Method, system, equipment and program product for controlling compaction operation of road roller

Abstract

The invention discloses a compaction operation control method, system, equipment and program product for a road roller, and the method comprises the steps: in the compaction cluster operation process of the road roller, obtaining the road surface temperature and the current rolling times collected when the road roller rolls a to-be-compacted cell in real time; inputting the road surface temperature into a pre-constructed asphalt pavement three-dimensional temperature field to obtain a current representative temperature; inputting the current representative temperature into a pre-constructed asphalt pavement temperature decay model to obtain a temperature decay rule corresponding to the to-be-compacted cells; according to the current representative temperature, the current rolling times and the temperature correction index corresponding to the current rolling times, the accumulated effective rolling times corresponding to the to-be-compacted cell are obtained; and correcting the compaction operation path of the road roller according to the accumulated effective rolling times and the temperature decay rule of each to-be-compacted cell. According to the method, the compaction path of the road roller is optimized according to the temperature attenuation condition, and the paving efficiency and the compaction quality of the asphalt pavement are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of road operations, and in particular, to a compaction operation control method, system, device, and program product for a road roller. Background Art

[0002] Traditional asphalt pavement rolling is mostly carried out by combining manual control with mechanical system assistance. The quality control during the construction process relies too much on the control level of the operator, and problems such as missed compaction and over-compaction are likely to occur during the compaction link. In order to improve the construction quality level and construction efficiency of road engineering, unmanned technology is usually adopted for construction.

[0003] Traditional unmanned rolling technology presets the number of compaction passes within a unit grid. When the number of compaction passes meets the requirements, it is considered that the grid compaction is completed. However, the existing technology does not consider the impact of temperature decay on the compaction effect during the compaction stage. Sections with rapid temperature reduction need to be compacted in advance, and sections with insufficient compaction degree need to be supplemented with compaction. Therefore, it is necessary to optimize the compaction path according to the temperature decay situation.

[0004] Therefore, there is an urgent need to invent a control method for unmanned road roller compaction cluster operations based on the theory of asphalt pavement spatial temperature field to solve the problems that the existing technology fails to consider the impact of temperature decay on the compaction effect during the compaction stage and cannot optimize the compaction path according to the temperature decay situation, resulting in poor paving efficiency and compaction quality of asphalt pavements. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a compaction operation control method, system, device, and program product for a road roller, which at least partially solve the problems existing in the prior art.

[0006] Other features and advantages of the present invention will become apparent through the following detailed description, or be partially learned through the practice of the present invention.

[0007] To achieve the above object, embodiments of the present invention provide the following technical solutions:

[0008] According to the first aspect of the embodiments of the present invention, there is provided a compaction operation control method for a road roller, the method including:

[0009] During the compaction cluster operation of the road roller, the road surface temperature collected when the road roller compacts the cell to be compacted and the current number of compaction passes are obtained in real time;

[0010] The road surface temperature is input into a pre-constructed three-dimensional temperature field of the asphalt pavement to obtain the current representative temperature;

[0011] The current representative temperature is input into a pre-constructed asphalt pavement temperature decay model to obtain the temperature decay law corresponding to the cell to be compacted;

[0012] Obtain the cumulative effective rolling passes corresponding to the cell to be compacted according to the current representative temperature, the current number of rolling passes, and the temperature correction index corresponding to the current number of rolling passes.

[0013] Correct the compaction operation path of the roller according to the cumulative effective rolling passes of each cell to be compacted and the temperature decay law.

[0014] Further, the three-dimensional temperature field of the asphalt pavement is used to calculate the surface temperature, the mid-layer temperature, and the bottom temperature of the layer by using the relationship between the top temperature, the mid-layer temperature, and the bottom temperature of the asphalt paving structural layer, and then calculate the average value by using the surface temperature, the mid-layer temperature, and the bottom temperature of the layer to obtain the current representative temperature corresponding to the cell to be compacted.

