and fuzzy logic, summarizing the operator's experience and knowledge into a series of language rules. In the asphalt paver, the fuzzy control part can obtain the adjustment amount of the PID parameters through fuzzy reasoning according to the current error e and the error change rate ec. The fuzzy control part can handle uncertainty and nonlinear problems and adapt to the changes of the asphalt paver under different working conditions. By dynamically adjusting the PID parameters, fuzzy control can ensure that the paver can maintain good control performance under different working conditions. The adaptive PID control part, based on PID control, introduces fuzzy control to dynamically adjust the PID parameters (Kp, Ki, Kd). The fuzzy control algorithm can obtain the adjustment amount of the PID parameters through fuzzy reasoning according to the current error e and the error change rate ec, and then add it to the original PID parameters to obtain the new PID parameter value. The new PID parameter value will be used to adjust the control amount of the paver to reduce the error and improve the control performance. Adaptive PID control can dynamically adjust PID parameters according to the actual working conditions and errors of the paver, so that the intelligent control system can maintain good stability and response speed under different working conditions, which is conducive to improving paving quality and construction efficiency, reducing operation difficulty and manual intervention. After the data is analyzed by the above algorithm, precise execution instructions will be automatically generated. The actuator module 13 includes mechanisms such as ironing plate, roller and motor, which will receive instructions from the central control unit 11 and drive the corresponding mechanism to achieve refined operation.

[0091] The basic formula of PID control algorithm:

[0092]

[0093] Where U(t) is the control quantity output by the central control unit at time t, which can be the speed, power or other parameters of the asphalt paver. E(t) is the deviation at the current time t, that is, the difference between the target value and the actual value. In the control process of the asphalt paver, the target value can be the desired paving speed, thickness or quality, etc., while the actual value is the actual data obtained by the current paving state measured by the sensor. Kp is the proportional gain, which determines the sensitivity of the control action to the deviation. When the deviation exists, the proportional control will immediately produce a control action to correct the deviation. Ki is the integral gain, and its function is to eliminate continuous static errors. Integral control generates control quantity by accumulating deviations, thereby gradually eliminating steady-state errors. Kd is the differential gain. The differential control adjusts the control quantity in advance by predicting the trend of the deviation change, thereby avoiding overshoot and oscillation. ∫E(t)dt is the integral term of the error, which represents the cumulative value of the deviation from the initial moment to the moment t. It is the differential term of the error, indicating the rate of change of the deviation.

[0094] The intelligent monitoring and communication system 20 includes a wireless communication module 21, a remote monitoring module 22 and a fault diagnosis module 23. The main function of the intelligent monitoring and communication system 20 is wireless communication, remote monitoring and control, and fault diagnosis.

[0095] Specifically, the intelligent monitoring and communication system 20 provides a platform for human-computer interaction. The wireless communication module 21 supports Wi-Fi and 4G / 5G wireless communication methods, and is responsible for transmitting the data collected by various sensors on the asphalt pavement paver and the status information of the asphalt pavement paver to the remote data processing center and background management system via wireless. At the same time, it can also receive instructions or configuration information from these systems to realize remote monitoring and control of the asphalt pavement paver. The working principle of the wireless communication module 21 will be explained in detail below:

[0096] Data collection: Various sensors on the paver will collect key parameters of the paving process in real time, such as paving temperature, speed, compaction degree, etc. These data are transmitted to the central control unit 11 of the paver through the sensor network module 12.

[0097] Data encapsulation and encryption: The central control unit 11 will encapsulate the collected data, add necessary protocol headers and verification information to ensure the integrity and accuracy of the data. In order to ensure the security of the data, the data will be encrypted to prevent it from being stolen or tampered with during transmission.

[0098] Wireless transmission: The encapsulated and encrypted data is sent to the air interface through the wireless communication module 21. The wireless communication module 21 will select the appropriate communication frequency band and modulation method to ensure that the data can be stably transmitted in a complex construction environment.

[0099] Data reception and analysis: The remote data processing center receives data from the asphalt paver through its wireless communication module 21. The received data will be decrypted and analyzed to restore the original sensor data and paver status information. This information will be stored in the database for subsequent analysis and processing.

[0100] Instruction issuance and feedback: The central control unit 11 can also issue instructions or configuration information to the paver. These instructions are transmitted to the intelligent control system of the asphalt pavement paver through the wireless communication module 21. The actuator 13 performs corresponding operations according to the instructions and feeds back the operation results to the central control unit 11 through the wireless communication module 21.

[0101] The realization of the functions of the remote monitoring module 22 depends on the central control unit 11, the sensor network module 12, the actuator module 13 and the wireless communication module 21. First, the sensor network module 12 converts the collected data into electrical signals, which are preliminarily processed and analyzed by the central control unit 11, and then the wireless communication module 21 sends the processed data and necessary control instructions to the remote control center. Secondly, the remote monitoring platform receives the data transmitted by the wireless communication module 21, and analyzes and stores it in real time through the software interface. The monitoring personnel can intuitively see the real-time working status of the asphalt pavement paver through the software interface, and remotely control the asphalt pavement paver as needed. The remote control instructions are sent to the wireless communication module 21 of the asphalt pavement paver through the wireless network, and then the actuator module 13 performs the corresponding adjustment operation. Finally, the remote monitoring module 22 can also adjust the working status of the asphalt pavement paver in real time according to the feedback from the remote monitoring center.

