Paving control system and paving control method

Abstract

The invention discloses a paving control system and a paving control method. The paving control system comprises a central control module, a balance beam paving module, a three-dimensional paving module and paving equipment, the central control module sends a balance beam paving signal to the balance beam paving module when the current roadbed flatness is larger than a preset value, and sends a three-dimensional paving signal to the three-dimensional paving module when the current roadbed flatness is smaller than or equal to the preset value; the balance beam paving module sends a first elevation adjusting signal to paving equipment; the first elevation adjustment signal comprises a road elevation difference; the three-dimensional paving module sends a second elevation adjusting signal to paving equipment; the second elevation adjustment signal comprises a target position of the screed; and the paving equipment is used for adjusting the elevation angle of the screed according to the road elevation difference or the target position and performing paving. The elevation angle of the screed plate of the paving equipment is adjusted according to the elevation difference, automatic paving is achieved, the construction speed is increased, the construction efficiency is improved, and the construction accuracy is improved.

Description

Technical Field

[0001] The present application relates to the technical field of construction equipment, and in particular, to a paving control system and a paving control method. Background Art

[0002] The cement stabilized macadam layer (referred to as the water stable layer) is a road base layer composed of materials such as cement, crushed stones, and sand, and has the characteristics of high strength and good stability. It is usually paved in multiple layers. The paving flatness of the road water stable layer is crucial for the flatness of the road.

[0003] Currently, when constructing a road for the water stable layer, the layered paving process is mainly adopted. For each layer, a steel wire rope or an aluminum beam needs to be manually erected as the elevation reference, and then the water stable layer is paved according to this reference.

[0004] However, after the steel wire rope is manually erected, elevation errors will occur due to the self - weight sag of the steel wire rope or human erection deviation, resulting in a low flatness of the road water stable layer after paving. Moreover, when manually erecting the steel wire rope or the aluminum beam, pile driving and wire hanging are required, resulting in a slow construction speed and low construction efficiency. Summary of the Invention

[0005] The present application provides a paving control system and a paving control method to solve the problems in the prior art that after a steel wire rope is manually erected, elevation errors will occur due to the self - weight sag of the steel wire rope or human erection deviation, resulting in a low flatness of the road water stable layer after paving. Moreover, when manually erecting the steel wire rope or the aluminum beam, pile driving and wire hanging are required, resulting in a slow construction speed and low construction efficiency.

[0006] In a first aspect, the present application provides a paving control system. The paving control system includes a central control module, a balance beam paving module, a three - dimensional paving module, and a paving device; wherein, the balance beam paving module and the three - dimensional paving module are both connected to the central control module, and the balance beam paving module and the three - dimensional paving module are both connected to the paving device;

[0007] The central control module is used to obtain the current roadbed flatness of the road;

[0008] The central control module is further used to send a balance beam paving signal to the balance beam paving module when the current roadbed flatness is greater than a preset roadbed flatness, and send a three - dimensional paving signal to the three - dimensional paving module when the current roadbed flatness is less than or equal to the preset roadbed flatness;

[0009] The balance beam paving module is installed on the floating jibs on both sides of the paving device, and is used to send a first elevation adjustment signal to the paving device when receiving the balance beam paving signal; wherein, the first elevation adjustment signal includes the road elevation difference;

[0010] The three-dimensional paving module is configured to send a second elevation adjustment signal to the paving device when receiving the three-dimensional paving signal; wherein, the second elevation adjustment signal includes the target position of the screed of the paving device.

[0011] The paving device is configured to adjust the elevation angle of the screed according to the road elevation difference and perform paving after receiving the first elevation adjustment signal.

[0012] The paving device is further configured to adjust the elevation angle of the screed according to the target position of the screed and perform paving after receiving the second elevation adjustment signal.

[0013] In a second aspect, the present application provides a paving control method, the method comprising:

[0014] Obtaining the current roadbed flatness of the road;

[0015] When the current roadbed flatness is greater than a preset roadbed flatness, sending a balance beam paving signal to the balance beam paving module;

[0016] When the current roadbed flatness is less than or equal to the preset roadbed flatness, sending a three-dimensional paving signal to the three-dimensional paving module.

[0017] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the program, the paving control method as described in the second aspect of the present application is implemented.

[0018] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the paving control method as described in the second aspect of the present application is implemented.

[0019] In a fifth aspect, the present application provides a computer program product, comprising a computer program, and when the computer program is executed by a processor, the paving control method as described in the second aspect of the present application is implemented.

[0020] In the solution of this application, the paving control system includes a central control module, a screed paving module, a three-dimensional paving module, and paving equipment; among them, both the screed paving module and the three-dimensional paving module are connected to the central control module, and both the screed paving module and the three-dimensional paving module are connected to the paving equipment; the central control module is used to obtain the current roadbed flatness of the road; the central control module is further used to send a screed paving signal to the screed paving module when the current roadbed flatness is greater than the preset roadbed flatness, and send a three-dimensional paving signal to the three-dimensional paving module when the current roadbed flatness is less than or equal to the preset roadbed flatness; the screed paving module is installed on the floating jibs on both sides of the paving equipment, and is used to send a first elevation adjustment signal to the paving equipment when receiving the screed paving signal; among them, the first elevation adjustment signal includes the road elevation difference; the three-dimensional paving module is used to send a second elevation adjustment signal to the paving equipment when receiving the three-dimensional paving signal; among them, the second elevation adjustment signal includes the target position of the screed of the paving equipment; the paving equipment is used to adjust the elevation angle of the screed according to the road elevation difference and perform paving after receiving the first elevation adjustment signal; the paving equipment is further used to adjust the elevation angle of the screed according to the target position of the screed and perform paving after receiving the second elevation adjustment signal. That is, in the solution of this application, on the one hand, the elevation angle of the screed of the paving equipment is adjusted according to the road elevation difference or the determined position of the screed, and paving is performed, realizing the automatic paving of the paving equipment, avoiding the deviation that is easy to occur during manual operation and the slow construction speed, thereby improving the construction speed and construction efficiency. On the other hand, according to the roadbed flatness of the road, it is determined whether to generate a signal indicating the elevation angle adjustment of the paving machine screed by the screed paving module or the three-dimensional paving module, thereby improving the construction accuracy and further improving the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of this application, the accompanying drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a structural schematic diagram of the paving control system provided by this application;

