Roadbed intelligent compaction equipment suitable for high-speed railway in cold region

Abstract

The invention discloses intelligent roadbed compaction equipment suitable for a cold region high-speed railway, and the equipment comprises a cold region roadbed temperature field monitoring system which is used for monitoring the change of a roadbed temperature field in a roadbed filling and compacting process; the remote control system is used for generating an instruction to control the roadbed compaction action of the intelligent road roller according to the monitoring results of the cold region roadbed moisture field monitoring system and the cold region roadbed temperature field monitoring system; and the GPS-RTK real-time dynamic positioning and navigation system is used for performing compaction route navigation on roadbed compaction of the intelligent road roller according to the remote control system. The system can be suitable for extreme compaction construction conditions of the high-speed railway subgrade in the cold region, can effectively improve the compaction quality of the high-speed railway subgrade in the cold region, can also realize visual monitoring of the water content and temperature field change in the subgrade compaction process, can improve the compaction efficiency and the intelligent and digital degree, and can improve the construction quality of the high-speed railway subgrade in the cold region. And the compaction quality monitoring and the disease control of the high-speed railway roadbed in the cold region are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of railway compaction, and particularly relates to an intelligent subgrade compaction device suitable for high-speed railways in cold regions. Background Art

[0002] With the development of the economy, the railway industry in China has developed very rapidly in the past decade. High-speed railways have very strict requirements for subgrade deformation. The compaction quality during the filling and compaction construction stage of the subgrade largely determines the service performance of high-speed railways.

[0003] For railways in cold regions, there is usually the problem of subgrade frost heave. The deformation caused by frost heave greatly affects the track smoothness of high-speed railways. The main problems affecting railway subgrade frost heave include three aspects: soil quality, water content, and temperature. Both soil quality and water content are internal factors. However, due to the complexity of geotechnical engineering problems themselves, even if the filler type and water content of the subgrade are controlled during the subgrade filling process, frost damage still occurs frequently during the construction of railways in cold regions, severely restricting the development of high-speed railways in cold regions.

[0004] In 2004, there were 16,123 places with frost heave deformation exceeding 15 mm, with a cumulative length of 334,454 m within the scope of a certain railway administration. Among them, 121 places had a deformation reaching more than 50 mm, with a cumulative length of 4,323 m, and the maximum deformation could reach 600 mm. For the first high-speed railway with a speed of 350 km / h designed and built independently in the alpine seasonal frozen soil region of China, considering the special requirements of ballastless tracks for subgrade deformation, a series of anti-frost heave measures have been taken during the design. However, the deformation observation in winter 2011 and the railway track dynamic detection data show that some subgrades still have relatively serious frost heave deformation. The frost heave problems caused by frost damage will cause longitudinal and transverse unevenness of the route, seriously threatening the safety and efficiency of train operation.

[0005] For ordinary high-speed railways and high-speed railways in cold regions, there are some deficiencies in the conventional filling and compaction operation methods and quality control technologies, which are mainly reflected in:

[0006] (1) The control of compaction parameters is carried out by on-site construction personnel, which is seriously affected by human factors. Not only is the compaction efficiency low, but there are also many control errors and quality defects in compaction quality. For example, manual driving will lead to large compaction quality control errors, and the operators will have a great impact on the control effect of compaction parameters, resulting in poor compaction uniformity.

[0007] (2) The on-site tests with destructive characteristics are time-consuming and laborious, and cannot meet the construction requirements of modern subgrade compaction mechanization, intelligence, and digitization.

[0008] (3) It is difficult to record the compaction quality of the entire subgrade filling and compaction operation surface in real time, and the data traceability is poor, making it difficult to achieve visual real-time management of compaction information.

[0009] (4) For the filling construction of high-speed railways in cold regions, the existing subgrade construction technologies are difficult to meet the growing requirements for subgrade compaction quality and efficiency under dangerous construction areas, extreme environmental conditions, and all-weather high-intensity working conditions. For example, the average winter temperature in a certain area from 1955 to 2013 was -16.77 °C, and the historical minimum temperature was as low as -37.7 °C. It is difficult for on-site construction personnel to ensure high compaction quality of the subgrade in such extreme working environments.

[0010] In view of the above, the intelligent compaction technology for subgrade of high-speed railways in cold regions needs to solve two key problems: how to achieve intelligent compaction control of the subgrade compaction quality of high-speed railways in cold regions, and how to monitor and control the moisture field and temperature field of subgrade compaction. Summary of the Invention

[0011] The technical problem to be solved by the present invention is that the conventional subgrade compaction operation mode and quality control technology are seriously affected by human factors, with poor compaction quality and uniformity, low compaction efficiency, low intelligence and digital level, and poor traceability of construction data. The purpose is to provide a subgrade intelligent compaction device suitable for high-speed railways in cold regions, which can respectively monitor the changes in the moisture field and temperature field during the subgrade compaction process through the cold-region subgrade moisture field monitoring system and the cold-region subgrade temperature field monitoring system, and optimize the compaction process of the intelligent roller in real time according to the changes in the moisture field and temperature field results, so as to ensure that it can be applicable to the extreme compaction construction conditions of high-speed railway subgrades in cold regions. It can not only effectively improve the compaction quality of high-speed railway subgrades in cold regions, but also realize visual monitoring of the changes in water content and temperature field during the subgrade compaction process, and play an effective improvement role in the compaction quality monitoring and disease prevention and control of high-speed railway subgrades in cold regions.

[0012] The present invention is realized through the following technical solutions:

[0013] The present invention provides a subgrade intelligent compaction device suitable for high-speed railways in cold regions, including:

[0014] Intelligent roller, cold-region subgrade moisture field monitoring system, cold-region subgrade temperature field monitoring system, GPS-RTK real-time kinematic positioning and navigation system, and remote control system;

[0015] The cold-region subgrade moisture field monitoring system is used to monitor the changes in the moisture field during the subgrade compaction process;

[0016] The cold-region subgrade temperature field monitoring system is used to monitor the changes in the subgrade temperature field during the subgrade filling and compaction process;

[0017] The remote control system is used to generate instructions to control the subgrade compaction action of the intelligent roller according to the monitoring results of the cold region subgrade moisture field monitoring system and the cold region subgrade temperature field monitoring system;

[0018] The GPS-RTK real-time kinematic positioning and navigation system is used to perform compaction route navigation on the subgrade compaction of the intelligent roller according to the remote control system.