[0015] Further, the asphalt pavement temperature decay model is a model constructed based on Newton's cooling law and the equilibrium temperature model;

[0016] The formula of Newton's cooling law is: Where, represents the rate of decrease of the object's temperature with time, T is the temperature value changing with time, T c is the ambient temperature, τ represents the time required for the object to reach thermal dynamic equilibrium with the environment, and k1 is the first preset proportionality coefficient corresponding to the asphalt mixture used for paving;

[0017] The formula of the equilibrium temperature model is: Where, H0 is the air temperature at the start of compaction, H1 is the temperature when the air temperature and the road surface temperature tend to be in equilibrium and stable, and k2 is the second preset proportionality coefficient corresponding to the asphalt mixture;

[0018] The formula of the asphalt pavement temperature decay model is:

[0019] Where, T0 is the initial paving temperature, t is the paving time, a and b are preset mid-layer temperature correction coefficients, c and d are preset bottom-layer temperature correction coefficients, and T is the temperature value changing with time.

[0020] Further, the temperature correction index is the correction index of the number of rolling passes in each temperature range determined according to the compaction energy index corresponding to the asphalt mixture, and the compaction energy index represents the work required for the asphalt mixture to reach a certain degree of compaction under the action of the roller.

[0021] Further, correcting the compaction operation path of the roller according to the cumulative effective rolling passes of each cell to be compacted and the temperature decay law includes:

[0022] According to the cumulative effective rolling passes and the temperature decay law of each cell to be compacted, determine whether the current compaction path can complete compaction before the temperature decays to the preset temperature threshold;

[0023] If the current compaction path cannot complete compaction before the temperature decays to the preset temperature threshold, correct the current compaction path and give priority to compacting the low-temperature section;

[0024] If the current compaction path can complete compaction before the temperature decays to the preset temperature threshold, correct the compaction path according to the difference between the cumulative effective rolling passes of the path and the required preset rolling passes, and give priority to recompacting the path with the largest difference between the cumulative effective rolling passes and the required preset rolling passes.

[0025] Further, the method further includes:

[0026] Obtain the first working data during the compaction operation using the compaction operation control method of the roller as described in any one of the above;

[0027] Train a neural network adaptive model using the first working data. The input layer of the neural network adaptive model is the air temperature, paving temperature, wind speed, road surface width, and rolling time, and the output layer is the predicted compaction degree function;

[0028] During the compaction operation of the roller compaction cluster, collect the second working data in real time when rolling each cell;

[0029] Input the second working data into the trained neural network adaptive model to predict the temperature decay situation, expected rolling passes, and compaction degree of each cell;

[0030] According to the temperature decay situation, expected rolling passes, and compaction degree of each cell, re-plan the compaction path for the section with fast temperature decay and the section with insufficient compaction degree.

[0031] According to the second aspect of the embodiments of the present invention, a roller compaction operation control system is provided. The system includes:

[0032] A data acquisition module for obtaining the road surface temperature and the current rolling passes collected when the roller compacts the cell to be compacted in real time during the compaction operation of the roller compaction cluster;

[0033] An asphalt pavement three-dimensional temperature field correction module for obtaining the current representative temperature using the road surface temperature and the pre-constructed asphalt pavement three-dimensional temperature field;

[0034] An asphalt pavement temperature decay module for inputting the current representative temperature into the pre-constructed asphalt pavement temperature decay model to obtain the temperature decay law corresponding to the cell to be compacted;

[0035] An effective rolling calculation module, configured to obtain the cumulative effective rolling passes corresponding to the cell to be compacted according to the current representative temperature, the current rolling passes, and the temperature correction index corresponding to the current rolling passes.

[0036] A compaction path correction module, configured to correct the compaction operation path of the roller according to the cumulative effective rolling passes of each cell to be compacted and the temperature decay law.

[0037] According to a third aspect of an embodiment of the present invention, there is provided a roller compaction operation control device, the device including: a processor and a memory;

[0038] The memory is used to store one or more program instructions;

[0039] The processor is configured to run one or more program instructions to execute the steps of a roller compaction operation control method as described in any one of the above.

[0040] According to a fourth aspect of an embodiment of the present invention, there is provided a roller, on which a GPS navigation system, an unmanned control system, vehicle-mounted sensors, vehicle-mounted laser obstacle avoidance radars, and a roller compaction operation control device as described above are installed.

[0041] According to a fifth aspect of an embodiment of the present invention, there is provided a computer program product, the computer program product including a computing program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, enabling the computer to implement the steps of a roller compaction operation control method as described in any one of the above.

