Paving thickness control system and method of paver

Abstract

The invention discloses a paving thickness control system and method for a paver, and relates to the field of paving control, and the system comprises a positioning module, a tilt angle sensor and a controller. The positioning module is used for collecting position information of the paver in real time; the tilt angle sensor is used for collecting the tilt angle of the paver in real time; the controller is used for determining the inclination amount of the paver according to the inclination angle of the paver and the mounting height of the positioning module, correcting the position information of the paver according to the inclination amount, calculating the corrected thickness according to the corrected position information and the designed position information, and controlling the paving thickness of the paver according to the corrected thickness. According to the application, the posture change of the paver can be compensated, and the control precision of the paving thickness is improved.

Description

Technical Field

[0001] This application relates to the field of paving control, and particularly to a paving thickness control system and method for a paver. Background Art

[0002] In the field of road construction, as a key construction equipment, the paving quality of a paver is directly related to the service life of the road and driving safety. The paving thickness, as the core index to measure the paving quality, accurately controlling the paving thickness has always been an important goal pursued by the industry.

[0003] Currently, in order to achieve precise control of the paving thickness, various technical solutions have emerged in the industry. However, there are still many deficiencies in the existing paving thickness control technologies. The paver itself has inclination and jitter during the traveling process, making the posture of the paver unstable, and further resulting in uneven paving thickness, which is difficult to meet the high-standard construction requirements. Summary of the Invention

[0004] The purpose of this application is to provide a paving thickness control system and method for a paver, which can compensate for the posture changes of the paver itself and improve the control accuracy of the paving thickness.

[0005] To achieve the above purpose, this application provides the following solutions: In a first aspect, this application provides a paving thickness control system for a paver, including: A positioning module, configured to collect the position information of the paver in real time; An inclination sensor, configured to collect the inclination angle of the paver in real time; A controller, configured to determine the inclination amount of the paver according to the inclination angle of the paver and the installation height of the positioning module, correct the position information of the paver according to the inclination amount, calculate the corrected thickness according to the corrected position information and the designed position information, and control the paving thickness of the paver according to the corrected thickness.

[0006] In an embodiment, the positioning module includes two receivers of the Global Positioning System, and the two receivers of the Global Positioning System are respectively arranged on two masts of the paver.

[0007] In an embodiment, the positioning module includes two receivers of the Beidou Satellite Navigation System, and the two receivers of the Beidou Satellite Navigation System are respectively arranged on two masts of the paver.

[0008] In an embodiment, the inclination sensor is arranged at the bottom of the paver screed.

[0009] In an embodiment, the controller is further configured to perform wavelet transform and Kalman filtering processing on the inclination angle of the paver in sequence.

[0010] In one embodiment, the controller is further configured to correct the stroke of the paver hydraulic cylinder according to the inclination-hydraulic stroke mapping table of the paver; the inclination-hydraulic stroke mapping table is pre-calibrated by using a total station to calibrate the installation deviation of the inclination sensor.

[0011] In one embodiment, the paver paving thickness control system further includes: a laser rangefinder for measuring the paving layer thickness after paving; the controller is further configured to adjust the stroke of the paver hydraulic cylinder according to the paving layer thickness.

[0012] In one embodiment, the paver paving thickness control system further includes: a multi-view vision sensor for collecting multi-view images in the traveling direction of the paver and detecting the position information in the traveling direction of the paver according to the multi-view images; the controller is further configured to control the traveling path of the paver according to the position information in the traveling direction of the paver and the designed position information.

[0013] In one embodiment, the paver paving thickness control system further includes: an infrared thermal imager for real-time monitoring of the temperature distribution of the mixture in the paver; the controller is further configured to dynamically adjust the speed of the paver according to the temperature distribution of the mixture in the paver.