[0102] The fault diagnosis module 23 provides strong support for the maintenance and upkeep of the asphalt pavement paver. First, the sensor network module 12 performs data acquisition and converts physical quantities into electrical signals, performs preliminary amplification, filtering and analog-to-digital conversion, and facilitates subsequent signal processing. Subsequently, the central control unit 11 performs pre-processing operations such as denoising and filtering on the signal to reduce the interference of noise on the fault diagnosis module 23 and improve the accuracy of the fault diagnosis module 23. Finally, the fault diagnosis module 23 includes a variety of fault diagnosis algorithms, including rule-based fault diagnosis, model-based fault diagnosis, and machine learning-based fault diagnosis.

[0103] Rule-based fault diagnosis: Based on the known fault modes and fault symptoms of asphalt paver, a fault diagnosis rule base is established. The collected feature information is matched with the rules in the rule base to determine whether the paver has a fault and the type and degree of the fault.

[0104] Model-based fault diagnosis: Use the simulation model of the asphalt paver to simulate and analyze the working process of the paver. By comparing the differences between the simulation results and the actual collected data, it is possible to determine whether the paver has a fault and the cause of the fault.

[0105] Fault diagnosis based on machine learning: Use machine learning algorithms such as neural networks, support vector machines, and decision trees to learn and train the collected feature information. The trained model can classify and predict the new feature information, thereby determining whether the asphalt paver has a fault and the type of fault.

[0106] Intelligent construction assistance system 30, such as Figure 3 As shown, the intelligent construction assistance system 30 includes an automatic leveling subsystem 31, a walking hydraulic subsystem 32, a receiving electronic control subsystem 33, a transport and material distribution subsystem 34, a real-time monitoring subsystem 35, a quality analysis subsystem 36, and a resource progress management subsystem 37. The main functions of the intelligent construction assistance system 30 include improving construction accuracy and consistency, optimizing construction efficiency, improving construction quality and safety, and data management and analysis.

[0107] Specifically, the intelligent construction assistance system 30 includes a plurality of subsystems, which cooperate with each other to make the operation of the asphalt pavement paver more efficient and intelligent.

[0108] The automatic leveling subsystem 31 includes a retractable ironing plate and a variety of sensors arranged thereon, which rely on the central control unit 11, the sensor network module 12 and the actuator module 13. First, the longitudinal acceleration sensor in the sensor network module 12 is distributed at the center of the upper surface of the screw rail group connection block 1201 of the asphalt pavement paver, and is used to detect the height change of the paver in the longitudinal direction, that is, in the forward direction. When the roadbed is uneven or other factors affect the paver to fluctuate up and down, the longitudinal acceleration sensor can detect such fluctuations and generate corresponding error signals. The lateral acceleration sensors are distributed at both ends of the upper surface of the first-level retractable plate 1202 of the asphalt pavement paver, and are used to detect the change of the lateral angle of the ironing plate to ensure that the ironing plate maintains the set cross slope position in the lateral direction. Subsequently, the error signals generated by these two types of sensors are processed by the central control unit 11. The central control unit 11 amplifies, filters and calculates the signals to determine the paving height or the lateral angle of the ironing plate that needs to be adjusted. Subsequently, the central control unit 11 calculates the correction value of the paving height or the lateral angle of the ironing plate that needs to be adjusted based on the processed error signal. Finally, the central control unit 11 sends instructions to the actuator module 13, and drives the extension and retraction of each part of the telescopic rod according to the instructions of the central control unit 11, so that the ironing plate can be maintained at the set paving height and cross slope position to achieve automatic leveling.

[0109] The walking hydraulic subsystem 32 can realize the smooth and accurate walking of the asphalt pavement paver. The walking hydraulic subsystem 32 is mainly composed of a driving gear, a rubber track, a speed sensor, etc. A speed sensor is arranged in the walking hydraulic subsystem 32, and the speed sensor is installed at the axle of the driving gear. When the walking hydraulic subsystem 32 is working, the sensor network module 12 can detect the speed signal. These signals are then transmitted to the central control unit 11, which processes the signals and converts them into control output signals. The speed command output by the central control unit 11 is amplified by D / A conversion processing and then transmitted to the actuator module 13. The actuator module 13 finally controls the rotation of the driving gear. When the central control unit 11 outputs a constant speed signal, the speed of the driving gear located on the base will also remain constant. At this time, the feedback signal detected by the sensor network module 12 is also constant, and the analysis result of the deviation voltage by the fault diagnosis module 23 is also stable. This enables the paver to maintain a constant speed within a certain speed range, ensuring the uniformity and construction quality of the paving operation.