[0042] The embodiments of the present invention have the following advantages:

[0043] A roller compaction operation control method, system, device, and program product disclosed by the present invention include: during the process of roller compaction cluster operation, obtaining in real time the road surface temperature and the current rolling passes collected when the roller compacts the cell to be compacted; inputting the road surface temperature into a pre-constructed three-dimensional temperature field of the asphalt pavement to obtain the current representative temperature; inputting the current representative temperature into a pre-constructed temperature decay model of the asphalt pavement to obtain the temperature decay law corresponding to the cell to be compacted; obtaining the cumulative effective rolling passes corresponding to the cell to be compacted according to the current representative temperature, the current rolling passes, and the temperature correction index corresponding to the current rolling passes; and correcting the compaction operation path of the roller according to the cumulative effective rolling passes of each cell to be compacted and the temperature decay law. The present invention realizes the optimization of the roller compaction path according to the temperature decay situation, thereby effectively improving the paving efficiency and compaction quality of the asphalt pavement. Brief Description of the Drawings

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary. For those of ordinary skill in the art, without creative efforts, other implementation drawings can be obtained according to the provided drawings by extension.

[0045] Figure 1 It is a schematic flowchart of a compaction operation control method for a roller provided by an embodiment of the present invention;

[0046] Figure 2 It is a schematic structural diagram of a neural network adaptive model provided by an embodiment of the present invention. Detailed Embodiments

[0047] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0049] Figure 1 The flowchart of the compaction operation control method for a roller according to an embodiment of the present invention is illustrated.

[0050] As Figure 1 shown, the compaction operation control method for a roller according to an embodiment of the present invention may include step S100, step S200, step S300, step S400, and step S500.

[0051] In step S100, during the compaction operation of the roller compaction cluster, the road surface temperature collected when the roller compacts the cell to be compacted and the current number of compaction passes are obtained in real time.

[0052] Next, in step S200, the road surface temperature is input into the pre-constructed three-dimensional temperature field of the asphalt pavement to obtain the current representative temperature.

[0053] Among them, the above three-dimensional temperature field of the asphalt pavement is used to calculate the surface temperature, middle temperature and bottom temperature of the layer according to the relationship between the top temperature, middle temperature and bottom temperature of the asphalt paving structural layer, and then the average value is calculated using the surface temperature x1, middle temperature y1 and bottom temperature y2 to obtain the current representative temperature corresponding to the cell to be compacted. The calculation formula is y1 = 76.124ln(x1) - 216.11.

[0054] In step S300, the current representative temperature is input into the pre-constructed asphalt pavement temperature decay model to obtain the temperature decay law corresponding to the cell to be compacted.

[0055] The above asphalt pavement temperature decay model is a model constructed based on Newton's cooling law and the equilibrium temperature model;

[0056] The formula of Newton's cooling law is: Among them, represents the rate of decrease of the object's temperature with time, T is the temperature value changing with time, T c is the ambient temperature, τ represents the time required for the object to reach thermal dynamic equilibrium with the environment, and k1 is the first preset proportionality coefficient corresponding to the asphalt mixture used for paving;

[0057] The formula of the equilibrium temperature model is: Among them, H0 is the air temperature at the start of compaction, H1 is the temperature when the air temperature and the road surface temperature tend to be in equilibrium and stable, and k2 is the second preset proportionality coefficient corresponding to the asphalt mixture;

[0058] The formula of the asphalt pavement temperature decay model is:

[0059] Among them, T0 is the initial paving temperature, t is the paving time, a and b are the preset middle temperature correction coefficients, c and d are the preset bottom temperature correction coefficients, and T is the temperature value changing with time.

[0060] The parameter range of the temperature decay model corresponding to the asphalt mixture SMA-13 is shown in Table 1 below:

[0061] Table 1 Temperature decay model parameter range

[0062]

[0063]

[0064] Next, in step S400, based on the current representative temperature, the current number of rolling passes, and the temperature correction index corresponding to the current number of rolling passes, the cumulative effective number of rolling passes corresponding to the cell to be compacted is obtained.