[0014] In a second aspect, the present application provides a method for controlling the paving thickness of a paver, including: Real-time collecting the position information of the paver and the inclination angle of the paver; Determining the inclination amount of the paver according to the inclination angle of the paver and the installation height of the positioning module; Correcting the position information of the paver according to the inclination amount; Calculating the corrected thickness according to the corrected position information and the designed position information; Controlling the paving thickness of the paver according to the corrected thickness.

[0015] According to the specific embodiments provided by the present application, the present application has the following technical effects: The present application provides a paver paving thickness control system and method. By real-time collecting the position information and inclination angle of the paver, determining the inclination amount of the paver according to the inclination angle of the paver and the installation height of the positioning module, correcting the position information of the paver, calculating the corrected thickness according to the corrected position information and the designed position information, and then controlling the paving thickness of the paver, it can perform real-time compensation for the attitude change of the paver itself, thereby improving the control accuracy of the paving thickness and enhancing the paving quality. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for use in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0017] Figure 1 It is a schematic diagram of a paving thickness control system for a paver provided in an embodiment of the present application.

[0018] Figure 2 It is a schematic flowchart of a paving thickness control method for a paver provided in an embodiment of the present application. Detailed implementation manners

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0020] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0021] In an exemplary embodiment, as Figure 1 shown, a paving thickness control system for a paver is provided, including: a positioning module 101, an inclination sensor 102, and a controller 103.

[0022] The positioning module 101 is used to collect the position information of the paver 104 in real time. Among them, the position information of the paver 104 includes the x-axis coordinate (representing longitude), the y-axis coordinate (representing latitude), and the z-axis coordinate (representing elevation).

[0023] As an alternative implementation manner, the positioning module 101 includes two receivers of the Global Positioning System, and the two receivers of the Global Positioning System are respectively arranged on two masts of the paver 104. The positioning module 101 further integrates a Real-Time Kinematic (RTK) receiver.

[0024] As another alternative implementation manner, the positioning module 101 includes two receivers of the Beidou satellite navigation system, and the two receivers of the Beidou satellite navigation system are respectively arranged on two masts of the paver 104. Specifically, the Beidou-3 navigation system is adopted.

[0025] The positioning module 101 of the present application further integrates a micro-electro-mechanical inertial navigation system (INS), and the positioning accuracy can reach ±8 mm in the horizontal direction and ±15 mm in the vertical direction.

[0026] The inclination sensor 102 is used to collect the inclination angle of the paver 104 in real time. The inclination sensor 102 is arranged at the bottom of the screed of the paver 104 or on the frame.

[0027] As an optional implementation manner, the number of the inclination sensors 102 is multiple, each inclination sensor 102 is a biaxial digital inclination sensor, and the multiple inclination sensors 102 form a multi-axis inclination sensing array with a measurement range of ±20° and a resolution of 0.001°.

[0028] As another optional implementation manner, the number of the inclination sensors 102 is two, which are divided into a main inclination sensor and a slave inclination sensor. The two inclination sensors 102 perform cross-verification, and when the difference > 0.1°, a self-check program is triggered to ensure the stability of the inclination angle detection.

[0029] The controller 103 is used to determine the inclination amount of the paver 104 according to the inclination angle of the paver 104 and the installation height of the positioning module 101, correct the position information of the paver 104 according to the inclination amount, calculate the corrected thickness according to the corrected position information and the designed position information, and control the paving thickness of the paver 104 according to the corrected thickness. The controller 103 is respectively connected to the positioning module 101 and the inclination sensor 102, and can be arranged in the cab of the paver 104.

[0030] In a specific application example, according to the inclination angle (including pitch angle and roll angle) of the paver 104 and the installation height of the positioning module 101, the inclination amount between the mast of the paver 104 and the ground is calculated by using the triangle theorem. The z-axis coordinate is corrected according to the inclination amount, and the corrected thickness is calculated according to the corrected z-axis coordinate and the designed height in the designed position information. The angle deviation of the paver 104 is considered when calculating the corrected thickness, thereby improving the control accuracy of the paving thickness.