[0023] Figure 2a It is another structural schematic diagram of the paving control system provided by this application;

[0024] Figure 2b It is an exemplary structural schematic diagram of the screed of the paving equipment provided by this application;

[0025] Figure 2cIt is a schematic diagram of an exemplary display interface of the user interaction device of the paving control system provided by the present application;

[0026] Figure 3 It is a schematic flow chart of the paving control method provided by the present application;

[0027] Figure 4 It is a schematic structural diagram of an electronic device provided by the present application; Detailed implementation manners

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0029] Figure 1 It is a schematic structural diagram of a paving control system 01 provided by the present application. This system is applicable to controlling paving equipment during road paving. The central control module 101 controls the operations of the balance beam paving module 102, the three-dimensional paving module 103, and the paving equipment 104. Exemplarily, the paving equipment 104 can be a paver, and the central control module 101 can be a computer. As Figure 1 shown, the paving control system 01 includes a central control module 101, a balance beam paving module 102, a three-dimensional paving module 103, and a paving equipment 104; among them, both the balance beam paving module 102 and the three-dimensional paving module 103 are connected to the central control module 101, and both the balance beam paving module 102 and the three-dimensional paving module 103 are connected to the paving equipment 104.

[0030] The central control module 101 is used to obtain the current roadbed flatness of the road.

[0031] The central control module 101 is further used to send a balance beam paving signal to the balance beam paving module 102 when the current roadbed flatness is greater than the preset roadbed flatness, and send a three-dimensional paving signal to the three-dimensional paving module 103 when the current roadbed flatness is less than or equal to the preset roadbed flatness.

[0032] The balance beam paving module 102 is installed on the floating jibs on both sides of the paving equipment 104, and is used to send a first elevation adjustment signal to the paving equipment 104 when receiving the balance beam paving signal.

[0033] Among them, the first elevation adjustment signal includes the road elevation difference.

[0034] The three-dimensional paving module 103 is configured to send a second elevation adjustment signal to the paving device 104 when receiving the three-dimensional paving signal.

[0035] Wherein, the second elevation adjustment signal includes the target position of the screed of the paving device.

[0036] The paving device 104 is configured to adjust the elevation angle of the screed according to the road elevation difference and perform paving after receiving the first elevation adjustment signal.

[0037] The paving device 104 is further configured to adjust the elevation angle of the screed according to the target position of the screed and perform paving after receiving the second elevation adjustment signal.

[0038] Specifically, the central control module 101 obtains the flatness information of the current roadbed, determines which paving mode to use according to this flatness information, and then sends a signal to the balance beam paving module 102 or the three-dimensional paving module 103. The flatness information of the roadbed refers to the degree of unevenness of the roadbed. The more potholes there are on the roadbed and the greater the difference in the depth of the potholes on the roadbed, the lower the flatness of the roadbed, and the flatter the roadbed, the higher the flatness of the roadbed. The central control module 101 obtains the flatness of the current roadbed through a roadbed detection device. For example, the roadbed detection device can be an image detection sensor, etc. Compare the obtained current roadbed flatness with a preset roadbed flatness threshold. If the current roadbed flatness is greater than the preset roadbed flatness, it means that the roadbed flatness is relatively good. At this time, the central control module 101 sends a balance beam paving signal to the balance beam paving module 102, and just use the balance beam paving mode for paving. If the current roadbed flatness is less than or equal to the preset roadbed flatness, it means that the roadbed flatness is poor, there are many potholes on the roadbed surface and the depths of the potholes are different. At this time, the central control module 101 sends a three-dimensional paving signal to the three-dimensional paving module 103 and uses the three-dimensional paving mode for paving.

[0039] The central control module 101 may further include a user interaction device, such as a touch screen. When the staff selects the balance beam paving mode in the user interaction device, the central control module 101 sends a balance beam paving signal to the balance beam paving module 102. When the staff selects the three-dimensional paving mode in the user interaction device, the central control module 101 sends a three-dimensional paving signal to the three-dimensional paving module 103. Figure 2c is an exemplary display interface schematic diagram of the user interaction device of the paving control system provided by the present application, as Figure 2cAs shown, in the display interface of the user interaction device, to facilitate the staff in understanding the working state of the paver screed, the left floating state of the screed, the loading / unloading state of the screed, the right floating state of the screed, the left elevation set value, the actual value of the transverse wave, the right elevation set value, the left sensor type, the actual value of the left elevation, the actual value of the right elevation, the right sensor type, the left sensor sensitivity, the right sensor sensitivity, the left elevation zeroing button, the left sensor switching button, the menu button, the right sensor switching button, and the right elevation zeroing button are displayed in the display interface. Among them, the left and right sides refer to the left and right sides of the paver. The left elevation set value is the elevation set value of the road on the left side of the paver. The actual value of the transverse wave is the actual value of the currently detected transverse wave. The right elevation set value is the elevation set value of the road on the right side of the paver. The left sensor type can be a transverse wave detection sensor, and the right sensor type can be a three-dimensional detection sensor. The actual elevation value is the actually detected elevation value. The left sensor sensitivity and the right sensor sensitivity are pre-set values. The menu button is used to display other parameter information of the paving equipment. The left elevation zeroing button is used to zero the left elevation value. The left switching button is used to switch between the balance beam paving mode and the three-dimensional paving mode for the left side of the paving. The right switching button is used to switch between the balance beam paving mode and the three-dimensional paving mode for the right side of the paving. The right elevation zeroing button is used to zero the right elevation value.