[0065] The above temperature correction index is the correction index of the number of compaction passes in each temperature range determined according to the compacting energy index CEI corresponding to the asphalt mixture. SGC specimens are formed by a gyratory compactor indoors, and the work required to compact to the preset void ratio at different representative temperatures is analyzed. According to the relationship between the representative temperature and the chamber energy index, the correction index of the number of compaction passes is determined.

[0066] For example, the initial compaction temperature of SMA-13 is not lower than 150 °C, and the final compaction temperature is not lower than 100 °C. The correction coefficient at 150 °C is preset to 1, and the compaction correction coefficient between 110 and 150 °C is calculated. The calculation formula is as follows: y = 0.000045x 1.85 + 0.00004x 2 - 0.0045x + 0.3, where x is the rolling temperature (°C) and y is the correction coefficient of SMA-13.

[0067] The rolling requirements for SMA-13 are that the initial compaction start temperature is not lower than 150 °C (2 - 3 passes), the minimum temperature for double compaction is not lower than 130 °C (4 - 5 passes), and the final compaction temperature is not lower than 110 °C (1 - 2 passes). According to the above requirements, the most unfavorable rolling condition is initial compaction at 150 °C (3 passes, correction coefficient is 1), double compaction at 130 °C (5 passes, correction coefficient 0.76), and final compaction at 110 °C (2 passes, correction coefficient 0.56). The total number of low-temperature effective compaction passes is 7.92 passes. The asphalt mixture out-of-factory temperature is 170 °C - 185 °C, and the paving temperature is not lower than 160 °C. According to actual observation, the highest paving temperature of the mixture is 170 °C. Therefore, the most favorable rolling condition is initial compaction at 170 °C (2 passes, correction coefficient is 1.29), double compaction at 150 °C (4 passes, correction coefficient 1), and final compaction at 130 °C (1 pass, correction coefficient 0.76). The total number of low-temperature effective compaction passes is 7.34 passes.

[0068] During the unmanned compaction process, the number of compaction passes per unit area and the compaction temperature are monitored. The effective number of compaction passes is shown in Table 2. Before the completion of 8 passes of rolling, the effective number of compaction passes is 6.9, which does not meet the minimum rolling requirements. Therefore, one more pass of supplementary compaction is carried out, and the effective number of compaction passes is 7.43, which meets the minimum number of rolling passes.

[0069] Table 2 Corresponding table of effective number of rolling passes

[0070] Rolling Pass Number Rolling Temperature Effective Number of Rolling Passes 1 160 1.14 2 151 1.02 3 148 0.98 4 140 0.87 5 135 0.81 6 130 0.76 7 123 0.68 8 116 0.61 9 110 0.56

[0071] Build a model of the effective number of compaction passes and the degree of compaction. When the effective number of rolling passes is 6.9, the degree of compaction is 93.9%. When the effective number of rolling passes is 7.34, the degree of compaction is 94.9%. The model calculation formula is y = 79.918e 0.0234x , where y is the degree of compaction of the theoretical maximum density, and x is the effective number of rolling passes.

[0072] Finally, in step S500, according to the cumulative effective number of rolling passes and the temperature decay law of each cell to be compacted, the compaction operation path of the roller is corrected.

[0073] The above steps specifically include:

[0074] According to the cumulative effective number of rolling passes and the temperature decay law of each cell to be compacted, determine whether the current compaction path can complete compaction before the temperature decays to the preset temperature threshold;

[0075] If the current compaction path cannot complete compaction before the temperature decays to the preset temperature threshold, correct the current compaction path, and promptly re-compact the section with insufficient number of rolling passes, and give priority to compacting the low-temperature section.

[0076] If the current compaction path can complete compaction before the temperature decays to the preset temperature threshold, correct the compaction path according to the difference between the cumulative effective number of rolling passes of the path and the required preset number of rolling passes, and give priority to re-compacting the path with the largest difference between the cumulative effective number of rolling passes and the required preset number of rolling passes.

[0077] In the embodiment of the present invention, the representative temperature of the paving section is determined through the holographic temperature field, a temperature decay model is established, combined with the indoor temperature-compaction degree test results, the rolling variable correction coefficient is clarified, the effective rolling variable is determined, and the unmanned compaction path and variable are corrected through the rolling variable correction model to ensure the compaction effect of unmanned rolling.