[0031] To further improve the control accuracy of the paving thickness, this application implements a hardware-level Precision Time Protocol (PTP). Through a satellite precise time service system and a Pulse Per Second (PPS) signal, it aligns asynchronous signals such as the position information (10Hz) collected by the positioning module 101, the tilt angle (10Hz) collected by the tilt sensor 102, and the designed position information (50Hz). Further, a three-level conversion model from the Beidou geodetic coordinate system to the paver body coordinate system and then to the screed tool coordinate system is constructed, integrating a tilt compensation matrix to realize the construction and conversion of a dynamic coordinate system.

[0032] As an alternative implementation, the controller 103 is implemented using an industrial-grade ARM+FPGA heterogeneous computing platform, supporting the EtherCAT bus, with a real-time control cycle of 1ms.

[0033] As an alternative implementation, the controller 103 uses a non-linear controller designed based on the Lyapunov stability theory to solve the strong coupling control problem under large slope conditions.

[0034] The actuators of the paver 104 include an electro-hydraulic proportional valve group and high-rigidity hydraulic lifting columns. By controlling the actuators of the paver 104, the attitude of the screed is adjusted, so that the stroke resolution of the hydraulic cylinder is 0.1mm and the step response is ≤80ms. Among them, the control model equation of the screed is: ; Where, is the height to be adjusted of the screed, is the proportional coefficient, is the integral coefficient, is the differential coefficient, is the corrected thickness, t is the time, is the tilt angle, is the hydraulic cylinder displacement command, f is the relationship function between the thickness and tilt angle and the hydraulic cylinder displacement.

[0035] Furthermore, the controller 103 is also used to perform wavelet transform and Kalman filter processing on the tilt angle of the paver 104 in sequence to eliminate the vibration interference of the engine of the paver 104.

[0036] The controller 103 is also used to correct the stroke of the hydraulic cylinder of the paver 104 according to the tilt angle - hydraulic stroke mapping table of the paver 104. The tilt angle - hydraulic stroke mapping table is pre-calibrated by using a total station to calibrate the installation deviation of the tilt sensor 102.

[0037] In another exemplary embodiment, the paving thickness control system of the paver further includes a laser rangefinder 105. The laser rangefinder 105 is used to measure the paving layer thickness after paving. The laser rangefinder 105 is connected to the controller 103. The controller 103 is further configured to adjust the stroke of the hydraulic cylinder of the paver 104 according to the paving layer thickness. The accuracy of measuring the paving layer thickness by using the laser rangefinder 105 is ±0.5 mm.

[0038] In another exemplary embodiment, the paving thickness control system of the paver further includes a multi-camera vision sensor 106. The multi-camera vision sensor 106 is used to collect multi-camera images in the traveling direction of the paver 104 and detect the position information in the traveling direction of the paver 104 according to the multi-camera images. The multi-camera vision sensor 106 is connected to the controller 103. The controller 103 is further configured to control the traveling path of the paver 104 according to the position information in the traveling direction of the paver 104 and the designed position information.

[0039] In another exemplary embodiment, the paving thickness control system of the paver further includes an infrared thermal imager 107. The infrared thermal imager 107 is used to monitor the temperature distribution of the mixture in the paver 104 in real time. The resolution of detecting the temperature by using the infrared thermal imager 107 is 0.5 °C. The infrared thermal imager 107 is connected to the controller 103. The controller 103 is further configured to dynamically adjust the speed of the paver 104 according to the temperature distribution of the mixture in the paver 104.

[0040] The main working process of the paving thickness control system of the paver provided in this application is as follows: (1) Initialization and calibration: Calibrate the installation deviation of the inclination sensor 102 through a total station to establish an inclination-hydraulic stroke mapping table of the paver 104. The hydraulic pressure marked on each hydraulic cylinder of each paver 104 is different. The inclination-hydraulic stroke mapping table is established in advance and can be used to correct the actions of the hydraulic cylinders when controlling the paving thickness of the paver 104 later. Load the building information design model, extract the design parameters of the road cross slope and longitudinal slope, and obtain the designed position information.