[0040] The balance beam paving module 102 is installed on the floating jibs on both sides of the paving equipment 104. After receiving the balance beam paving signal from the central control module 101, it sends a first elevation adjustment signal including the elevation difference between the actual height of the road and the designed height of the road to the paving equipment 104. After receiving the three-dimensional paving signal, the three-dimensional paving module 103 sends a second elevation adjustment signal including the target position of the paver screed to the paving equipment 104, instructing the paving equipment 104 to adjust the screed to the target position, thereby accurately adjusting the elevation angle of the screed to achieve the correction of the road elevation and make the paved road surface meet the design requirements.

[0041] During the paving process, the paving equipment 104 receives the first elevation adjustment signal sent by the balance beam paving module 102 or the second elevation adjustment signal sent by the three-dimensional paving module 103. According to the received signal, the elevation angle of the screed is adjusted accordingly to ensure that the elevation of the paved road surface meets the design requirements. The paving operation is carried out according to the adjusted elevation angle of the screed to achieve accurate paving of the road. After paving, the staff can also use the steel bar insertion method to randomly inspect the thickness in real time to ensure paving accuracy.

[0042] Optionally, the balance beam paving module 102 is further configured to obtain the actual height of the road, determine the road elevation difference based on the actual height of the road and the designed height of the road, and generate a first elevation adjustment signal according to the road elevation difference.

[0043] Specifically, the balance beam paving module 102 obtains the actual height of the road, that is, the current height of the road surface to be paved at this time, determines the height difference between the two based on the actual height of the road and the designed height of the road, and then sends a first elevation adjustment signal including the elevation difference between the actual height of the road and the designed height of the road to the paving device 104, so that the paving device 104 can be adjusted according to the road elevation difference to ensure that the actual height of the paved road is consistent with the designed height of the road. The actual height of the road can be obtained by devices such as ultrasonic sensors equipped by itself. For example, the number of ultrasonic sensors of the balance beam paving module 102 can be 6, which are respectively arranged at the front, middle, and rear ends of the balance beams on both sides of the paving device 104. By comparing and analyzing the obtained actual height of the road and the designed height of the road, the elevation difference value that needs to be adjusted is calculated. Then, according to the calculated elevation difference value, a first elevation adjustment signal is sent to the paving device 104 to instruct the paving device 104 to make corresponding adjustments to the elevation angle of the screed, etc., so that the actual height of the paved road meets the design requirements.

[0044] Optionally, the three-dimensional paving module 103 is further configured to detect the three-dimensional coordinate information of the screed of the paving device 104 and the three-dimensional coordinate information of multiple points on the surface of the road, and determine the target position of the screed according to the three-dimensional coordinate information of the screed, the three-dimensional coordinate information of multiple points on the surface of the road, and the designed model of the road.

[0045] The three-dimensional paving module 103 is further configured to generate a second elevation adjustment signal according to the target position.

[0046] Specifically, after receiving the three-dimensional paving signal, the three-dimensional paving module 103 uses the measuring device to detect the three-dimensional coordinate information of the screed of the paving device 104, and at the same time measures the three-dimensional coordinates of multiple points on the road surface. Exemplarily, the measuring device can be a laser scanner for obtaining the three-dimensional coordinate information of an object. Compare the three-dimensional coordinate information of multiple points on the detected road surface with the design model of the road, calculate the difference between the actual elevation and the designed elevation of the road, that is, obtain the elevation difference information of the road. And according to the calculated elevation difference information of the road and the current position information of the screed indicated by the three-dimensional coordinate information of the screed, determine the target position of the screed, that is, after the screed reaches this position, the paving device 104 can perform paving to make the paved road surface meet the design requirements. The three-dimensional paving module 103 generates a second elevation adjustment signal according to the target position. The three-dimensional paving module 103 sends the second elevation adjustment signal to the paving device 104 to instruct the paving device 104 to adjust the position of the screed, so as to accurately adjust the elevation angle of the screed, so as to correct the road elevation, make the paved road surface meet the design requirements, thereby reducing the elevation error, improving the thickness uniformity of the road, and reducing material waste.

[0047] In the solution of this application, the paving control system includes a central control module, a screed paving module, a three-dimensional paving module, and paving equipment. Among them, both the screed paving module and the three-dimensional paving module are connected to the central control module, and both the screed paving module and the three-dimensional paving module are connected to the paving equipment. The central control module is used to obtain the current roadbed flatness of the road. The central control module is also used to send a screed paving signal to the screed paving module when the current roadbed flatness is greater than the preset roadbed flatness, and send a three-dimensional paving signal to the three-dimensional paving module when the current roadbed flatness is less than or equal to the preset roadbed flatness. The screed paving module is installed on the floating jibs on both sides of the paving equipment and is used to send a first elevation adjustment signal to the paving equipment when receiving the screed paving signal. Among them, the first elevation adjustment signal includes the road elevation difference. The three-dimensional paving module is used to send a second elevation adjustment signal to the paving equipment when receiving the three-dimensional paving signal. Among them, the second elevation adjustment signal includes the target position of the screed of the paving equipment. The paving equipment is used to adjust the elevation angle of the screed according to the road elevation difference and carry out paving after receiving the first elevation adjustment signal. The paving equipment is also used to adjust the elevation angle of the screed according to the target position of the screed and carry out paving after receiving the second elevation adjustment signal. That is, in the solution of this application, on the one hand, the elevation angle of the screed of the paving equipment is adjusted according to the road elevation difference or the determined position of the screed, and paving is carried out, realizing the automatic paving of the paving equipment, avoiding the deviation that is easy to occur during manual operation and the slow construction speed, thereby improving the construction speed and construction efficiency. On the other hand, according to the roadbed flatness of the road, a signal indicating the elevation angle adjustment of the paving machine screed is generated by the screed paving module or the three-dimensional paving module, thereby improving the construction accuracy and further improving the construction quality.