[0019] Furthermore, the intelligent roller includes: a real-time subgrade compaction quality monitoring device, an on-vehicle control center, a speed sensor, a distance sensor, an angle sensor, an infrared temperature sensor, a GPS receiver, a high-definition real-time camera, an on-vehicle communication device, an automatic speed regulation device, and an automatic steering device;

[0020] The on-vehicle control center is used to obtain subgrade compaction data and perform subgrade compaction according to the subgrade compaction data obtained in real time; the subgrade compaction data includes the acquisition data of the speed sensor, the distance sensor, the angle sensor, the infrared temperature sensor, the GPS receiver, the high-definition real-time camera, and the real-time subgrade compaction quality monitoring device;

[0021] The real-time subgrade compaction quality monitoring device integrates data acquisition algorithms for continuous compaction control, integrated compaction measurement of the roller, and intelligent compaction, and is used to monitor the compaction state of the subgrade in real time;

[0022] The speed sensor, the distance sensor, and the angle sensor are respectively used to capture the state information during the operation of the intelligent roller;

[0023] The infrared temperature sensor is used to monitor the temperature of the surface of the subgrade filling layer;

[0024] The GPS receiver is used to receive positioning and navigation information;

[0025] The high-definition real-time camera is used to capture the real-time images of the surrounding construction environment during the compaction process of the intelligent roller;

[0026] The on-vehicle communication device is used to receive and send various compaction information and control instructions;

[0027] The automatic speed regulation device and the automatic steering device are respectively used to realize the automatic speed regulation and automatic steering of the intelligent roller.

[0028] Furthermore, the cold region subgrade moisture field monitoring system includes:

[0029] An indoor resistivity-water content test device and an outdoor resistivity-water content test device;

[0030] The indoor resistivity-water content testing device is used to test the resistivity of the subgrade filling sample through a resistivity probe, and obtain the fitting relationship between the resistivity and unfrozen water content of the filling material at the subgrade construction site;

[0031] The outdoor resistivity-water content testing device is used to obtain the resistivity distribution data of different plane positions and different depths of different filling layers of the subgrade through a resistivity probe, and obtain the distribution of the unfrozen water content of the subgrade within different plane positions and different depth ranges on the rolling track based on the resistivity distribution data.

[0032] Further, the indoor resistivity-water content testing device obtaining the fitting relationship between the resistivity and unfrozen water content of the filling material at the subgrade construction site includes:

[0033] Obtain subgrade filling materials, and obtain different water content samples according to the subgrade filling materials;

[0034] Conduct resistivity tests on different water content samples to obtain the fitting relationship between resistivity and unfrozen water content;

[0035] The outdoor resistivity-water content testing device obtaining the distribution of the unfrozen water content of the subgrade within different plane positions and different depth ranges on the rolling track includes:

[0036] Obtain the resistivity distribution data of different plane positions and different depths of different filling layers of the subgrade;

[0037] Calibrate in combination with the fitting relationship between resistivity and unfrozen water content obtained indoors to obtain the distribution of the unfrozen water content of the subgrade within different plane positions and different depth ranges on the rolling track.

[0038] Further, the cold region subgrade temperature field monitoring system includes an infrared temperature sensor;

[0039] The infrared temperature sensor is used to obtain the temperature field distribution cloud map of any different test cross-sections of the subgrade at different depths and different times, and monitor the temperature field distribution of the subgrade during the subgrade filling and compaction process according to the temperature field distribution cloud map of any different test cross-sections of the subgrade at different depths and different times.

[0040] Further, the cold region subgrade temperature field monitoring system monitoring the change process of the subgrade temperature field during the subgrade filling and compaction process includes:

[0041] Obtain the surface temperature of the subgrade filling layer monitored by the infrared temperature sensor in real time;

[0042] According to the GPS-RTK real-time kinematic positioning and navigation system, capture the spatial position corresponding to the surface temperature data of the subgrade filling layer in real time, and obtain the surface temperature of different positions of different filling layers;

[0043] Based on the surface temperatures at different positions of the same filling layer, the temperature field distribution of the subgrade during the subgrade filling and compaction process is obtained according to the heat transfer principle.

[0044] Furthermore, the GPS-RTK real-time kinematic positioning and navigation system includes GPS working satellites and a ground base station;

[0045] The GPS working satellites and the ground base station are used to real-time locate the intelligent roller, and conduct compaction route navigation for the subgrade compaction of the intelligent roller according to the compaction navigation route and control instructions; the GPS working satellites and the ground base station are also used to real-time locate the spatial positions of the resistivity probe and the infrared temperature sensor.

[0046] Furthermore, the remote control system includes:

[0047] It includes a communication device, a database server, and a BIM digital engineering monitoring and control terminal;

[0048] The communication device is used to receive and transmit real-time dynamic data of subgrade compaction;

[0049] The database server is used to analyze and process the received real-time dynamic data of subgrade compaction;

[0050] The BIM digital engineering monitoring and control terminal is used to conduct three-dimensional / two-dimensional visualization management on the data during the subgrade compaction process, and guide the intelligent compaction operation based on the three-dimensional / two-dimensional visualization management data.

[0051] Furthermore, it also includes a wireless communication system;

[0052] The wireless communication system includes: multiple wireless access points and communication relay stations;

[0053] The multiple wireless access points include: an in-vehicle wireless access point located on the intelligent roller and a wireless access point located on the remote control system;

[0054] The in-vehicle wireless access point, the wireless access point, and the communication relay station are all used to receive and transmit data.