[0078] Preferably, a compaction operation control method for a roller disclosed in the embodiment of the present invention further includes:

[0079] Obtain the first working data during the compaction operation using a compaction operation control method for a roller as described above;

[0080] The neural network adaptive model is trained using the first working data. The input layer of the above neural network adaptive model is the air temperature x1, paving temperature x2, wind speed x3, road surface width x4, and rolling time x5. The function is A = [x1, x2, x3, x4, x5]. The corresponding hidden layer of the input layer is B = [u1, u2, u3, u4, u5], and the output layer is the predicted compaction degree function set as C = y. The number of neural network nodes is 15 - 20, the number of learning sample data is 150 groups, and the learning accuracy error is 0.0003. The adaptive model is trained by initializing 150 groups of data. Figure 2 It is a structural schematic diagram of the neural network adaptive model.

[0081] During the compaction operation of the roller compaction cluster, the unmanned compaction system is guided for construction. A plurality of rollers are used to move back and forth, and the second working data of each roller when compressing each cell is collected in real time.

[0082] The second working data is input into the trained neural network adaptive model to predict the temperature decay situation, effective compaction passes, and compaction degree within the cell. For sections with rapid temperature decay and insufficient compaction degree, nearby rollers are guided to roll to ensure compaction quality.

[0083] The four vertex pile numbers within the cell where the roller moves back and forth are (a1, b1), (a2, b2), (a3, b3), and (a4, b4). The width of the roller steel wheel is m, and the overlapping rolling width is 1 / 3m. The calculation formula for the number of paragraph rolling paths n is

[0084] Due to the influence of air temperature, wind speed, paving temperature, and road surface width during the rolling process, the various influencing factors and the rolling variables show a non-linear transformation. Therefore, in order to improve the accuracy of the rolling model, the embodiments of the present invention collect key data during the rolling process, and optimize the rolling model based on the adaptive model of the neural network through a large number of on-site measured data.

[0085] In addition, the embodiments of the present invention also provide a roller compaction operation control system, which includes:

[0086] A data acquisition module, which is used to obtain the road surface temperature and the current number of rolling passes collected when the roller compresses the cell to be compacted in real time during the roller compaction cluster operation;

[0087] An asphalt pavement three-dimensional temperature field correction module, which is used to obtain the current representative temperature by using the road surface temperature and the pre-constructed asphalt pavement three-dimensional temperature field;

[0088] An asphalt pavement temperature decay module for inputting the current representative temperature into a pre-constructed asphalt pavement temperature decay model to obtain the temperature decay law corresponding to the cell to be compacted;

[0089] An effective compaction calculation module for obtaining the cumulative effective compaction passes corresponding to the cell to be compacted according to the current representative temperature, the current compaction passes, and the temperature correction index corresponding to the current compaction passes;

[0090] A compaction path correction module for correcting the compaction operation path of the roller according to the cumulative effective compaction passes and the temperature decay law of each cell to be compacted.

[0091] In addition, an embodiment of the present invention also provides a roller compaction operation control device, which includes: a processor and a memory; the memory is used to store one or more program instructions; the processor is used to run one or more program instructions to execute the steps of a roller compaction operation control method as described in any one of the above.

[0092] In addition, an embodiment of the present invention also provides a roller, on which a GPS navigation system, an unmanned driving control system, vehicle-mounted sensors, a vehicle-mounted laser obstacle avoidance radar, and a roller compaction operation control device as described above are installed.

[0093] The above GPS navigation system adopts Beidou centimeter-level positioning technology, and uses technical means such as network-assisted information + differential BDS. Through the network-assisted positioning information provided by the mobile communication operation base station, fast and accurate positioning during the compaction process is realized. A-BDS (Assisted BeiDou Navigation Satellite System) is the assisted Beidou positioning technology, which can improve the performance of the Beidou satellite positioning system. A-BDS works by setting several reference satellite positioning receivers at positions with better satellite signal reception effects, and using the A-BDS server to obtain the rough position of the terminal through interaction with the terminal. Then, the ephemeris and clock and other auxiliary data required by the terminal are sent to the terminal through the mobile network, and the terminal performs BDS positioning measurement.

[0094] The above unmanned driving control system includes automatic steering control, automatic speed regulation, and automatic braking. It determines whether the compaction work is completed according to data feedback and data transmission.