[0048] Figure 2a It is another structural schematic diagram of the paving control system 01 provided by this application. On the basis of the above embodiment, the screed paving module 102, the three-dimensional paving module 103, and the paving equipment 104 in the paving control system 01 are refined.

[0049] Optionally, the screed paving module 102 includes a detection unit 21 and a paving control unit 22 that are connected to each other. The detection unit 21 is also connected to the central control module 101, and the paving control unit 22 is also connected to the paving equipment 104.

[0050] The detection unit 21 is installed on the surface of the screed of the screed paving module 102 and is used to detect the actual height of the road when receiving the screed paving signal from the central control module 101.

[0051] The paving control unit 22 is used to determine the road elevation difference according to the actual height of the road and the designed height of the road, and generate a first elevation adjustment signal according to the road elevation difference.

[0052] The paving control unit 22 is configured to send a first elevation adjustment signal to the paving equipment.

[0053] Specifically, the detection unit 21 is installed on the surface of the balance beam of the balance beam paving module 102. When receiving the balance beam paving signal sent by the central control module 101, it starts and detects the actual height of the road. By way of example, the detection unit 21 can be an ultrasonic sensor. When the central control module 101 determines that the current roadbed flatness is greater than the preset roadbed flatness and sends a balance beam paving signal to the balance beam paving module 102, the detection unit 21 receives this signal. The detection unit 21 can be used to measure the distance between the road surface where the paving equipment 104 is located and the balance beam in real time, so as to obtain the actual height information of the road. The detection unit 21 transmits the obtained actual height information of the road to the paving control unit 22, providing data support for subsequent elevation adjustment.

[0054] The paving control unit 22 determines the road elevation difference according to the actual height of the road obtained by the detection unit 21 and the designed height of the road, generates a first elevation adjustment signal according to the road elevation difference, and sends this signal to the paving equipment 104, so that the paving equipment 104 makes adjustments according to the first elevation adjustment signal, ensuring that the actual height of the paved road is consistent with the designed height of the road. By way of example, the designed height of the road is H1, and the actual height detected by the detection unit 21 is H2, then the road elevation difference is ΔH = H1 - H2. According to the calculated road elevation difference, the first elevation adjustment signal is determined. By way of example, the first elevation adjustment signal includes the specific value and direction that need to be adjusted. For example, adjust upward by x millimeters and adjust the elevation angle of the screed upward by y degrees. The paving equipment 104 makes the screed adjust upward by x millimeters and the elevation angle adjust upward by y degrees through its internal hydraulic system. The paving equipment 104 performs paving operations according to the adjusted elevation angle of the screed, so that the actual height of the paved road is consistent with the designed height of the road, meeting the expected paving quality requirements.

[0055] Optionally, the three-dimensional paving module 103 includes a positioning detection unit 31 and a vehicle-mounted control unit 32 that are connected to each other; wherein, the positioning detection unit 31 is also connected to the central control module 101, and the vehicle-mounted control unit 32 is connected to the paving equipment 104.

[0056] The positioning detection unit 31 is configured to obtain the three-dimensional coordinate information of the paving machine screed and the three-dimensional coordinate information of multiple points on the surface of the road after receiving the three-dimensional paving signal.

[0057] The vehicle-mounted control unit 32 is configured to determine the target position of the screed according to the three-dimensional coordinate information of the screed, the three-dimensional coordinate information of multiple points on the surface of the road, and the designed model of the road.

[0058] The vehicle-mounted control unit 32 is further configured to generate a second elevation adjustment signal according to the target position and send the second elevation adjustment signal to the paving device 104.

[0059] Specifically, after receiving the three-dimensional paving signal, the positioning and detection unit 31 obtains the three-dimensional coordinate information of the paver screed and collects the three-dimensional coordinate information of multiple points on the road surface. The positioning and detection unit 31 receives the three-dimensional paving signal from the central control module 101, indicating that the three-dimensional paving mode needs to be started currently. Through measuring devices such as total station or satellite positioning system, three-dimensional positioning of the real-time position of the paver screed is carried out to obtain its three-dimensional coordinate information. By way of example, the total station calculates the accurate three-dimensional coordinate information of the screed by emitting laser signals and receiving reflected signals. Sensors installed on the paving device 104, such as laser scanners, are used to collect the three-dimensional coordinate information of multiple points on the road surface in real time.

[0060] The vehicle-mounted control unit 32 receives the three-dimensional coordinate information of the screed and the three-dimensional coordinate information of multiple points on the road surface transmitted by the positioning and detection unit 31. The three-dimensional coordinate information of multiple points on the road surface collected is compared with the road design model. The design model contains information such as the designed elevation of the road. By comparison, the difference between the actual elevation and the designed elevation of each detection point, that is, the road elevation difference information, can be calculated. According to the road elevation difference information and the current position of the screed indicated by the three-dimensional coordinate information of the screed, the adjustment amount required for the paver screed is calculated, that is, the target position of the screed can be obtained. The calculated target position of the screed is used to generate a second elevation adjustment signal and sent to the paving device 104. After receiving the second elevation adjustment signal, the paving device 104 adjusts the elevation angle of the screed through its hydraulic system or other driving devices, so that the paved road surface is consistent with the design model. During the entire paving process, the vehicle-mounted control unit 32 can receive new positioning and elevation data in real time and dynamically adjust the second elevation adjustment signal according to the real-time data, thus ensuring the high precision and high stability of the paving process. The staff can collect elevation data in real time through the surface detection hand-held device, determine whether there is a deviation in elevation, and send the deviation information to the paver, thus ensuring the accuracy of the paving process. The surface detection hand-held device realizes the real-time visualization of quality data, thus improving the detection coverage rate.