[0055] Furthermore, it also includes a BIM digital display terminal for subgrade filling construction;

[0056] The BIM digital display terminal for subgrade filling construction includes: an in-vehicle display terminal located on the intelligent roller, a BIM digital engineering monitoring and control terminal located on the remote control system, and a construction operation shared display terminal;

[0057] The BIM digital engineering monitoring and control terminal is used to share the dynamic information of subgrade compaction to the in-vehicle display terminal on the intelligent roller and the construction operation shared display terminal through a communication device, so as to realize real-time visual sharing and monitoring of the dynamic information of subgrade compaction.

[0058] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0059] (1) It can automatically adjust the vibration parameters of the roller according to the compaction quality at different positions of the subgrade filling and compaction working surface, avoiding under-compaction or over-compaction of the filling layer, so as to achieve the best compaction quality distribution on the rolling surface;

[0060] (2) It can effectively and uniformly control the filling thickness of each filling layer, ensuring the uniformity of subgrade compaction and settlement;

[0061] (3) It can realize the autonomous planning of the best navigation compaction route, and the intelligent roller can achieve autonomous navigation and driverless operation through automatic speed regulation and automatic steering;

[0062] (4) It converts the traditional compaction control method into intelligent compaction, avoiding the influence of human factors on compaction quality and improving compaction quality and compaction efficiency;

[0063] (5) It realizes the monitoring of the change of the moisture field (represented by the unfrozen moisture content) during the compaction of the subgrade of the high-speed railway in cold regions, providing technical support for further ensuring that the moisture content of the subgrade filling material of the high-speed railway in cold regions is maintained within a certain range of the optimal moisture content;

[0064] (6) It realizes the real-time dynamic monitoring of the change of the temperature field during the compaction of the subgrade of the high-speed railway in cold regions, providing first-hand technical research materials for further studying the disturbance law of the temperature field during the construction of the subgrade of the high-speed railway in cold regions;

[0065] (7) It meets the needs of subgrade compaction of high-speed railways in cold regions in some dangerous construction areas, extreme environmental conditions and all-weather high-intensity work;

[0066] (8) It realizes the visual monitoring and management of various compaction information during the subgrade compaction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings. In the drawings:

[0068] Figure 1It is the working principle diagram of a system device suitable for intelligent compaction of high-speed railway subgrades in cold regions in the embodiments of the present invention;

[0069] Figure 2 It is the intelligent roller in the embodiments of the present invention;

[0070] Figure 3 It is the schematic diagram of the moisture field monitoring system for cold region subgrades in the embodiments of the present invention;

[0071] Figure 4 It is the schematic diagram of the temperature field monitoring system for cold region subgrades in the embodiments of the present invention;

[0072] Figure 5 It is the GPS-RTK real-time kinematic positioning and navigation system in the embodiments of the present invention;

[0073] Figure 6 It is the remote control system in the embodiments of the present invention;

[0074] Figure 7 It is the wireless communication system in the embodiments of the present invention;

[0075] Figure 8 It is the BIM digital display terminal for subgrade filling construction in the embodiments of the present invention;

[0076] Among them, the reference numerals in the figure:

[0077] 1. Intelligent roller 1; 2. Moisture field monitoring system for cold region subgrades; 3. Temperature field monitoring system for cold region subgrades; 4. GPS-RTK real-time kinematic positioning and navigation system; 5. Remote control system; 6. Wireless communication system; 7. BIM digital display terminal for subgrade filling construction; 8. Real-time monitoring device for subgrade compaction quality; 9. On-vehicle control center; 10. Speed sensor; 11. Distance sensor; 12. Angle sensor; 13. Infrared temperature sensor; 14. GPS receiver; 15. High-definition real-time camera; 16. On-vehicle communication device; 17. Automatic speed regulation device; 18. Automatic steering device; 19. On-vehicle wireless access point; 20. On-vehicle display terminal; 21. Indoor resistivity-water content test device; 22. Outdoor resistivity-water content test device; 23. Resistivity probe; 24. Communication device; 25. Database server; 26. BIM digital engineering monitoring and control terminal; 27. Wireless access point; 28. Communication relay station; 29. Construction operation shared display terminal; 30. GPS working satellite; 31. Ground base station. Detailed implementation manners

[0078] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to embodiments and the accompanying drawings. The illustrative embodiments and descriptions thereof of the present invention are only used to explain the present invention and shall not be construed as limiting the present invention.

[0079] As a possible embodiment, as Figure 1 shown, this embodiment provides a subgrade intelligent compaction device applicable to high-speed railways in cold regions, including: intelligent roller 1, cold-region subgrade moisture field monitoring system 2, cold-region subgrade temperature field monitoring system 3, GPS-RTK real-time kinematic positioning and navigation system 4, remote control system 5, wireless communication system 6, and subgrade filling construction BIM digital display terminal 7; the cold-region subgrade moisture field monitoring system 2 is used to monitor the change of the moisture field during the subgrade compaction process; the cold-region subgrade temperature field monitoring system 3 is used to monitor the change of the subgrade temperature field during the subgrade filling and compaction process; the remote control system 5 is used to generate instructions to control the subgrade compaction action of the intelligent roller according to the monitoring results of the cold-region subgrade moisture field monitoring system and the cold-region subgrade temperature field monitoring system; the GPS-RTK real-time kinematic positioning and navigation system 4 is used to perform compaction route navigation on the subgrade compaction of the intelligent roller according to the remote control system; the wireless communication system 6 is used for data transmission among various components; the subgrade filling construction BIM digital display terminal 7 is used to display the monitoring results. In this embodiment, the cold-region subgrade moisture field monitoring system and the cold-region subgrade temperature field monitoring system respectively monitor the change of the moisture field and the change of the temperature field during the subgrade compaction process, process the change of the moisture field and the change of the temperature field and issue instructions based on remote control, and optimize the compaction process of the intelligent roller in real time in combination with dynamic positioning and navigation. The compaction device of this embodiment can be applicable to the extreme compaction construction conditions of the subgrade of high-speed railways in cold regions, not only can effectively improve the compaction quality of the subgrade of high-speed railways in cold regions, but also can realize the visual monitoring of the change of the water content and the temperature field during the subgrade compaction process, and play an effective improvement role in the compaction quality monitoring and frost damage prevention of the subgrade of high-speed railways in cold regions.