[0041] (2) Paving process control: The absolute position of the paver 104 is obtained through the RTK receiver. The inclination sensors 102 real-time feedback the pitch angle and roll angle of the screed, and the INS compensates for the high-speed dynamic error. The theoretical thickness is calculated based on the design position information and the inclination angle collected by the inclination sensors 102, and the stroke of the hydraulic cylinder is adjusted through the closed-loop feedback of the laser rangefinder 105. The three-dimensional coordinates in front of the paver 104 are automatically detected by the multi-camera vision sensor 106, and the deviation is generated by comparing with the design position information, and the driving path of the paver 104 is automatically controlled. The temperature distribution of the mixture is monitored by the infrared thermal imager 107, and the paving speed is dynamically adjusted to ensure temperature uniformity (gradient ≤ 10 °C / m). The paved road surface is scanned by the millimeter-wave radar to generate a flatness cloud map and reverse-optimize the control parameters: , where is the flatness error, is the original control parameter, is the optimized control parameter, is the learning rate. Further, a multi-dimensional database of inclination-thickness-temperature is established, and the long short-term memory network is trained to predict the optimal combination of control parameters.

[0042] On the basis of the above solution, the present application further proposes a coupling degree quantization method based on singular value decomposition to realize the independent optimization of thickness control and slope adjustment. When a large deviation occurs in the angle or position, such as when the signal is blocked, the data of other sensors are used for detection. The virtual reference plane is calculated in real time by using the data collected by the inclination sensors 102 to replace the traditional mechanical reference rope (reference beam) and adapt to the paving of complex curved surfaces. Further, oil quantity sensors are arranged in the hydraulic cylinders of multiple pavers 104, and the paver 104 with low fuel consumption is preferentially selected for paving operations, and a hydraulic system energy consumption model is constructed to reduce the power consumption by 20%-30% on the premise of ensuring the control accuracy.

[0043] As shown in Table 1, under different working conditions, the paver paving thickness control system provided by the present application is superior to the traditional inclination mechanical control and pure positioning control systems.

[0044] Table 1 Performance comparison result table

[0045] The paver paving thickness control system provided by the present application can be applied to the following scenarios: 1) Expressway: The standard deviation of the paving layer thickness is < 1.5 mm on the section with a maximum longitudinal slope of 8%, and the accuracy is improved by 300% compared with manual operation.

[0046] 2) Urban interchange ramp: Support paving on small-radius (30 m) curves, and the cross slope automatically follows the design value (accuracy ±0.3%).

[0047] 3) Airport runway construction: Meeting the FAA AC 150 / 5370-10B standard, with the runway cross slope control accuracy reaching ±0.02%.

[0048] 4) 3D pavement printing: Combining inclination data to achieve one-time forming of special-shaped pavement (such as speed bumps, markings).

[0049] 5) Multi-machine collaborative operation: The master and slave pavers achieve synchronous leveling through data sharing of the inclination sensors, eliminating the lap joint error.

[0050] Through the deep coupling of Beidou / GPS positioning and inclination sensors, this application realizes sub-centimeter three-dimensional control of the paver, compensating in real time for the influence of the pitch angle and roll angle changes of the paver on the paving layer thickness (slope adaptability ±15°), such that the lateral deviation of the paving trajectory ≤ 3 mm and the longitudinal elevation deviation ≤ 2 mm. Moreover, the data of the inclination sensor and the positioning module are fused, with a response delay ≤ 50 ms, and the stability of the sensor data can be maintained in vibration and temperature change (-20°C to 60°C) environments, overcoming the industry problem of paving accuracy control in complex terrains and promoting the road construction from the "geometry-driven" to the new paradigm of "physical-information fusion-driven".

[0051] Based on the same inventive concept, as Figure 2 shown, this application embodiment also provides a method for controlling the paving thickness of a paver, including the following steps 201 to step 205.