[0061] Optionally, the three-dimensional paving module 103 further includes a surface detection unit 33; the surface detection unit 33 is connected to the vehicle-mounted control unit 32.

[0062] The surface detection unit 33 is further configured to monitor the road information of the road in real time and send the road information of the road to the vehicle-mounted control unit 32.

[0063] The vehicle-mounted control unit 32 is further configured to determine road surface repair information based on the three-dimensional coordinate information of multiple points on the surface of the road, the design model of the road, and the road information of the road, and after generating a road surface repair signal according to the road surface repair information, send the road surface repair signal to the paving device 104.

[0064] The paving device 104 is further configured to repair the road surface according to the road surface repair signal.

[0065] Specifically, the surface detection unit 33 detects the elevation data of the paved road surface in real time, provides feedback for the paving process, and ensures the paving quality. The surface detection unit 33 detects the elevation data of the paved road surface in real time through sensors installed on the paving device 104, such as laser sensors or ultrasonic sensors. These sensors can quickly measure the distance between the paved road surface and the preset reference, so as to obtain elevation information. The detected elevation data is recorded and fed back to the vehicle-mounted control unit 32 in real time. The vehicle-mounted control unit 32 further adjusts the position of the screed according to these feedback data to ensure that the elevation of the paved road surface always meets the design requirements. Through real-time detection and feedback, the surface detection unit 33 provides full-process quality monitoring for the paving process, ensuring that the flatness and elevation accuracy of the paved road surface reach the design standards.

[0066] Optionally, the positioning detection unit 31 includes a total station 311 and a 360-degree prism 312; the total station 311 is installed at a preset control point, and the 360-degree prism 312 is installed on the top of the telescopic mast of the paving device 104. Among them, the preset control points are located on both sides of the construction area of the paving device 104, and the telescopic mast is respectively fixed on the floating jibs on both sides of the paving device 104 through a quick-release mounting structure.

[0067] The total station 311 is configured to measure the three-dimensional coordinates of the 360-degree prism 312 in real time and send the three-dimensional coordinates of the 360-degree prism 312 to the vehicle-mounted control unit 32.

[0068] The vehicle-mounted control unit 32 is configured to determine the three-dimensional coordinate information of multiple points on the surface of the road according to the three-dimensional coordinates of the 360-degree prism 312 and the preset coordinate conversion relationship.

[0069] Specifically, the total station 311 is installed on the preset control points on both sides of the construction surface. These preset control points are reference points that have been precisely measured and positioned to ensure the measurement accuracy and reliability of the total station 311. The total station 311 is used to measure the three-dimensional coordinates of the 360° prism 312 in real time and send the three-dimensional coordinates of the 360° prism 312 to the vehicle-mounted control unit 32. The vehicle-mounted control unit 32 calculates the three-dimensional coordinate information of multiple points on the road surface according to the preset coordinate conversion relationship. The total station 311 measures the three-dimensional coordinates of the 360° prism in real time by emitting a laser signal and receiving the reflected signal. Since the 360° prism is installed at the top of the telescopic mast of the paving equipment 104, the total station 311 can accurately track the real-time position of the paving equipment 104. The vehicle-mounted control unit 32 converts the three-dimensional coordinates of the 360° prism into the reference coordinate system of the paving equipment 104 according to the preset coordinate conversion relationship. The preset coordinate conversion relationship is pre-calculated based on the reference points and design model of the construction area and is used to convert the absolute coordinates measured by the total station 311 into relative coordinates related to the paving equipment 104. Furthermore, by measuring the three-dimensional coordinates of the 360° prism and combining with the geometric relationship of the paving equipment 104, such as the length, width, and paving range of the paving equipment 104, the three-dimensional coordinate information of multiple points on the road surface in front of the paving equipment 104 is calculated.

[0070] The 360° prism is installed at the top of the telescopic mast of the paving equipment 104. The telescopic mast can adjust the height according to the construction requirements to ensure that the 360° prism is always within the effective measurement range of the total station 311. The 360° prism serves as the measurement target of the total station 311 and is used to reflect the laser signal emitted by the total station 311, enabling the total station 311 to accurately measure its three-dimensional coordinates. Since the 360° prism can reflect signals in any azimuth, the total station 311 can track the dynamic position of the paving equipment 104 in real time and maintain a stable measurement signal even during the movement of the paving equipment 104.

[0071] The telescopic mast can adjust the height according to the construction requirements to adapt to different paving conditions and measurement requirements. For example, when paving road surface materials of different thicknesses, the height of the mast can be adjusted to ensure that the 360° prism installed at its top is always within the effective measurement range of the total station 311. The quick-release mounting structure is used to quickly and firmly fix the telescopic mast on the floating jibs on both sides of the paving equipment 104, and at the same time, it is convenient to quickly disassemble the mast when needed, facilitating the transportation and storage of the equipment.

[0072] Optionally, the paving equipment 104 includes a leveling control unit 41 and a paving controller 42.