[0080] As Figure 2 shown, the intelligent roller 1 mainly includes a subgrade compaction quality real-time monitoring device 8, an on-vehicle control center 9, a speed sensor 10, a ranging sensor 11, an angle sensor 12, an infrared temperature sensor 13, a GPS receiver 14, a high-definition real-time camera 15, an on-vehicle communication device 16, an automatic speed regulation device 17, and an automatic steering device 18.

[0081] In some possible embodiments, the real-time monitoring device 8 for subgrade compaction quality is installed on the front frame perpendicular to the central axis of the vibrating wheel of the intelligent roller 1, and integrates a corresponding compaction data acquisition system for continuous compaction control (CCC) / roller integrated compaction measurement (RICM) / intelligent compaction (IC). The system correspondingly includes data acquisition algorithms for continuous compaction control, roller integrated compaction measurement, and intelligent compaction, and can collect and record in real time the compaction values of the subgrade compaction quality evaluation indicators during the compaction process, so as to characterize the real-time compaction state of the subgrade filler; in addition, the corresponding information can also be transmitted to the vehicle-mounted control center 9, and the corresponding vibration parameters of the roller can be adjusted in real time according to the control instructions fed back by the vehicle-mounted control center 9.

[0082] In some possible embodiments, the GPS receiver 14 is installed behind the top of the intelligent roller 1, and is used to receive the spatial positioning information of the intelligent roller 1 (including the planar coordinates X, Y and the elevation coordinate Z) sent by the GPS-RTK real-time kinematic positioning and navigation system 2, the planar positioning information of the resistivity probe 23, and the infrared temperature sensor 13, and transmit the corresponding information to the vehicle-mounted control center 9.

[0083] In some possible embodiments, the speed sensor 10 and the angle sensor 12 are installed at the bottom of the front end of the front frame of the intelligent roller 1, the distance sensor 11 is installed at the top of the front end of the front frame of the intelligent roller 1, and the infrared temperature sensor 13 is installed at the bottom of the rear end of the front frame of the intelligent roller 1. The speed sensor 10, the angle sensor 12, and the distance sensor 11 are used to continuously collect in real time the information related to the operation of the intelligent roller 1 (such as driving speed, steering angle, driving distance, etc.). The distance sensor 11 and the angle sensor 12 can also monitor in real time the distances of construction equipment, personnel, and obstacles within a certain range around the intelligent roller 1, as well as their azimuth angles relative to the intelligent roller 1. The infrared temperature sensor 13 is used to collect in real time the temperature Tn of the surface of the subgrade filling layer on the driving track of the intelligent roller 1.

[0084] In some possible embodiments, the high-definition real-time camera 15 is installed obliquely above the cockpit of the intelligent roller 1, and can rotate horizontally and vertically within a certain range to realize real-time image monitoring of the environment around the roller during the rolling construction site.

[0085] In some possible embodiments, the vehicle-mounted communication device 16 is located on top of the intelligent roller 1, and is configured with a vehicle-mounted wireless access point 19. The vehicle-mounted wireless access point 19 is responsible for real-time transmission of compaction information on the rolling track during subgrade compaction (including the number of rolling layers, filling thickness, compaction value, etc.), temperature distribution data at different positions on the surface of each filling layer along the longitudinal direction of the subgrade on the compaction track, resistivity distribution data at different spatial positions of the subgrade measured by the resistivity probe 23, compaction parameters of the roller (such as traveling speed, vibration mode, vibration amplitude, vibration frequency, compaction times, compaction track, etc.), real-time spatial position and actual traveling track information of the roller, operating state information of the roller, video image information of the construction environment, and positions of construction personnel, equipment and obstacles around the roller and other dynamic information to the remote control system 5. In addition, the vehicle-mounted wireless access point 19 can receive in real time the compaction navigation planned route, roller control instructions and other image feedback information fed back by the remote control system 5, and then the vehicle-mounted communication device 16 transmits the corresponding information to the vehicle-mounted control center 9.

[0086] In some possible embodiments, the vehicle-mounted communication device 16 can also realize information interaction and sharing among multiple rollers during the construction process, so as to realize collaborative compaction operation of multiple intelligent rollers.

[0087] In some possible embodiments, the vehicle-mounted control center 9 is an intelligent computer installed in the cockpit of the intelligent roller 1, and is configured with a vehicle-mounted display terminal 20. The vehicle-mounted control center 9 can receive real-time information transmitted by the speed sensor 10, distance measuring sensor 11, angle sensor 12, infrared temperature sensor 13, resistivity probe 23 and high-definition real-time camera 15, and feedback it to the remote control system 5 through the vehicle-mounted communication device 16; the vehicle-mounted control center 9 can also receive and display the navigation route, control instructions and BIM three-dimensional / two-dimensional subgrade compaction process visualization image information received by the vehicle-mounted communication device 16.

[0088] In some possible embodiments, the vehicle-mounted control center 9 can read the expected navigation traveling speed that the vehicle-mounted communication device 16 receives in real time from the remote control system 5, and read the traveling speed of the roller measured in real time in the speed sensor 10, and can calculate the deviation between the current traveling speed and the expected speed of the intelligent roller 1. The vehicle-mounted control center 9 further calculates a control current signal and transmits it to the automatic speed regulation device 17, and the automatic speed regulation device 17 can control the electric throttle pedal or electric brake pedal in the cockpit to realize automatic speed regulation and automatic braking of the intelligent roller 1.

[0089] In some possible embodiments, the vehicle-mounted control center 9 can read the optimal navigation route received by the vehicle-mounted communication device 16 from the remote control system 5 in real time, and read the planar coordinate (X, Y) information provided by the GPS-RTK real-time kinematic positioning and navigation system 4. It can calculate the distance deviation and angle deviation between the current position of the intelligent roller 1 and the optimal navigation route planned by the remote control system 5, so as to obtain the steering angle of the roller. The vehicle-mounted control center 9 further calculates the control current signal and transmits it to the automatic steering device 18. The automatic steering device 18 can control the electric steering wheel in the cockpit to realize the automatic steering of the intelligent roller 1.