[0052] Step 201, Collect the position information of the paver and the inclination angle of the paver in real time.

[0053] Step 202, Determine the inclination amount of the paver according to the inclination angle of the paver and the installation height of the positioning module.

[0054] Step 203, Correct the position information of the paver according to the inclination amount.

[0055] Step 204, Calculate the corrected thickness according to the corrected position information and the designed position information.

[0056] Step 205, Control the paving thickness of the paver according to the corrected thickness.

[0057] In summary, this application can accurately detect the inclination angle of the paver, compensate the attitude of the paver in a timely manner, thereby effectively controlling the paving thickness and improving the paving quality. This technology should have the advantages of low cost, strong adaptability, simple operation, etc., to meet the needs of different construction scenarios and promote the high-quality development of the road construction industry.

[0058] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0059] In this application, all actions of obtaining signals, information, or data are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where the location is located and obtaining authorization from the owner of the corresponding device.

[0060] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0061] Specific examples are used in this article to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, based on the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. A paving thickness control system for a paving machine, characterized in that: The paver paving thickness control system comprises: Positioning module, used to collect the location information of the paver in real time; Inclination sensor, used to collect the inclination angle of the paver in real time; The controller is used to determine the inclination of the paver according to the inclination angle of the paver and the installation height of the positioning module, correct the position information of the paver according to the inclination, calculate the corrected thickness according to the corrected position information and the designed position information, and control the paving thickness of the paver according to the corrected thickness.

2. The paving thickness control system of the paver according to claim 1, characterized in that: The positioning module comprises two global positioning system receivers, and the two global positioning system receivers are respectively arranged on two masts of the paving machine.

3. The paving thickness control system of a paver according to claim 1, characterized in that: The positioning module comprises two Beidou satellite navigation system receivers, and the two Beidou satellite navigation system receivers are respectively arranged on two masts of the paving machine.

4. The paving thickness control system of a paver according to claim 1, characterized in that: The inclination sensor is arranged at the bottom of the paving machine screed.

5. The paving thickness control system of a paver according to claim 1, characterized in that: The controller is also used to sequentially perform wavelet transform and Kalman filter processing on the inclination angle of the paver.

6. The paving thickness control system of a paver according to claim 1, characterized in that: The controller is also used to correct the stroke of the hydraulic cylinder of the paver according to the inclination angle-hydraulic stroke mapping table of the paver; the inclination angle-hydraulic stroke mapping table is obtained by calibrating the installation deviation of the inclination sensor in advance using a total station.

7. The paving thickness control system of a paver according to claim 1, characterized in that: The paver paving thickness control system also includes: Laser rangefinder for measuring pavement thickness after paving; The controller is also used to adjust the stroke of the hydraulic cylinder of the paver according to the pavement thickness.

8. The paving thickness control system of a paving machine according to claim 1, characterized in that: The paver paving thickness control system also includes: A multi-eye vision sensor is used to collect multi-eye images of the direction in which the paver is traveling, and detect position information of the direction in which the paver is traveling based on the multi-eye images; The controller is also used to control the travel path of the paver according to the position information of the travel direction of the paver and the designed position information.

9. The paving thickness control system of a paver according to claim 1, characterized in that: The paver paving thickness control system also includes: Infrared thermal imager, used to monitor the temperature distribution of the mixture in the paver in real time; The controller is also used to dynamically adjust the speed of the paver according to the temperature distribution of the mixture in the paver.

10. A method for controlling the paving thickness of a paving machine, characterized in that: The paver paving thickness control method comprises: Collect the location information and inclination angle of the paver in real time; Determine the inclination amount of the paver according to the inclination angle of the paver and the installation height of the positioning module; Correcting the position information of the paver according to the inclination; Calculate the corrected thickness according to the corrected position information and the designed position information; The paving thickness of the paver is controlled according to the corrected thickness.

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