[0110] The receiving electronic control subsystem 33 includes ultrasonic level meters, etc. These structures work together to achieve the reception and control of asphalt mixture. The receiving electronic control subsystem 33 is powered by a power supply to ensure the normal operation of the entire system. During the receiving process, the ultrasonic level meter located in the middle of the inner side of the material guide hopper will monitor the level of the asphalt mixture in the hopper in real time. When the material level reaches the set value, the sensor network module 12 will send a signal to the central control unit 11, and the central control unit 11 will send an early warning notification through the resource progress management subsystem 37 to remind the staff to stop receiving the material, thereby controlling the receiving amount of the asphalt mixture.

[0111] The transport and material distribution system 34 includes a discharge port, a material guide hopper, a mixing hopper, a material discharge limiter, a material discharge limiter plate, etc. The asphalt mixture is introduced into the material guide hopper by the car from the side of the asphalt pavement paver through the material guide trough and moves with the asphalt pavement paver. After entering the material guide hopper, the asphalt mixture is stirred by the spiral stirrer in the mixing hopper and then enters the insulation hopper. When it is necessary to discharge the material, the previously closed material discharge limiter plate is opened under the action of the material discharge limiter, and the asphalt mixture flows out to the ground. The base starts to move, and the roller extends to initially compact the asphalt mixture, so as to transport the asphalt mixture horizontally to the left and right along the entire paving width of the paver and spread it on the roadbed. The ironing plate vibrates, pre-presses, shapes and flattens the paving layer again, making it a flat paving layer with a certain density, thereby achieving the precision of the material distribution.

[0112] The real-time monitoring subsystem 35 includes visual sensors, cameras and other sensors and Beidou satellite navigation system. The visual sensors can assist in controlling the paving thickness and monitor the road surface status in real time to achieve real-time monitoring and feedback guidance of the paving and compaction process. After the sensor network module 12 collects data and sends it to the central control unit 11, it will perform preliminary processing and cleaning to ensure the accuracy and integrity of the data. Subsequently, the processed data will be deeply analyzed through the built-in algorithm to evaluate whether the construction quality meets the design requirements. This includes comparing the actual construction parameters with the design parameters and detecting potential quality problems.

[0113] The quality analysis subsystem 36 includes a variety of sensors distributed in different parts of the paver, including pressure sensors, temperature sensors, visual sensors, ultrasonic thickness sensors, speed sensors, longitudinal acceleration sensors, lateral acceleration sensors and ultrasonic level meters, etc., which monitor key parameters such as temperature, speed, thickness and compaction during the paving process in real time. In addition to being able to quickly feed back to the construction personnel, these real-time data can also enable them to adjust the construction parameters in time to ensure that the paving quality meets the design requirements. The data processing and analysis software built into the central control unit 11 can conduct in-depth analysis of the collected data and evaluate whether the construction quality meets the standards. This includes comparing the actual construction parameters with the design parameters, detecting potential quality problems, and providing data support for subsequent quality improvements. Through the quality analysis subsystem 36, construction managers can more accurately control the construction accuracy of paving and compaction. For example, the intelligent control system can monitor the paving thickness and compaction times in real time to ensure that the thickness of each layer of asphalt is uniform and avoid problems such as being too thin or too thick. This precise monitoring method greatly reduces errors in the construction process and improves the overall flatness and durability of the road surface. After the introduction of the quality analysis subsystem, human intervention can be reduced, human errors can be reduced, and the standardization and regularization of the construction process can be ensured. At the same time, the quality analysis subsystem 36 can generate quality reports and suggestions. This can not only improve construction efficiency, but also significantly improve the stability of construction quality. At the same time, systematic monitoring and data recording can help construction managers fully understand the real-time status of the construction site, avoid information asymmetry, and improve management transparency.

[0114] The resource progress management subsystem 37 can intelligently dispatch and optimize resources, reduce resource waste and waiting time, improve construction efficiency, and ensure that construction quality and progress are promoted synchronously by real-time monitoring of key data in the construction process. Through automation and intelligent means, reduce manual intervention and management costs. The resource progress management subsystem 37 can edit the construction plan, track the construction progress in real time, and provide progress reports and warnings. At the same time, according to the construction progress and resource requirements, it automatically dispatches personnel and equipment to optimize resource allocation. The algorithms used in the resource progress management subsystem 37 include the critical path method (CPM), the program evaluation and review technique (PERT), the ant colony algorithm, the dynamic programming algorithm and the genetic algorithm. The critical path method (CPM) determines the shortest completion time of the project by analyzing the time relationship and dependency relationship of each activity in the project, and identifies the key activities that have the greatest impact on the project progress. In the resource progress management subsystem 37 of the asphalt pavement paver, the critical path method (CPM) algorithm can be used to calculate the time nodes of key construction links such as paving and compaction, as well as the estimated completion time of the entire project. The program evaluation and review technique (PERT) is used to estimate the project activity time and formulate a project plan. It takes into account the uncertainty and probability distribution of activity time, thereby improving the accuracy of project time estimation. In the resource progress management subsystem 37, the PERT algorithm can be used to evaluate the time requirements of different construction links and formulate a more reasonable construction plan. The ant colony algorithm is an optimization algorithm that simulates the foraging behavior of ants in nature. It solves combinatorial optimization problems by simulating the behavior of ants releasing pheromones and cooperating with each other in the process of finding food. In the resource progress management subsystem 37, the ant colony algorithm can be used to optimize the scheduling scheme of construction equipment such as asphalt pavement pavers to reduce equipment idle time and improve equipment utilization. The dynamic programming algorithm is a mathematical method for solving optimization problems. It improves computational efficiency by decomposing the problem into sub-problems and storing the solutions of the sub-problems to avoid repeated calculations. In the resource progress management subsystem 37, the dynamic programming algorithm can be used to calculate the resource requirements of different construction stages and formulate corresponding resource allocation plans. The genetic algorithm is an optimization algorithm that simulates natural selection and genetic mechanisms. It searches for the optimal solution in the solution space through operations such as selection, crossover and mutation. In the resource schedule management subsystem 37, genetic algorithms can be used to solve complex resource scheduling problems, such as multi-objective optimization problems, to reduce resource costs while meeting construction needs. The resource schedule management subsystem 37 in the asphalt paver uses a variety of algorithms to optimize the construction process and improve construction efficiency. These algorithms need to be adjusted and optimized according to the specific construction conditions in actual applications to ensure their adaptability and effectiveness.