[0090] In some possible embodiments, the vehicle-mounted control center 9 can read the optimal navigation route received by the vehicle-mounted communication device 16 from the remote control system 5 in real time, and read the elevation coordinate (Z) information provided by the RTK-GPS high-precision positioning and navigation system 2. It can calculate the qualified / unqualified information of the filling thickness at the current position of the intelligent roller 1 and feedback it to the remote control system 5 through the vehicle-mounted communication device 16 to guide the rolling construction operation of the next filling layer, so as to control the compaction quality of the roadbed by controlling the filling layer thickness and maintain the uniform settlement of the compacted layer.

[0091] In some possible embodiments, the vehicle-mounted control center 9 can read the actual compaction value and the desired compaction value at any position on the compaction track received by the vehicle-mounted communication device 16 in real time. For the corresponding under-compacted and over-compacted positions, the vehicle-mounted control center 9 will automatically adjust the vibration parameters (vibration amplitude, vibration frequency, excitation force, traveling speed, etc.) of the roller during the next rolling process to achieve the best compaction quality of the rolling surface.

[0092] In some possible embodiments, the vehicle-mounted control center 9 includes three operation modes. The first is the conventional manual operation mode. The roller operator can manually drive the intelligent roller 1 in the cockpit to compact the roadbed based on the information received from the remote control system 5. The second mode is the manual remote control mode. The operator can remotely control the intelligent roller 1 through the remote control system 5 to perform on-site construction compaction operations. The third mode is the intelligent unmanned compaction mode. The vehicle-mounted control center 9 automatically adjusts the compaction parameters and operating status according to the optimal navigation route planned by the remote control system 5 and the feedback compaction information to achieve autonomous driverless operation. The latter two modes are especially suitable for the extreme construction operation environment of cold region high-speed railway subgrade and the needs of all-weather / high-intensity work.

[0093] As Figure 3 shown, the cold region subgrade moisture field monitoring system 2 includes an indoor resistivity-water content test device 21 and an outdoor resistivity-water content test device 22.

[0094] In some possible embodiments, the indoor resistivity-water content testing device 21 can fabricate a large number of specimens with different water contents from the subgrade fillers constructed on-site for resistivity testing, and obtain the fitting relationship between resistivity and unfrozen water content. Since the water content is very sensitive to the change of the resistivity of the subgrade filler, this fitting relationship can be used as the calibration curve for the unfrozen water content at the subgrade construction site.

[0095] In some possible embodiments, the outdoor resistivity-water content testing device 22 mainly consists of a series of resistivity probes 23. In addition, the resistivity probes 23 can be further combined with the GPS-RTK real-time kinematic positioning and navigation system 4, the vehicle-mounted control center 9, and the remote control system 5 for auxiliary testing.

[0096] In some possible embodiments, after the construction of each filling layer, a series of resistivity probes 23 are buried in the subgrade. The resistivity probes 23 feed back the measured data to the vehicle-mounted control center 9, and the spatial position coordinates of any resistivity probe are captured by the GPS-RTK real-time kinematic positioning and navigation system 4 and then shared to the vehicle-mounted control center 9. The vehicle-mounted control center 9 further feeds back the corresponding data to the remote control system 5. The remote control system 5 is built-in with a calculation program compiled based on Ohm's law principle, which can calculate the resistivity of the soil around the electrodes of the resistivity probes 23, and obtain a data list and resistivity image of the resistivity distribution in the corresponding subgrade. Finally, the resistivity data is automatically calibrated with the fitting curve of resistivity-unfrozen water content obtained by the indoor resistivity-water content testing device 21, and thus the unfrozen water content of the subgrade at different planar positions and different depth ranges on the rolling track can be obtained.

[0097] As Figure 4 shown, the cold region subgrade temperature field monitoring system 3 mainly includes an infrared temperature sensor 13 installed on the intelligent roller 1. In addition, the infrared temperature sensor 13 can be combined with the GPS-RTK real-time kinematic positioning and navigation system 4, the vehicle-mounted control center 9, and the remote control system 5 for auxiliary testing.

[0098] In some possible embodiments, the infrared temperature sensor 13 is installed at the tail of the front frame of the intelligent roller 1, and can read the surface temperature T of the filling layer on the compaction track in real time during the rolling construction of each filling layer n。The infrared temperature sensor 13 transmits the measured data to the vehicle-mounted control center 9. The spatial position information corresponding to different temperature monitoring data is captured in real time by the GPS-RTK real-time kinematic positioning and navigation system 4 and shared to the vehicle-mounted control center 9. After integrating the corresponding data, the vehicle-mounted control center 9 further feeds it back to the remote control system 5. The remote control system 5 is built-in with a calculation program compiled based on the heat transfer principle, and can realize the application of discontinuous conditions in continuous field analysis by transforming the geometric model and circularly calling the initial temperature field, that is, the temperature field distribution of any test section at any depth and any time during the subgrade filling process can be obtained.

[0099] In some possible implementation manners, the cold region subgrade temperature field monitoring system monitors the change process of the subgrade temperature field during the subgrade filling and compaction process, including:

[0100] Obtain the surface temperature of the subgrade filling layer monitored by the infrared temperature sensor in real time;

[0101] According to the GPS-RTK real-time kinematic positioning and navigation system, capture the spatial position corresponding to the surface temperature data of the subgrade filling layer in real time, and obtain the surface temperature at different positions of different filling layers;

[0102] According to the surface temperature at different positions of the same filling layer, obtain the subgrade temperature field distribution during the subgrade filling and compaction process based on the heat transfer principle.