[0095] The above vehicle-mounted sensors include a temperature sensor, a pressure sensor, a speed sensor, etc. The pressure sensor monitors the pressure of the hydraulic oil of the roller in real time to prevent the system from running overloaded; the speed sensor can monitor the running speed of the roller in real time; the temperature sensor can monitor the road surface temperature during compaction in real time, providing data support for subsequent compaction variable correction.

[0096] The above vehicle-mounted laser obstacle avoidance radar uses a single-line two-dimensional radar. The lidar is used to obtain information about obstacles ahead to ensure a smooth braking process when encountering people or objects, and to ensure the safety of personnel and equipment during the construction process.

[0097] In addition, an embodiment of the present invention further provides a computer program product. The computer program product includes computer program instructions, and when the computer program instructions are executed by a processor, the steps of a compaction operation control method for a roller as described in any one of the above are implemented.

[0098] A compaction operation control method, system, device, and program product for a roller disclosed by the present invention include: during the compaction cluster operation of the roller, the road surface temperature collected when the roller compacts the cell to be compacted and the current compaction pass number are obtained in real time; the road surface temperature is input into a pre-constructed three-dimensional temperature field of the asphalt pavement to obtain the current representative temperature; the current representative temperature is input into a pre-constructed asphalt pavement temperature decay model to obtain the temperature decay law corresponding to the cell to be compacted; according to the current representative temperature, the current compaction pass number, and the temperature correction index corresponding to the current compaction pass number, the cumulative effective compaction pass number corresponding to the cell to be compacted is obtained; according to the cumulative effective compaction pass numbers and temperature decay laws of each cell to be compacted, the compaction operation path of the roller is corrected. The present invention realizes the optimization of the compaction path of the roller according to the temperature decay situation, thereby effectively improving the paving efficiency and compaction quality of the asphalt pavement.

[0099] In an embodiment of the present invention, the processor may be an integrated circuit chip with signal processing capabilities. The processor may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention may be directly embodied as being executed by the hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, register, etc. The processor reads the information in the storage medium and combines its hardware to complete the steps of the above method. The storage medium may be a memory, for example, it may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memories. Those skilled in the art should be able to realize that in one or more of the above examples, the functions described in the present invention can be implemented by a combination of hardware and software. When applying software, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, where communication media include any medium that facilitates the transfer of a computer program from one place to another. The storage media can be any available medium accessible by a general-purpose or special-purpose computer. Although the present invention has been described in detail with general descriptions and specific embodiments above, based on the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of the present invention claimed.

Claims

1. A method for controlling the compaction operation of a road roller, characterized in that, The method includes: During the compaction cluster operation of the roller, the road surface temperature and the current number of compaction passes collected when the roller compacts the cell to be compacted are obtained in real time; The road surface temperature is input into the pre-constructed three-dimensional temperature field of the asphalt pavement to obtain the current representative temperature; The current representative temperature is input into the pre-constructed asphalt pavement temperature decay model to obtain the temperature decay law corresponding to the cell to be compacted; According to the current representative temperature, the current number of compaction passes, and the temperature correction index corresponding to the current number of compaction passes, the cumulative effective number of compaction passes corresponding to the cell to be compacted is obtained; According to the cumulative effective number of compaction passes and the temperature decay law of each cell to be compacted, the compaction operation path of the roller is corrected.

2. The compaction operation control method of a road roller according to claim 1, characterized in that, The three-dimensional temperature field of the asphalt pavement is used to calculate the surface temperature, middle temperature, and bottom temperature of the layer by using the relationship between the top temperature, middle temperature, and bottom temperature of the asphalt paving structural layer, and then the average value of the surface temperature, the middle temperature, and the bottom temperature is calculated to obtain the current representative temperature corresponding to the cell to be compacted.