[0115] like Figure 4As shown, the intelligent control system can be further divided into a perception analysis layer, a platform analysis layer and an application feedback layer according to the user usage level. The perception analysis layer is composed of a sensor network module 12, including a wireless communication module 21, a remote monitoring module 22 and a real-time monitoring subsystem 35. The perception analysis layer includes a variety of sensors and communication and monitoring modules, which can collect corresponding data about the surrounding environment and working status of the asphalt pavement paver in real time. These data are initially processed and then transmitted to the platform analysis layer. The platform analysis layer is composed of a central control unit 11, including a fault diagnosis module 23, a quality analysis subsystem 36 and a resource progress management subsystem 37. After the data collected by the perception analysis layer is input into the platform analysis layer, the central control unit 11 can perform calculations and analysis on the data, and the fault diagnosis module 23 screens the collected data. If the alarm condition is met, an alarm message will be generated. Similarly, the quality analysis subsystem 36 and the resource progress management subsystem 37 can also analyze the data that meets the receiving type in real time. After the data analysis is completed, the central control unit 11 will summarize the analysis results, generate control logic according to the algorithm, and send control instructions to the application feedback layer. The application feedback layer is composed of an actuator module 13, which includes an automatic leveling subsystem 31, a traveling hydraulic subsystem 32, a material receiving electronic control subsystem 33 and a transport and material distribution subsystem 34. When the application feedback layer receives a control instruction from the platform analysis layer, the various actuators in the actuator module 13 will be actuated accordingly. The automatic leveling subsystem 31, the traveling hydraulic subsystem 32, the material receiving electronic control subsystem 33 and the transport and material distribution subsystem 34 can also independently control the actuation of the corresponding mechanisms.

[0116] Embodiment 2:

[0117] Based on Example 1, this example describes in detail the various structures of the asphalt pavement paver:

[0118] like Figure 5 , Figure 6 As shown, the asphalt pavement paver provided in this embodiment is composed of a retractable screed plate 1000, a tamping machine 2000, a hopper 3000, a roller 4000 and a base 5000.

[0119] like Figure 7 , Figure 8As shown, the retractable ironing plate 1000 includes a fixed rod a1101, a connecting rod 1102, a shock-absorbing spring a1103, a hydraulic telescopic rod a1104, a screw rail group connecting block 1201, a primary telescopic plate 1202, a secondary telescopic plate 1203 and a screw rail group 1300. The fixed rod a1101 can be connected to the second fixing hole b on the base 5000. The fixed rod a1101 and the connecting rod 1102 are connected by bolts. The primary telescopic plate 1202, the secondary telescopic plate 1203 and the screw rail group 1300 constitute the main body of the retractable ironing plate to adapt to road surfaces of different widths. At the same time, the connecting rod 1102, the hydraulic telescopic rod a1104 and the shock-absorbing spring a1103 enable the ironing plate to adjust the vertical height to pave road surfaces of different thicknesses. The ironing plate can also be lifted off the ground when the paver is not working. Specifically, the shock-absorbing spring a1103 is sleeved on the outside of the hydraulic telescopic rod a1104, and the screw rail assembly connection block 1201 and the connection rod 1102 are both provided with screw holes, which can be connected to the screw holes on both sides of the hydraulic telescopic rod a1104 through screw nuts. When the hydraulic telescopic rod a1104 is working, the hydraulic cylinder on the upper part of the hydraulic telescopic rod a1104 is injected with hydraulic oil, and the lower part can push or pull the screw rail assembly connection block 1201 to move in a direction perpendicular to the screw rail assembly connection block 1201. The screw rail assembly connection block 1201 is fixed to the primary telescopic plate 1202 by bolts, the screw rail assembly 1300 is assembled with the screw rail assembly connection block 1201 by inlaying, and the screw rail assembly 1300 is connected to the secondary telescopic plate 1203 by bolts, thereby realizing the telescopic function.