[0103] In some possible implementation manners, obtaining the subgrade temperature field distribution during the subgrade filling and compaction process based on the heat transfer principle, the specific calculation process includes:

[0104] Step S1: Define the heat transfer mechanism of cold region subgrade filling construction

[0105] The heat transfer methods of the cold region subgrade can be summarized into three types in heat transfer: heat conduction, heat convection, and heat radiation. Assume that the filling materials of each layer of the subgrade are isotropic homogeneous materials; assume that during the paving process of the cold region subgrade, the upper boundary of the filling layer is directly in contact with the air, and its temperature field change mainly includes two heat transfer methods: convective heat transfer and radiative heat transfer; since the difference in thermal conductivity between the subgrade filling materials is not large, it can be assumed that the heat transfer relationship at a certain depth below the subgrade is the same as that above; the heat transfer method at the lower boundary of the subgrade is only considered as heat conduction macroscopically. The original construction site temperature field before subgrade filling construction is provided by relevant units and used as the initial temperature field T0.

[0106] Step S2: Calculate the heat transfer on the surface of the filling layer during any filling and compaction process

[0107] The heat transfer on the surface of the filling layer during any filling and compaction process includes: convective heat transfer between the filling surface layer and the air and radiative heat transfer between the filling surface layer and the surrounding environment.

[0108] ①Convective heat transfer between the filled surface layer and air:

[0109] q c =h c (T s -T f )(1)

[0110] In the formula:

[0111] q c —Convective heat flux density, W / m 2 ;

[0112] T s —Surface temperature of the filled layer, K;

[0113] T f —Temperature of the fluid, K;

[0114] h c —Surface heat transfer coefficient (convective heat transfer coefficient), W / (m 2 ·K);

[0115] Based on Equation (1), the convective heat transfer coefficient h needs to be defined in the analysis of convective heat transfer on the surface of any filled layer of the subgrade c . Based on the classical theory of heat transfer, under non-phase change conditions, the convective heat transfer coefficient on the surface of the subgrade filled layer is related to multiple physical quantities such as gas velocity v, characteristic size l of the heat transfer device, density ρ, kinematic viscosity γ, specific heat capacity c, thermal conductivity λ, buoyancy force αgΔT per unit mass of fluid (where α is the gas expansion coefficient, g is the acceleration due to gravity, and ΔT is the temperature difference), etc. h c can be expressed as:

[0116] h c =f(v, l, ρ, λ, c, αgΔT)(2)

[0117] The relevant parameters in Equation (2) can be determined through indoor and outdoor engineering tests.

[0118] ②Radiative heat transfer between the filled surface layer and the surrounding environment

[0119] 1) Incident radiation

[0120] The incident radiation during the subgrade filling process can be expressed by Equation (3)

[0121] q r =a(q sr +q a i r -q pl -q prr )(3)

[0122] In the formula:

[0123] a—Absorption reduction coefficient (less than 1) introduced by considering the radiative reflection of the road surface;

[0124] q r —Radiant heat flux density, W / m 2 ;

[0125] q sr —Atmospheric radiant heat flux density, W / m 2 ;

[0126] q air —Atmospheric back-radiant heat flux density, W / m 2 ;

[0127] q pl —Long-wave radiant heat flux density of the road surface, W / m 2 ;

[0128] q prr —Reflected heat flux density of the road surface, W / m 2 ;

[0129] 2) Outgoing radiation

[0130]

[0131] In the formula:

[0132] q r —Radiant heat flux density, W / m 2 ;

[0133] T w —Surface temperature of the filling layer, K;

[0134] T amb —Ambient temperature, K;

[0135] ε—Emissivity of the ground long wave;

[0136] σ—Blackbody radiation constant, 5.67×10 -8 W / (m 2 ·K);

[0137] 3) By combining equations (1)-(4), the energy exchange relationship on the upper boundary of the subgrade filling layer surface can be obtained as:

[0138]

[0139] Step S3: Calculate the heat transfer at the lower boundary of the subgrade

[0140] For simplicity of calculation, assume that the bottom of the lower part of the subgrade is adiabatic at an infinite depth, then:

[0141]

[0142] In the formula:

[0143] q t —Thermal conductivity heat flux, W / m 2 ;

[0144] λ—thermal conductivity of material, W / m·K;

[0145] Step S4: Calculation and solution of roadbed temperature field

[0146] The distribution of the roadbed temperature field in time and space can be expressed as:

[0147] T=T(x,y,z,t)(7)

[0148] To study the temperature distribution of an arbitrary roadbed cross section, it can be assumed that the temperature difference within a certain range in the horizontal direction of the roadbed cross section is infinitely small, so the temperature field of the cross section can be approximated by the temperature field along the depth direction of the vertical center line of the roadbed. The distribution of the temperature field during the roadbed filling process can be analyzed as a one-dimensional temperature field:

[0149] T=T(z,t)(8)

[0150] Based on the heat transfer theory, the heat transfer control equation for any depth of the roadbed is:

[0151]

[0152] Where:

[0153] T1—the temperature of the first filling layer. The initial temperature during filling is measured by the cold region roadbed temperature field monitoring system 3;

[0154] T n —The temperature of the nth filling layer, the initial temperature during filling is measured by the cold region roadbed temperature field monitoring system 3;

[0155] It is assumed that the temperature within any roadbed filling layer is the same during the construction process. For example, the surface temperature T1 of the first filling layer is measured by the cold region roadbed temperature field monitoring system 3, and T1 is used to approximately represent the initial temperature field within the layer. The soil temperature distribution below the first filling layer takes the temperature field T0 measured before the roadbed filling construction as the initial condition; in two consecutive temperature field analyses, the analysis results of the previous step are called as the initial temperature field. For example, the initial temperature field of the roadbed below the nth filling layer is represented by the temperature field calculated after the rolling construction of the n-1th filling layer is completed.

[0156] In summary, the combined equations (5)(6)(9)(10) realize the application of discontinuous conditions in continuous field analysis by continuously changing the geometric model and cyclically calling the initial temperature field, and can obtain the temperature field distribution at any depth and at any time in the roadbed during the roadbed filling and compaction process.