[0073] The leveling control unit 41 is installed on both sides of the screed of the paving equipment 104 and is used to drive the leveling oil cylinders of the paving equipment 104 to adjust the angle of the floating boom of the paving equipment 104, so that the elevation angle of the screed changes.

[0074] The paving controller 42 is used to control the paving equipment 104 to perform paving after the elevation angle of the screed changes.

[0075] Specifically, the leveling control unit 41 is installed on both sides of the screed of the paving equipment 104. It is used to drive the leveling oil cylinder hydraulic valve of the paving equipment 104 to adjust the angle of the floating boom of the paving equipment 104, thereby changing the elevation angle of the screed. The leveling control unit 41 receives the first elevation adjustment signal, the second elevation adjustment signal or the road surface repair signal from the vehicle-mounted control unit 32. The telescopic movement of the leveling oil cylinder hydraulic valve will change the angle of the floating boom, and further change the elevation angle of the screed. After the elevation angle of the screed changes, the paving controller 42 controls the paving equipment 104 to perform paving operations. The paving equipment 104 may include the walking system, the material conveying system and the paving system of the paver, etc. The paving controller 42 controls parameters such as the paving speed, paving thickness, and material conveying volume of the paving equipment 104 according to construction requirements and design parameters. For example, if the designed paving thickness is 20 cm, the paving controller 42 will adjust the paving parameters of the paving equipment 104 to ensure that the thickness of the paved road surface meets the requirements. During the paving process, the paving controller 42 monitors the operating status of the paving equipment 104 in real time through sensors, such as the paving speed and paving thickness.

[0076] Optionally, the leveling control unit 41 includes a vehicle-mounted controller 4101, a mast inclination sensor 4102 and a signal transmission device 4103; both the mast inclination sensor 4102 and the signal transmission device 4103 are connected to the vehicle-mounted controller 4101.

[0077] The mast inclination sensor 4102 is installed at the bottom of the installation structure of the telescopic mast.

[0078] The signal transmission device 4103 is used to send the three-dimensional coordinates of the 360-degree prism 312 sent by the total station 311 to the vehicle-mounted control unit 32.

[0079] The vehicle-mounted controller 4101 is used to generate a hydraulic solenoid valve control electrical signal according to the first elevation adjustment signal or the second elevation adjustment signal, so as to control the leveling solenoid valve of the paving equipment 104 to drive the leveling oil cylinders of the paving equipment 104 according to the hydraulic solenoid valve control electrical signal, so that the angle of the floating boom is adjusted and then the elevation angle of the screed changes.

[0080] Specifically, the total station 311 measures the three-dimensional coordinate information of the 360° prism in real time, and the signal transmission device 4103 receives the three-dimensional coordinate information sent by the total station 311 and transmits it to the vehicle-mounted control unit 32, so that the vehicle-mounted control unit 32 obtains the three-dimensional coordinate information. The vehicle-mounted controller 4101 calculates the extension amount of the leveling cylinder that needs to be adjusted according to the first elevation adjustment signal or the second elevation adjustment signal. The vehicle-mounted controller 4101 generates a hydraulic solenoid valve control electrical signal. The vehicle-mounted controller 4101 sends the hydraulic solenoid valve control electrical signal to the leveling solenoid valve. The leveling solenoid valve drives the leveling cylinder to extend and retract according to the control electrical signal, adjusts the angle of the floating boom, and thus changes the elevation angle of the ironing plate. The mast inclination sensor 4102 monitors the inclination angle of the retractable mast in real time and transmits the data to the vehicle-mounted controller 4101. The vehicle-mounted controller 4101 further adjusts the extension amount of the leveling cylinder according to the inclination data to ensure that the elevation angle of the ironing plate meets the requirements. The vehicle controller 4101 dynamically adjusts the control signal according to the real-time monitoring data to ensure the leveling accuracy of the paving equipment 104. The paving equipment 104 is also equipped with a wiring harness and a junction box. The vehicle controller 4101 is installed on the paving equipment 104 and connected to the junction box through the wiring harness. The mast inclination sensor is connected to the vehicle controller 4101 through the wiring harness. The signal transmission device 4103 is installed and connected to the vehicle controller 4101 through the wiring harness.

[0081] Figure 2b is an exemplary structural diagram of the paving equipment 104 provided in the present application, such as Figure 2b As shown, the paving equipment 104 is equipped with a balance beam, which is used to enable the balance beam paving module 102 to generate a first elevation adjustment signal.

[0082] In the system of the present application, the leveling control unit realizes precise control of the leveling cylinder of the paving equipment through the coordinated work of the on-board controller, the mast inclination sensor and the signal transmission device. The signal transmission device is responsible for receiving the measurement data of the total station and transmitting it to the on-board control unit. The on-board controller generates a control electrical signal according to the first elevation adjustment signal or the second elevation adjustment signal, and drives the leveling cylinder to adjust the angle of the floating boom, thereby changing the elevation angle of the ironing plate. The mast inclination sensor provides real-time inclination data to ensure the accuracy of the leveling operation. The paving control system of the present application improves the automation level and construction accuracy of the paving equipment.

[0083] Figure 3 is a flow chart of the paving control method provided by the present application. The method can be executed by a device integrated with the central control module provided by the present application. The device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated in an electronic device. For example, the electronic device can be a computer. The following embodiments will be described by taking the system integrated in an electronic device as an example. Figure 3, the method may specifically include the following steps:

[0084] Step 301, obtain the current roadbed flatness of the road.

[0085] Specifically, according to the roadbed flatness situation, select an appropriate paving mode. It can detect roadbed defects in advance, avoid the transfer of defects to subsequent road layers, and ensure the quality of the paved road. The roadbed flatness can be obtained by measuring the elevation of the roadbed surface with a total station, or by using a global navigation satellite system to perform high-precision positioning and elevation measurement on the roadbed surface, or by using a laser scanner to quickly scan the roadbed surface, or by using a level measurement method to evaluate the roadbed flatness by measuring the elevation differences of multiple points. This application does not make any limitations in this regard.