[0120] like Fig. 9 , Fig.10 As shown, the screw guide rail assembly 1300 includes a slide groove 1301, a movable connecting block 1302, a slide rail screw 1303, a slide rail screw fixing block 1304, a slide rail screw fixing ring 1305, a slide rail screw limit block 1306 and a screw guide rail drive motor 1401. The slide rail screw 1303 passes through and is fixed in the movable connecting block 1302, the slide rail screw fixing block 1304, the slide rail screw fixing ring 1305 and the slide rail screw limit block 1306, and is stuck in the slide groove 1301. The guide rail screw 1303 is connected to the guide rail driving motor 1401, and the secondary telescopic plate 1203 is fixed above the mobile connecting block 1302 and assembled in the primary telescopic plate 1202. The guide rail assembly 1300 is fastened by screws. When the guide rail driving motor 1401 is working, the guide rail screw 1303 starts to rotate, and the mobile connecting block 1302 can move along the direction of the guide rail screw 1303, thereby driving the secondary telescopic plate 1203 to move relatively in the primary telescopic plate 1202, so that the secondary telescopic plate can be freely extended and retracted.

[0121] like Fig.11 , Fig.12As shown, the ramming machine 2000 includes a connecting platform 2101, a motor base 2102, a ramming plate base 2103, a ramming plate 2104, a motor 2201, a shock absorbing spring b2301, a main hydraulic telescopic rod 2302, a secondary hydraulic telescopic rod 2303 and a shock absorbing spring c2304. The ramming machine 2000 is connected to the rear end groove of the base platform 5101 through screws and nuts. The shock absorbing spring b2301, the main telescopic rod 2302 and the secondary telescopic rod 2303 together constitute the telescopic rod of the ramming machine. Shock-absorbing structure, shock-absorbing spring b2301 is nested with main hydraulic telescopic rod 2302 and secondary hydraulic telescopic rod 2303. Both the main hydraulic telescopic rod 2302 and the secondary hydraulic telescopic rod 2303 have threaded holes at the ends, which can be connected to the threaded holes on the connecting platform 2101 and the tamping plate base 2103 through screws and nuts. Hydraulic oil can be injected from the oil filling holes on both sides of the secondary hydraulic telescopic rod 2303 to realize the telescopic function. This structure enables the paver to be lifted off the ground when not working, and the tamping force can be adjusted when working. The motor 2201 is connected to the motor base 2102 by bolts, and the motor base 2102 is installed at the geometric center of the upper surface of the tamping plate base 2103. The lower half of the motor base 2102 is provided with a screw through hole, and the upper surface of the tamping plate base 2103 is distributed with screw holes, which can be fixed and connected by screws. The tamping plate base 2103 and the tamping plate 2104 are connected by bolts, and the shock-absorbing spring c2304 and the tamping plate 2104 are connected by bolts. When the motor 2201 is started, the tamping plate 2104 works accordingly to realize the tamping function.

[0122] like Fig.13 , Fig.14 , Fig.15 , Fig.19As shown, the hopper 3000 includes a material guide hopper 3101, a stirring hopper 3102, an insulation hopper 3103, a discharge port 3104, a spiral agitator 3105, a discharge limiter 3106, a discharge limiter plate 3107, a discharge limiter plate gear 3108, a spiral agitator motor driver 3109, a spiral agitator motor 3110 and a spiral agitator transmission bearing 3111. The support feet of the hopper 3000 are connected to the screw holes distributed at the center position above the platform of the base 5000. When the asphalt raw material enters the device from the material guide hopper 3101, intelligent controls such as stirring, insulation and material control are used to ensure that the asphalt is discharged uniformly and stably at the discharge port 3104, thereby improving the paving quality. Specifically, the material guide hopper 3101 is welded to the stirring hopper 3102, the stirring hopper 3102 is welded to the insulation hopper 3103, the spiral agitator 3105 is installed inside the stirring hopper 3102, and the two ends are fastened by screws. A spiral agitator motor driver 3109 is provided outside the stirring hopper 3102, which can drive multiple spiral agitators 3105 to rotate at the same time; when loading, the discharge port 3104 is in a closed state, the discharge port 3104 is located below the insulation hopper 3103, and a discharge limiter 3106 is installed on the discharge port 3104, and the discharge limit plate 3107 and the discharge limit plate gear 3108 are assembled at Inside the discharge limiter 3106, the discharge limiter plate gears 3108 are distributed at both ends of the discharge limiter plate 3107. The spiral agitator motor driver 3109 is installed at the center of the back of the outer surface of the mixing hopper 3102, and is used to drive the spiral agitator motor 3110 to rotate. When the spiral agitator motor 3110 rotates, the spiral agitator 3105 is driven to rotate in the mixing hopper 3102. The spiral agitator drive bearing 3111 is provided with gears and synchronous belts, which can be connected to the adjacent spiral agitator 3105 that is not connected to the spiral agitator motor 3110, thereby realizing the rotation of a pair of spiral agitators 3105. The rear of both sides of the discharge limiter plate 3107 is evenly distributed with tooth grooves, and the discharge limiter plate gears 3108 are distributed with convex teeth, which are distributed on both sides of the discharge limiter plate 3107 and meshed with it. When the two discharge limiter plate gears 3108 rotate synchronously in opposite directions, the discharge limiter plate 3107 can be driven to extend and retract, thereby realizing the discharge restriction. The spiral agitator motor driver 3109 can drive the spiral agitator motor 3110 and the motor provided on the upper end of the discharge limiting plate gear 3108 to rotate, thereby realizing the asphalt feeding project.

