High-precision paving and compacting dynamic optimization control system

Abstract

The invention belongs to the technical field of roadbed and pavement construction, and particularly relates to a high-precision paving and compacting dynamic optimization control system which comprises a reference coordinate position signal generation subsystem, a paving machine 3D printing control subsystem, a compacting machine 3D printing control subsystem and a 3D printing real-time detection feedback control subsystem. According to the invention, physical structure innovation and algorithm cooperative control are adopted; and the accuracy of the paving thickness is improved. Through dual driving of physical structure innovation and algorithm cooperative control, closed-loop optimization of the whole paving-compacting process is achieved, and a high-precision and low-cost systematic solution is provided for traffic civil engineering; according to the method, 3D printing real-time detection feedback control based on machine learning is constructed, a historical construction data training model is utilized, parameters are finely adjusted in combination with real-time UHF transmission data, and self-adaptive adjustment of the rotating speed of a paving distributing rod and the pressure of a compaction roller is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of roadbed and pavement construction, and in particular relates to a high-precision paving and compaction dynamic optimization control system. Background Art

[0002] In roadbed and pavement engineering, paving and compaction operations are crucial links. However, existing paving and compaction systems are usually operated by independent control systems, resulting in a lack of effective linkage between the two, which to a certain extent affects the construction quality and efficiency. Traditional paving operations rely on thickness control modes, which make it difficult to accurately control the flatness of the roadbed and pavement, and often require a large amount of upper road construction materials to make up for the unevenness of the lower layer, resulting in material waste and increased project costs. At the same time, during compaction operations, the control of parameters such as compaction degree and compaction thickness has a lag, and can often only be adjusted through post-testing. When unqualified conditions are encountered, rework is required, which delays the construction period and increases costs. Existing technologies have failed to effectively solve the coordination problem between paving and compaction operations, and a new system is urgently needed to improve the accuracy, efficiency and coordination of operations. Therefore, the development of a system that can realize the coordinated operation of paving and compaction machinery and improve construction results through precise control and real-time feedback has become an urgent need in the field of transportation civil engineering construction.

[0003] In response to the above problems, the present invention proposes a "physical structure + algorithm" dual-driven multi-modal operation equipment 3D printing cluster collaborative control system, which realizes dynamic optimization of the entire process of paving and compaction operations through the deep integration of hardware structure innovation and intelligent algorithm collaboration. Summary of the Invention

[0004] The purpose of the present invention is to provide a high-precision paving and compaction dynamic optimization control system, which is achieved through physical structure innovation and algorithm collaborative control. The present invention overcomes the vibration problem caused by site vibration during the paving process. The magnetorheological damper can effectively overcome the vibration problem during operation with its adaptive vibration reduction effect, thereby improving the accuracy of the paving thickness. Through the dual drive of physical structure innovation and algorithm collaborative control, closed-loop optimization of the entire paving-compacting process is achieved, providing a high-precision, low-cost systematic solution for transportation civil engineering projects. The present invention constructs a real-time detection feedback control for 3D printing based on machine learning, uses historical construction data to train the model, and combines real-time UHF transmission data to fine-tune parameters to achieve adaptive adjustment of the paving boom speed and compaction roller pressure.

[0005] The technical solutions adopted by the present invention are as follows:

[0006] A high-precision paving and compaction dynamic optimization control system, including a reference coordinate position signal generation subsystem, a paving machine 3D printing control subsystem, a compaction machine 3D printing control subsystem, and a 3D printing real-time detection feedback control subsystem;

[0007] The reference coordinate position signal generating subsystem includes a reference station for real-time positioning based on GNSS plane coordinates and a three-dimensional infrared light signal generating device for millimeter-level elevation precision positioning;

[0008] The first base station for real-time positioning based on GNSS plane coordinates includes an antenna, a GNSS receiver, a differential data processing unit and a communication module; the antenna supports L1, L2, and L5 frequency bands to improve positioning accuracy, the antenna gain is 10dBi, and the operating frequency is 1166-1288MHz / 1559-1605MHz; the GNSS receiver uses high-precision RTK differential positioning, with a positioning accuracy of 1-3cm and a plane coordinate data update frequency of 20Hz; the differential data processing unit is responsible for processing satellite signals received from the GNSS receiver, calculating the position of the base station, and comparing it with the known reference position to generate differential correction data, and transmitting it in real time to the first mobile station for real-time positioning based on GNSS plane coordinates and the second mobile station for real-time positioning based on GNSS plane coordinates; the communication module transmits data via the UHF frequency band, with a frequency range of 300MHz-3GHz and a transmission power of 2W;

[0009] The three-dimensional infrared light signal generating device used for millimeter-level elevation precision positioning includes a laser source, an optical conversion module, and a rotation drive module; the laser source emits a point laser with a wavelength of 835nm and a power of 2mW; the optical conversion module decomposes the laser source into three refracted light rays with different success rates through a three-dimensional beam splitter prism, and then converts the refracted light rays into three lines of laser through a Powell prism (angle of 30°); the rotation drive module is used to drive the laser source and the optical conversion module to rotate clockwise at a rotation speed of 600rpm.