[0157] As Figure 5 shown, the GPS-RTK real-time kinematic positioning and navigation system 2 includes GPS working satellites 30 and a ground base station 31. The GPS working satellites 30 and the ground base station 31 work together to achieve centimeter-level positioning accuracy. The GPS-RTK real-time kinematic positioning and navigation system 2 can capture the spatial positioning information of construction equipment such as intelligent rollers 1, resistivity probes 23, and infrared temperature sensors 32 in the subgrade construction site in real time, as well as the real-time data collection of other subgrade site construction, and feed the corresponding information back to the intelligent roller 1 in real time through the GPS receiver 14. In addition, the GPS-RTK real-time kinematic positioning and navigation system 2 can assist the intelligent roller 1 to achieve autonomous navigation driving according to the compaction navigation route and control instructions.

[0158] As Figure 6 shown, the remote control system 5 includes a communication device 24, a database server 25, and a BIM digital engineering monitoring and control terminal 26.

[0159] In some possible implementation manners, a wireless access point 27 is installed on the communication device 24 for receiving various information sent by the intelligent roller 1 and transmitting it to the database server 25.

[0160] In some possible implementation manners, the database server 25 is responsible for storing, calculating, and analyzing the real-time dynamic data of subgrade compaction sent by the intelligent roller 1; and transmitting the analyzed data to the BIM digital engineering monitoring and control terminal 26.

[0161] In some possible embodiments, the BIM digital engineering monitoring and control terminal 26 integrates the received information and can display in real time the on-site construction video information obtained by the high-definition real-time camera 15; the BIM digital engineering monitoring and control terminal 26 can generate a three-dimensional BIM subgrade theoretical model of the subgrade based on the design data of the subgrade survey and design and a three-dimensional BIM subgrade construction model, two-dimensional BIM cross-section and longitudinal section drawings of the subgrade construction process based on the spatial position information obtained from the current rolling track, so as to provide the deviation between the actual construction rolling and the expected design results; the BIM digital engineering monitoring and control terminal 26 automatically plans and generates the optimal compaction plan and navigation route of the roller, and can also display the elevation change information of the rolling track of any filling layer before and after the subgrade construction; the BIM digital engineering monitoring and control terminal 26 can display the unfrozen water content at different positions and different depths within the subgrade in a three-dimensional view; the BIM digital engineering monitoring and control terminal 26 can display the temperature field distribution cloud map of distance-temperature-time at any depth and any time of any test section along the longitudinal direction of the subgrade; in addition, the BIM digital engineering monitoring and control terminal 26 can display information such as compaction quality, compaction track, compaction passes, and filling thickness at any position of each rolling layer in a two-dimensional view. The BIM digital engineering monitoring and control terminal 26 realizes the three-dimensional / two-dimensional visualization management of the subgrade compaction process and can guide the on-site rolling operation of the subgrade of the high-speed railway in cold regions under extreme conditions.

[0162] In some possible embodiments, the BIM digital engineering monitoring and control terminal 26 feeds back information such as navigation and control instructions to the intelligent roller 1 through the communication device 24 according to the deviation between the obtained dynamic information of subgrade compaction and the design data to guide the next rolling construction operation; the visualization management of the water content of the subgrade can also provide technical support for further ensuring that the water content of the subgrade filler in the cold region of the high-speed railway is maintained within a certain range of the optimal water content; in addition, the visualization management of the temperature field can also provide first-hand technical research data for further studying the disturbance law of the temperature field of the subgrade of the high-speed railway in cold regions during the construction process.

[0163] As Figure 7 shown, the wireless communication system 6 includes an in-vehicle wireless access point 19 located on the intelligent roller 1, a wireless access point 27 located in the remote control system 5, and a communication relay station 28. The functions of the in-vehicle wireless access point 19 and the wireless access point 27 are both to receive and send information; the function of the communication relay station 28 is to relay the communication information sent by the wireless access point, amplify the signal and then forward it to the next wireless access point to ensure the quality of the transmitted signal and achieve long-distance communication.

[0164] As Figure 8As shown in the figure, the BIM digital display terminal 7 for subgrade filling construction includes the in-vehicle display terminal 20 on the intelligent roller 1, the BIM digital engineering monitoring and control terminal 26 in the remote control system 5, and the construction operation shared display terminal 29. The BIM digital engineering monitoring and control terminal 26 shares the dynamic information of subgrade compaction to the in-vehicle display terminal 20 and the construction operation shared display terminal 29 through the communication device 24. The in-vehicle display terminal 20 can provide visual management of the subgrade on-site compaction operation for the driver; the shared display terminal 29 can provide visual monitoring of the subgrade filling and compaction construction process for the owner, design unit, supervision unit and construction unit.

[0165] The specific embodiments described above further elaborate on the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent compaction device for subgrade applicable to high-speed railways in cold regions, characterized in that, including: intelligent roller, cold region subgrade moisture field monitoring system, cold region subgrade temperature field monitoring system, GPS-RTK real-time kinematic positioning and navigation system, and remote control system; the cold region subgrade moisture field monitoring system is used to monitor the change of the moisture field during the subgrade compaction process; the cold region subgrade temperature field monitoring system is used to monitor the change of the subgrade temperature field during the subgrade filling and compaction process; the remote control system is used to generate an instruction to control the subgrade compaction action of the intelligent roller according to the monitoring results of the cold region subgrade moisture field monitoring system and the cold region subgrade temperature field monitoring system; the GPS-RTK real-time kinematic positioning and navigation system is used to perform compaction route navigation on the subgrade compaction of the intelligent roller according to the remote control system.