[0123] like Fig.16As shown, the roller 4000 includes a fixed rod b4101, a shock absorbing spring d4102, a hydraulic telescopic rod b4103, a screw electric telescopic rod connecting block 4201, a main telescopic roller 4202, a secondary telescopic roller 4203 and a screw electric telescopic rod 4300. The fixed rod b4101 in the roller 4000 is connected to the first fixing hole a on the base 5000 to stabilize the roller. The main telescopic roller 4202, the secondary telescopic roller 4203 and the screw electric telescopic rod 4300 constitute a telescopic roller body. The push rod electric The bottom of the motor 4301 is connected to the bottom of the inner side of the main telescopic roller 4202, and the bottom of the inner side of the secondary telescopic roller 4203 can be connected to the push plate 4308 in the screw rod electric telescopic rod 4300. When the push rod motor 4301 is working, the push rod active telescopic rod 4304 rotates, driving the push rod fixing ring 4305 to move forward or backward, so that the push plate 4308 extends or contracts at the same time as the secondary telescopic roller 4203, so that the compaction width can be changed. At the same time, the shock-absorbing spring d4102 and the hydraulic telescopic rod b4103 realize the upward and downward extension of the roller 4000, so that the road compaction force can be changed. Specifically, the structure of the hydraulic telescopic rod b4103 is as follows: Fig.16 As shown, screw holes are evenly distributed on both sides of the hydraulic telescopic rod b4103, which can be connected to the fixed rod b4101 and the screw electric telescopic rod connecting block 4201 by bolts, the shock-absorbing spring d4102 is nested outside the hydraulic telescopic rod b4103, the screw electric telescopic rod connecting block 4201 is connected to the main telescopic roller 4202 by bolts, and the secondary telescopic roller 4203 is connected to the screw electric telescopic rod 4300 by internal bolts. When the hydraulic oil is injected or extracted from the two oil filling holes on the upper part of the hydraulic telescopic rod b4103, the lower telescopic rod of the hydraulic telescopic rod b4103 is extended or retracted accordingly, thereby realizing the left and right extension and retraction of the roller 4000.

[0124] like Fig.17As shown, the screw rod electric telescopic rod 4300 includes a push rod motor 4301, a push rod fixing frame 4302, a push rod end fixing ring 4303, a push rod active telescopic rod 4304, a push rod fixing ring 4305, a push rod limit plate 4306, a push rod driven telescopic rod 4307 and a push plate 4308. The push rod motor 4301 is connected to the push rod fixing frame 4302 by bolts evenly distributed at four corners. When the push rod motor 4301 is powered on, it drives the push rod active telescopic rod 4304 to rotate Thereby, the push rod fixing ring 4305, the push rod driven telescopic rod 4307 and the push plate 4308 are driven to move forward. Specifically, the front end of the push rod motor 4301 is provided with screw holes, which can be fastened to the push rod fixing frame 4302 by screws, the push rod end fixing ring 4303 and the push rod fixing frame 4302 are fastened by screws, and the push rod active telescopic rod 4304 is inserted into the axial opening of the push rod end fixing ring 4303 and the push rod fixing frame 4302, and is screwed into the push rod motor 4301 and fixed. The central opening of the push rod fixing ring 4305 can pass through the push rod active telescopic rod 4304, and the push rod driven telescopic rod 4307 can pass through the three limiting holes evenly distributed in the push rod limiting plate 4306. The front end is fastened to the push plate 4308 by screws, and the end is fastened to the push rod fixing ring 4305 by screws. The push plate 4308 is fixedly connected to the secondary telescopic roller 4203 and nested inside the main telescopic roller 4202 to achieve the retractability of the roller 4000.

[0125] like Fig.18As shown, the base 5000 includes a base platform 5101, a platform connecting rod 5102, a platform supporting rod 5103, an extension frame 5104, a fuel tank 5105, a display screen 5106, a camera a 5107a, a camera b 5107b, a base crossbeam 5201, a driving gear 5202, a rubber track 5203, a gear baffle 5204, a first fixing hole a and a second fixing hole b, a retractable ironing plate 1000 is embedded in the second fixing hole b, a tamping machine 2000 is connected to the groove of the base platform 5101, a hopper 3000 is connected to the opening of the base platform 5101, and a roller 4000 is embedded in the first fixing hole a, forming an asphalt pavement paver. Among them, the fuel tank 5105 provides diesel for the device, and the display screen 5106 makes the device intelligent, and the device can be finely controlled by modulating parameters through a variety of buttons on the display screen 5106 to meet various construction requirements. Specifically, the platform connecting rod 5102, the platform supporting rod 5103, the extension frame 5104, the base crossbeam 5201 and the base platform 5101 are connected by bolts to ensure stability. The base crossbeam 5201 is welded to the gear baffle 5204, the driving gear 5202 is installed on the inner side of the gear baffle 5204, the driving gear 5202 is connected to the rubber track 5203 by the inner recess of the rubber track 5203 and the convex teeth of the driving gear 5202, the oil tank 5105, the display screen 5106 and the base platform 5101 are connected by a bayonet, and the camera a 5107a and the camera b 5107b are fixed on the base platform 5101 to detect the construction status.