[0086] Step 302, when the current roadbed flatness is greater than the preset roadbed flatness, send a balance beam paving signal to the balance beam paving module.

[0087] Specifically, the preset roadbed flatness is a preset roadbed flatness threshold value used to determine whether the flatness of the current roadbed meets the conditions for performing balance beam paving operations. This threshold value is usually determined based on factors such as construction specifications, design requirements, and the performance of paving equipment. When the current roadbed flatness is greater than the preset roadbed flatness, send a balance beam paving signal to the balance beam paving module.

[0088] Step 303, when the current roadbed flatness is less than or equal to the preset roadbed flatness, send a three-dimensional paving signal to the three-dimensional paving module.

[0089] Specifically, when the current roadbed flatness is less than or equal to the preset roadbed flatness, send a three-dimensional paving signal to the three-dimensional paving module. For example, the preset roadbed flatness may be set to ±5mm or ±10mm. If the elevation deviation of a certain measurement point during measurement exceeds the preset roadbed flatness range, such as ±15mm, it is considered that the current roadbed flatness is less than the preset roadbed flatness, and at this time, a three-dimensional paving signal is sent to the three-dimensional paving module.

[0090] Optionally, after determining that the lower layer paving of the road is completed, send a balance beam paving signal to the balance beam paving module to complete the upper layer paving of the road.

[0091] Specifically, during road construction, the paving operation is usually carried out in multiple layers to ensure the overall quality and stability of the road. After determining that the lower layer paving is completed, the central control module sends a balance beam paving signal to the balance beam paving module to complete the upper layer paving of the road. After the trimming of the balance beam mode and the three-dimensional paving mode during the lower layer water stable process, the quality of the road section is relatively good during the upper layer paving. Therefore, during the upper layer paving, it is only necessary to adopt the balance beam mode, so as to dynamically adjust the paving thickness through the balance beam and ensure the thickness uniformity.

[0092] The solution of the present application is to obtain the current roadbed flatness of the road; when the current roadbed flatness is greater than the preset roadbed flatness, send a balance beam paving signal to the balance beam paving module; when the current roadbed flatness is less than or equal to the preset roadbed flatness, send a three-dimensional paving signal to the three-dimensional paving module. That is, the solution of the present application determines the paving information by the balance beam paving module or the three-dimensional paving module according to the roadbed flatness of the road, thereby improving the construction accuracy and further improving the construction quality.

[0093] The present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the paving control method provided in any one of the above embodiments.

[0094] The present application also provides a computer-readable medium, on which a computer program is stored. When the program is executed by a processor, it implements the paving control method provided in any one of the above embodiments.

[0095] Next, refer to Figure 4 , which shows a schematic structural diagram of an electronic device 400 suitable for implementing the present application. Figure 4 The electronic device shown is only an example and should not impose any limitation on the functions and usage scope of the present application.

[0096] As Figure 4 shown, the electronic device 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage section 408 into the random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other through a bus 404. The input / output (I / O) interface 405 is also connected to the bus 404.

[0097] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. as well as a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as required. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is installed on the drive 410 as required so that a computer program read therefrom is installed into the storage section 408 as required.

[0098] Specifically, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network via the communication section 409, and / or installed from the removable medium 411. When the computer program is executed by a central processing unit (CPU) 401, the above functions defined in the system of the present application are executed.

[0099] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. And in this application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination of the above.

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0101] The modules and / or units involved in this application can be implemented in software or in hardware. The described modules and / or units can also be provided in a processor.

[0102] As another aspect, this application also provides a computer-readable medium. The computer-readable medium can be included in the device described in the above embodiments; or it can exist alone without being assembled into the device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by the device, the device is caused to perform the following operations:

[0103] Obtain the current roadbed flatness of the road; when the current roadbed flatness is greater than the preset roadbed flatness, send a balance beam paving signal to the balance beam paving module; when the current roadbed flatness is less than or equal to the preset roadbed flatness, send a three-dimensional paving signal to the three-dimensional paving module.

[0104] According to the technical solution of this application, obtain the current roadbed flatness of the road; when the current roadbed flatness is greater than the preset roadbed flatness, send a balance beam paving signal to the balance beam paving module; when the current roadbed flatness is less than or equal to the preset roadbed flatness, send a three-dimensional paving signal to the three-dimensional paving module. That is, the solution of this application determines the paving information by the balance beam paving module or the three-dimensional paving module according to the roadbed flatness of the road, thereby improving the construction accuracy and further improving the construction quality.

[0105] The embodiments of this application also provide a computer program product, including a computer program, which when executed by a processor implements the paving control method provided in any embodiment of this application.

[0106] In the process of implementing the computer program product, the computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0107] It should be understood that various forms of processes shown above can be used, with steps reordered, added or deleted. For example, the steps described in this application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved, and no limitation is imposed herein.