2. The intelligent compaction equipment for subgrade applicable to high-speed railways in cold regions according to claim 1, characterized in that, the intelligent roller includes: a subgrade compaction quality real-time monitoring device, an on-vehicle control center, a speed sensor, a distance sensor, an angle sensor, an infrared temperature sensor, a GPS receiver, a high-definition real-time camera, an on-vehicle communication device, an automatic speed regulation device, and an automatic steering device; the on-vehicle control center is used to obtain subgrade compaction data and perform subgrade compaction according to the subgrade compaction data obtained in real time; the subgrade compaction data includes the acquisition data of the speed sensor, the distance sensor, the angle sensor, the infrared temperature sensor, the GPS receiver, the high-definition real-time camera, and the subgrade compaction quality real-time monitoring device; the subgrade compaction quality real-time monitoring device integrates data acquisition algorithms for continuous compaction control, roller integrated compaction measurement, and intelligent compaction, and is used to monitor the compaction state of the subgrade in real time; the speed sensor, the distance sensor, and the angle sensor are respectively used to capture the state information during the operation of the intelligent roller; the infrared temperature sensor is used to monitor the temperature of the surface of the subgrade filling layer; the GPS receiver is used to receive positioning and navigation information; the high-definition real-time camera is used to capture the real-time image of the surrounding construction environment during the compaction process of the intelligent roller; the on-vehicle communication device is used to receive and send various compaction information and control instructions; the automatic speed regulation device and the automatic steering device are respectively used to realize the automatic speed regulation and automatic steering of the intelligent roller.

3. The intelligent compaction equipment for subgrade applicable to high-speed railways in cold regions according to claim 1, characterized in that, the cold region subgrade moisture field monitoring system includes: an indoor resistivity-water content test device and an outdoor resistivity-water content test device; the indoor resistivity-water content test device is used to perform resistivity test on the subgrade filler sample through a resistivity probe to obtain the fitting relationship between the resistivity and unfrozen water content of the filling material at the subgrade construction site; the outdoor resistivity-water content test device is used to obtain the resistivity distribution data of different plane positions and different depths of different subgrade filling layers through a resistivity probe, and obtain the unfrozen water content distribution of the subgrade within different plane positions and different depth ranges on the rolling track based on the resistivity distribution data.

4. The intelligent compaction equipment for subgrade applicable to high-speed railways in cold regions according to claim 3, characterized in that, the indoor resistivity-water content test device obtains the fitting relationship between the resistivity and unfrozen water content of the filling material at the subgrade construction site, including: obtaining subgrade filler and obtaining different water content samples according to the subgrade filler; performing resistivity tests on different water content samples to obtain the fitting relationship between resistivity and unfrozen water content; The outdoor resistivity-water content test device obtains the unfrozen water content distribution of the subgrade at different plane positions and different depth ranges on the rolling track, including: Obtain the resistivity distribution data of different filling layers of the subgrade at different plane positions and different depths; Calibrate by combining the fitting relationship between resistivity and unfrozen water content obtained indoors to obtain the unfrozen water content distribution of the subgrade at different plane positions and different depth ranges on the rolling track.

5. The intelligent compaction equipment for subgrade applicable to high-speed railways in cold regions according to claim 1, characterized in that, The cold region subgrade temperature field monitoring system includes an infrared temperature sensor; The infrared temperature sensor is used to obtain the temperature field distribution cloud map of the subgrade at different depths and different times for any different test sections of the subgrade, and monitor the temperature field distribution of the subgrade during the subgrade filling and compaction process according to the temperature field distribution cloud map of the subgrade at different depths and different times for any different test sections of the subgrade.

6. The intelligent compaction equipment for subgrade applicable to high-speed railways in cold regions according to claim 5, characterized in that, The cold region subgrade temperature field monitoring system monitors the change process of the subgrade temperature field during the subgrade filling and compaction process, including: Obtain the surface temperature of the subgrade filling layer monitored by the infrared temperature sensor in real time; According to the GPS-RTK real-time kinematic positioning and navigation system, capture the spatial position corresponding to the surface temperature data of the subgrade filling layer in real time to obtain the surface temperature at different positions of different filling layers; Based on the surface temperature at different positions of the same filling layer, obtain the subgrade temperature field distribution during the subgrade filling and compaction process based on the heat transfer principle.

7. The intelligent compaction equipment for subgrade applicable to high-speed railways in cold regions according to claim 1, characterized in that, The GPS-RTK real-time kinematic positioning and navigation system includes GPS working satellites and ground base stations; The GPS working satellites and ground base stations are used to real-time locate the intelligent roller and conduct compaction route navigation for the subgrade compaction of the intelligent roller according to the compaction navigation route and control instructions; the GPS working satellites and ground base stations are also used to real-time locate the spatial positions of the resistivity probe and the infrared temperature sensor.

8. The intelligent compaction equipment for subgrade applicable to high-speed railways in cold regions according to claim 1, characterized in that The remote control system includes: It includes a communication device, a database server, and a BIM digital engineering monitoring and control terminal; The communication device is used to receive and transmit real-time dynamic data of subgrade compaction; The database server is used to analyze and process the received real-time dynamic data of subgrade compaction; The BIM digital engineering monitoring and control terminal is used to conduct three-dimensional / two-dimensional visualization management of the subgrade compaction process data, and guide intelligent compaction operations based on the three-dimensional / two-dimensional visualization management data.

9. The intelligent compaction equipment for subgrade applicable to high-speed railways in cold regions according to claim 1, characterized in that It also includes a wireless communication system; The wireless communication system includes: multiple wireless access points and communication relay stations; The multiple wireless access points include: in-vehicle wireless access points located on the intelligent roller and wireless access points located on the remote control system; The in-vehicle wireless access points, wireless access points, and communication relay stations are all used to receive and transmit data.

10. The intelligent roadbed compaction equipment applicable to high-speed railways in cold regions according to claim 1, characterized in that, It also includes a BIM digital display terminal for subgrade filling construction; The BIM digital display terminal for subgrade filling construction includes: an in-vehicle display terminal located on the intelligent roller, a BIM digital engineering monitoring and control terminal located on the remote control system, and a construction operation shared display terminal; The BIM digital engineering monitoring and control terminal is used to share the dynamic information of subgrade compaction to the in-vehicle display terminal on the intelligent roller and the construction operation shared display terminal through a communication device, so as to realize real-time visual sharing and monitoring of the dynamic information of subgrade compaction.

Images