[0126] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The above is a description of a specific embodiment of this specification. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. This specification and the drawings are merely exemplary illustrations of the present invention and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present invention. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the present invention and its equivalent technologies, the present application is intended to include these modifications and variations.

Claims

1. An intelligent control system for improving the accuracy of asphalt pavement paving machine, characterized in that: include: Digital control system, used to collect environmental data and construction data in real time, process the collected data, generate control logic and issue execution instructions to accurately adjust the movement of the paver; An intelligent monitoring and communication system, communicating with the digital control system, for realizing remote monitoring and control of the paver and performing fault diagnosis; The intelligent construction assistance system communicates with the digital control system and is used to improve construction accuracy and consistency, optimize construction efficiency, improve construction quality and safety, and manage and analyze data.

2. The intelligent control system for improving the precision of asphalt pavement paving machine according to claim 1 is characterized in that: The digital control system comprises: The central control unit is responsible for receiving the data from the sensor network module, preprocessing and analyzing the data, and then generating corresponding control instructions according to the preset program and algorithm; A sensor network module, which communicates with the central control unit, includes a variety of sensors distributed at different parts of the paver, and is used to aggregate and display the collected data and collect various parameters of the paver in real time during operation; The actuator module communicates with the central control unit and is used to enable the paver to accurately adjust its movements according to the control instructions issued by the central control unit.

3. The intelligent control system for improving the precision of asphalt pavement paving machine according to claim 1 is characterized in that: The intelligent monitoring and communication system comprises: Wireless communication module, supporting Wi-Fi and 4G / 5G wireless communication methods, used to provide a network environment for remote monitoring and control; A remote monitoring module, which communicates with the digital control system through the wireless communication module, is used to display the operating status of the paver in real time and provide remote control function and remote fault diagnosis function; The fault diagnosis module communicates with the digital control system through the wireless communication module, and is used to monitor the operating status of the paver in real time according to the data collected by the sensor network module, and automatically identify and diagnose faults occurring during the paving operation.

4. The intelligent control system for improving the precision of asphalt pavement paving machine according to claim 1 is characterized in that: The intelligent construction auxiliary system comprises: The automatic leveling subsystem includes a retractable screed and a variety of sensors installed on it, which are used to automatically adjust the paving thickness and slope to improve the flatness of the road surface; The travel hydraulic subsystem includes a drive gear, a rubber track, and a speed sensor, which is used to provide travel power during paving operations, so that the paver can perform paving operations according to a preset speed and route; The receiving electronic control subsystem includes an ultrasonic level meter, which is used to monitor the level of asphalt mixture in the paver hopper in real time and control the amount of asphalt mixture received; The transport and spreading subsystem includes a discharge port, a guide hopper, a mixing hopper, a discharge limiter, and a discharge limiter plate, which are responsible for conveying the asphalt raw materials longitudinally and spreading them transversely on the road surface to ensure the uniformity of the paving layer; A real-time monitoring subsystem, including visual sensors, cameras and BeiDou satellite navigation system, is used to monitor paving operations in real time; A quality analysis subsystem, including a variety of sensors distributed in different parts of the paver, for real-time analysis of data collected by the sensor network module and providing construction quality reports and suggestions; The resource progress management subsystem has a construction plan edited in it, which is used to track the construction progress in real time and provide progress reports and early warnings, intelligently schedule and optimize resources, and improve construction efficiency.

5. The intelligent control system for improving the precision of asphalt pavement paving machine according to claim 2 or 4, characterized in that: The sensors include a pressure sensor, a temperature sensor, a visual sensor, an ultrasonic thickness sensor, a velocity sensor, a longitudinal acceleration sensor, a transverse acceleration sensor and an ultrasonic level meter; The pressure sensor is arranged at the bottom of the hopper of the paver, the middle and end of the spiral agitator, and the front end of the ironing plate; the temperature sensor is arranged at the rear end of the ironing plate of the paver and distributed above the paver; the visual sensor is arranged at the front end of the extension frame of the base, both sides of the tamping machine, and the asphalt discharge port; the ultrasonic thickness sensor is arranged on the ironing plate of the paver; The speed sensor is arranged on the driving gear axle of the paver; the longitudinal acceleration sensor is arranged at the center of the upper surface of the screw slide rail group connecting block of the paver; the lateral acceleration sensor is arranged at both ends of the upper surface of the first-level telescopic plate of the paver; the ultrasonic level meter is distributed in the middle of the inner side of the material guide hopper of the paver.