3. A compaction operation control method for a road roller according to claim 1, characterized in that, The asphalt pavement temperature decay model is a model constructed based on Newton's cooling law and the equilibrium temperature model; The formula of the Newton's law of cooling is as follows: wherein, represents the rate at which the object temperature drops with time, T is the temperature value that changes with time, T c is the ambient temperature, τ represents the time required for the object and the environment to reach thermal dynamic equilibrium, and k1 is the first preset proportionality coefficient corresponding to the asphalt mixture used for paving; The formula of the equilibrium temperature model is as follows: where H0 is the air temperature at the start of compaction, H1 is the temperature when the air temperature and the road surface temperature tend to be in equilibrium and stable, and k2 is the second preset proportionality coefficient corresponding to the asphalt mixture; The formula of the asphalt pavement temperature decay model is: where, T0 is the initial paving temperature, t is the paving time, a and b are preset middle-layer temperature correction coefficients, c and d are preset bottom-layer temperature correction coefficients, and T is the temperature value varying with time.

4. The compaction operation control method of a road roller according to claim 1, characterized in that The temperature correction index is the correction index of the compaction passes in each temperature range determined according to the compaction energy index corresponding to the asphalt mixture, and the compaction energy index represents the work required for the asphalt mixture to reach a certain degree of compaction under the action of the roller.

5. The compaction operation control method of a road roller according to claim 1, wherein Correcting the compaction operation path of the roller according to the cumulative effective number of compaction passes and the temperature decay law of each cell to be compacted includes: Judging whether the current compaction path can complete compaction before the temperature decays to the preset temperature threshold according to the cumulative effective number of compaction passes and the temperature decay law of each cell to be compacted; If the current compaction path cannot complete compaction before the temperature decays to the preset temperature threshold, the current compaction path is corrected, and the low-temperature section is preferentially compacted; If the current compaction path can complete compaction before the temperature decays to the preset temperature threshold, the compaction path is corrected according to the difference between the cumulative effective number of compaction passes of the path and the preset number of compaction passes required, and the path with the largest difference between the cumulative effective number of compaction passes and the preset number of compaction passes required is preferentially recompacted.

6. The compaction operation control method of a road roller according to claim 1, characterized in that The method further includes: Obtaining the first working data during the compaction operation using the roller compaction operation control method according to any one of claims 1 to 5; Training a neural network adaptive model using the first working data, where the input layer of the neural network adaptive model is the air temperature, paving temperature, wind speed, road surface width, and compaction time, and the output layer is the predicted compaction degree function; During the compaction cluster operation of the roller, the second working data is collected in real time when each cell is compacted; Input the second working data into the trained neural network adaptive model to predict the temperature decay situation, the expected number of rolling passes, and the degree of compaction of each cell. According to the temperature decay situation, the expected number of rolling passes, and the degree of compaction of each cell, re-plan the compaction path for the sections with rapid temperature decay and insufficient compaction degree.

7. A compaction operation control system for a road roller, characterized in that, The system includes: A data acquisition module, which is used to obtain the road surface temperature and the current number of rolling passes collected when the roller compacts the cell to be compacted in real time during the roller compaction cluster operation. An asphalt pavement three-dimensional temperature field correction module, which is used to obtain the current representative temperature by using the road surface temperature and the pre-constructed asphalt pavement three-dimensional temperature field. An asphalt pavement temperature decay module, which is used to input the current representative temperature into the pre-constructed asphalt pavement temperature decay model to obtain the temperature decay law corresponding to the cell to be compacted. An effective rolling calculation module, which is used to obtain the cumulative effective number of rolling passes corresponding to the cell to be compacted according to the current representative temperature, the current number of rolling passes, and the temperature correction index corresponding to the current number of rolling passes. A compaction path correction module, which is used to correct the compaction operation path of the roller according to the cumulative effective number of rolling passes and the temperature decay law of each cell to be compacted.

8. A compaction operation control device for a road roller, characterized in that, The device includes: a processor and a memory; The memory is used to store one or more program instructions; The processor is used to run one or more program instructions to execute the steps of a method for controlling the compaction operation of a roller as described in any one of claims 1 to 6.

9. A road roller, characterized in that, A GPS navigation system, an unmanned driving control system, vehicle-mounted sensors, vehicle-mounted laser obstacle avoidance radars, and a device for controlling the compaction operation of a roller as described in claim 8 are installed on the roller.

10. A computer program product, characterized in that, The computer program product includes computer program instructions, and when the computer program instructions are executed by the processor, the steps of a method for controlling the compaction operation of a roller as described in any one of claims 1 to 6 are implemented.

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