[0108] The above specific embodiments do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub - combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A paving control system, characterized in that, The paving control system includes a central control module, a screed paving module, a three-dimensional paving module, and paving equipment; wherein, both the screed paving module and the three-dimensional paving module are connected to the central control module, and both the screed paving module and the three-dimensional paving module are connected to the paving equipment; The central control module is used to obtain the current roadbed flatness of the road; The central control module is further used to send a screed paving signal to the screed paving module when the current roadbed flatness is greater than the preset roadbed flatness, and send a three-dimensional paving signal to the three-dimensional paving module when the current roadbed flatness is less than or equal to the preset roadbed flatness; The screed paving module is installed on the floating jibs on both sides of the paving equipment, and is used to send a first elevation adjustment signal to the paving equipment when receiving the screed paving signal; wherein, the first elevation adjustment signal includes the road elevation difference; The three-dimensional paving module is used to send a second elevation adjustment signal to the paving equipment when receiving the three-dimensional paving signal; wherein, the second elevation adjustment signal includes the target position of the screed of the paving equipment; The paving equipment is used to adjust the elevation angle of the screed according to the road elevation difference and perform paving after receiving the first elevation adjustment signal; The paving equipment is further used to adjust the elevation angle of the screed according to the target position of the screed and perform paving after receiving the second elevation adjustment signal.

2. The paving control system according to claim 1, wherein The screed paving module is further used to obtain the actual height of the road, determine the road elevation difference according to the actual height of the road and the designed height of the road, and generate the first elevation adjustment signal according to the road elevation difference.

3. The paving control system according to claim 2, characterized in that, The screed paving module includes a detection unit and a paving control unit which are connected to each other, the detection unit is further connected to the central control module, and the paving control unit is further connected to the paving equipment; The detection unit is installed on the surface of the screed of the screed paving module, and is used to detect the actual height of the road when receiving the screed paving signal; The paving control unit is used to determine the road elevation difference according to the actual height of the road and the designed height of the road, and generate the first elevation adjustment signal according to the road elevation difference; The paving control unit is used to send the first elevation adjustment signal to the paving equipment.

4. The paving control system according to claim 1, wherein The three-dimensional paving module is further used to detect the three-dimensional coordinate information of the screed of the paving equipment and the three-dimensional coordinate information of multiple points on the surface of the road, and determine the target position of the screed according to the three-dimensional coordinate information of the screed, the three-dimensional coordinate information of multiple points on the surface of the road, and the designed model of the road; The three-dimensional paving module is further used to generate a second elevation adjustment signal according to the target position.

5. The paving control system according to claim 4, wherein The three-dimensional paving module includes a positioning detection unit and a vehicle-mounted control unit which are connected to each other; wherein, the positioning detection unit is further connected to the central control module, and the vehicle-mounted control unit is connected to the paving equipment; The positioning and detection unit is configured to obtain the three-dimensional coordinate information of the paver screed and the three-dimensional coordinate information of multiple points on the surface of the road after receiving the three-dimensional paving signal; The vehicle-mounted control unit is configured to determine the target position of the paver screed according to the three-dimensional coordinate information of the paver screed, the three-dimensional coordinate information of multiple points on the surface of the road, and the design model of the road; The vehicle-mounted control unit is further configured to generate a second elevation adjustment signal according to the target position and send the second elevation adjustment signal to the paving equipment.

6. The paving control system according to claim 5, characterized in that The three-dimensional paving module further includes a surface detection unit; the surface detection unit is connected to the vehicle-mounted control unit; The surface detection unit is further configured to monitor the road information of the road in real time and send the road information of the road to the vehicle-mounted control unit; The vehicle-mounted control unit is further configured to determine the road repair information according to the three-dimensional coordinate information of multiple points on the surface of the road, the design model of the road, and the road information of the road, and generate a road repair signal according to the road repair information and then send the road repair signal to the paving equipment; The paving equipment is further configured to repair the road surface according to the road repair signal.

7. The paving control system according to claim 5, wherein The positioning and detection unit includes a total station and a 360-degree prism; the total station is installed at a preset control point, and the 360-degree prism is installed at the top of the telescopic mast of the paving equipment; wherein, the preset control points are located on both sides of the construction area of the paving equipment, and the telescopic mast is respectively fixed on the floating jibs on both sides of the paving equipment through a quick-release installation structure; The total station is configured to measure the three-dimensional coordinates of the 360-degree prism in real time and send the three-dimensional coordinates of the 360-degree prism to the vehicle-mounted control unit; The vehicle-mounted control unit is configured to determine the three-dimensional coordinate information of multiple points on the surface of the road according to the three-dimensional coordinates of the 360-degree prism and a preset coordinate conversion relationship.

8. The paving control system according to claim 7, wherein The paving equipment includes a leveling control unit and a paving controller; The leveling control unit is installed on both sides of the paver screed of the paving equipment and is configured to drive the leveling oil cylinder of the paving equipment to adjust the angle of the floating jib of the paving equipment, so that the elevation angle of the paver screed changes; The paving controller is configured to control the paving equipment to perform paving after the elevation angle of the paver screed changes.

9. The paving control system according to claim 8, characterized in that, The leveling control unit includes a vehicle-mounted controller, a mast inclination sensor, and a signal transmission device; both the mast inclination sensor and the signal transmission device are connected to the vehicle-mounted controller; The mast inclination sensor is installed at the bottom of the installation structure of the telescopic mast; The signal transmission device is configured to send the three-dimensional coordinates of the 360-degree prism sent by the total station to the vehicle-mounted control unit; The vehicle-mounted controller is configured to generate a hydraulic solenoid valve control electrical signal according to the first elevation adjustment signal or the second elevation adjustment signal, so as to control the leveling solenoid valve of the paving equipment to drive the leveling oil cylinder of the paving equipment according to the hydraulic solenoid valve control electrical signal, so that the elevation angle of the screed is changed after the angle of the floating boom is adjusted.

10. A paving control method, characterized in that, The method includes: obtaining the current roadbed flatness of the road; when the current roadbed flatness is greater than a preset roadbed flatness, sending a balance beam paving signal to the balance beam paving module; when the current roadbed flatness is less than or equal to the preset roadbed flatness, sending a three-dimensional paving signal to the three-dimensional paving module.

Images