6. An asphalt pavement paver using the intelligent control system according to any one of claims 1 to 5, characterized in that: It includes a base and a retractable ironing plate, a tamping machine, a hopper and a roller arranged on the base; wherein: the base includes a base platform, a platform connecting rod, a platform support rod, an extension frame, a camera a, a camera b, a base beam, a driving gear, a rubber track and a gear baffle; the platform connecting rod, the platform support rod, the extension frame, the base beam are connected to the base platform, the base beam is connected to the gear baffle, the driving gear is installed on the inner side of the gear baffle and meshes with the rubber track; the camera a and the camera b are installed on the base platform, and the front end of the extension frame is provided with a first fixing hole and a second fixing hole.

7. The asphalt pavement paver according to claim 6, characterized in that: The retractable ironing plate comprises a fixed rod a, a connecting rod, a shock absorbing spring a, a hydraulic telescopic rod a, a screw rail group connecting block, a primary telescopic plate, a secondary telescopic plate and a screw rail group, wherein the fixed rod a is installed on the second fixing hole, the fixed rod a is connected to the connecting rod, the shock absorbing spring a is sleeved on the outside of the hydraulic telescopic rod a, the screw rail group connecting block is connected to the connecting rod through the hydraulic telescopic rod a, the screw rail group connecting block is connected to the primary telescopic plate, the screw rail group is assembled with the screw rail group connecting block, and the screw rail group is connected to the secondary telescopic plate; The screw rail assembly includes a slide groove, a movable connecting block, a slide rail screw, a slide rail screw fixing block, a slide rail screw fixing ring, a slide rail screw limit block and a screw rail drive motor. The slide rail screw passes through and is installed in the movable connecting block, the slide rail screw fixing block, the slide rail screw fixing ring and the slide rail screw limit block, and is stuck in the slide groove; the slide rail screw is connected to the screw rail drive motor, and a secondary telescopic plate is installed above the movable connecting block and assembled with it in the primary telescopic plate.

8. The asphalt pavement paver according to claim 6, characterized in that: The tamping machine includes a connecting platform, a motor base, a tamping plate base, a tamping plate, a motor, a shock-absorbing spring b, a main hydraulic telescopic rod, a secondary hydraulic telescopic rod and a shock-absorbing spring c. The shock-absorbing spring b is nested with the main hydraulic telescopic rod and the secondary hydraulic telescopic rod. The ends of the main hydraulic telescopic rod and the secondary hydraulic telescopic rod are respectively connected to the connecting platform and the tamping plate base. The motor is connected to the motor base, and the motor base is installed on the upper surface of the tamping plate base. The tamping plate base is connected to the tamping plate, and the shock-absorbing spring c is connected to the tamping plate.

9. The asphalt pavement paver according to claim 6, characterized in that: The hopper includes a material guiding hopper, a stirring hopper, an insulation hopper, a discharge port, a spiral agitator, a discharge limiter, a discharge limiter plate and a discharge limiter plate gear. The material guiding hopper is connected to the stirring hopper, and the stirring hopper is connected to the insulation hopper. The spiral agitator is installed inside the stirring hopper. A spiral agitator motor driver is provided outside the stirring hopper for driving the spiral agitator to rotate. The discharge port is located below the insulation hopper, and a discharge limiter is installed on the discharge port. The discharge limiter plate and the discharge limiter plate gear are assembled inside the discharge limiter, and the discharge limiter plate gears are distributed at both ends of the discharge limiter.

10. The asphalt pavement paver according to claim 6, characterized in that: The roller comprises a fixed rod b, a shock absorbing spring d, a hydraulic telescopic rod b, a screw electric telescopic rod connecting block, a main telescopic roller, a secondary telescopic roller and a screw electric telescopic rod, wherein the fixed rod b is connected to the first fixing hole, the two sides of the hydraulic telescopic rod b are respectively connected to the fixed rod b and the screw electric telescopic rod connecting block, the shock absorbing spring d is nested outside the hydraulic telescopic rod b, the screw electric telescopic rod connecting block is connected to the main telescopic roller, and the secondary telescopic roller is connected to the screw electric telescopic rod; The screw rod electric telescopic rod includes a push rod motor, a push rod fixing frame, a push rod end fixing ring, a push rod active telescopic rod, a push rod fixing ring, a push rod limit plate, a push rod driven telescopic rod and a push plate. The push rod motor is connected to the push rod fixing frame, and the push rod end fixing ring is connected to the push rod fixing frame. The push rod active telescopic rod is inserted through the push rod end fixing ring and the axial opening of the push rod fixing frame, and is screwed into the push rod motor and fixed; the central opening of the push rod fixing ring passes through the push rod active telescopic rod, and the push rod driven telescopic rod passes through three limiting holes evenly distributed in the push rod limit plate, the front end is connected to the push plate by screws, and the end is connected to the push rod fixing ring by screws, and the push plate is connected to the secondary telescopic roller and nested inside the main telescopic roller.

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