[0010] The 3D printing control subsystem of the paving machine includes a three-dimensional positioning and vibration reduction integrated box installed at the center of the paving machine's screed and a GNSS-based real-time plane positioning module installed at the paving machine's operating console;

[0011] The three-dimensional positioning and vibration reduction integrated box includes a box body and a first adaptive vibration reduction system to achieve the coordinated vibration reduction and three-dimensional positioning functions; the three-dimensional positioning and vibration reduction integrated box is equipped with a first mobile station for real-time positioning based on GNSS plane coordinates and a three-dimensional space infrared light signal receiving device for millimeter-level elevation precision positioning;

[0012] The three-dimensional positioning and vibration reduction integrated box consists of a high-strength aluminum alloy shell, a honeycomb structure partition, and a rubber pad. The high-strength aluminum alloy shell is 5mm thick, 500mm long, 300mm wide, and 500mm high, and is used to protect the internal components. The box body uses a honeycomb structure partition, and the partition material uses a carbon fiber honeycomb core to resist impact. A hole with a diameter of 50mm is opened inside the partition to accommodate a mobile station for real-time positioning based on GNSS plane coordinates and a three-dimensional space infrared light signal receiving device for millimeter-level elevation precision positioning. The rubber pad is placed on the honeycomb structure partition and embedded in the box body. It is 10mm thick and is used to absorb energy and reduce vibration.

[0013] The first adaptive vibration damping system consists of a snap-on interface, three sets of magnetorheological dampers, a vibration sensor, and a base plate. The snap-on interface is made of aluminum alloy and is used to connect to the housing. The lower end of the snap-on interface is integrated with the magnetorheological damper and vibration sensor piston head, providing support for the housing and enhancing the integrity of the three-dimensional positioning vibration damping integrated box. The magnetorheological dampers have a diameter of 100 mm and a length of 200 mm and are arranged in an equilateral triangle. The vibration sensor has a diameter of 200 mm and a length of 200 mm, and is spaced 100 mm apart from the three sets of dampers. The vibration sensor adjusts the operating state of the magnetic excitation coil based on vehicle vibration data, controls the viscosity of the magnetic fluid, and changes the operating state of the magnetorheological damper. The base plate is welded to the center of the paving machine's screed to enhance the integrity of the entire structure. It is made of aluminum alloy with a thickness of 5 mm, a length of 500 mm, a width of 300 mm, and a height of 100 mm.

[0014] When the paving machinery is working, the vibration generated by the vehicle body will cause a large error in the three-dimensional positioning calculation. A three-dimensional positioning and vibration reduction integrated box is used to detect the vehicle body vibration signal in real time through a vibration sensor. After filtering, amplification and controller algorithm processing, the excitation current intensity of the magnetorheological damper is dynamically adjusted to form a closed-loop feedback control system, thereby adaptively adjusting the damping force according to the vibration intensity to achieve precise vibration reduction.

[0015] The use of a three-dimensional positioning and vibration-damping integrated box can improve the plane positioning accuracy of three-dimensional paving to 1-3cm, and the elevation positioning accuracy to 5mm. It has obvious advantages in projects that require high-precision paving thickness control.

[0016] The first mobile station for real-time positioning based on GNSS plane coordinates includes an antenna, a GNSS receiver, a computing unit and a communication module; the antenna supports L1, L2, and L5 frequency bands to improve positioning accuracy, the antenna gain is 10dBi, and the operating frequency is 1166-1288MHz / 1559-1605MHz; the GNSS receiver uses high-precision RTK differential positioning, the positioning accuracy is 1-3cm, and the plane coordinate data update frequency is 20Hz; the computing unit corrects the plane coordinate data by processing the satellite signals received from the GNSS receiver and the differential correction transmitted by the real-time receiving base station, and the first mobile station for real-time positioning based on GNSS plane coordinates is accurate; the communication module transmits the corrected plane coordinate data through the UHF frequency band, the frequency range is 300MHz-3GHz, and the transmission power is 2W.

[0017] The three-dimensional infrared light signal receiving device for millimeter-level elevation precision positioning includes an infrared light receiver, a data processing unit, and a communication module. The infrared light receiver has a spectral response range of 800-1500nm, and a bandwidth filter is installed at the front end of the receiver. The bandwidth filter has a central wavelength of 835nm and a bandwidth of 15nm. The data processing unit receives infrared light signals emitted by the three-dimensional infrared light signal generating device for millimeter-level elevation precision positioning in real time through the infrared light receiver, performs data acquisition, and applies a time-to-distance conversion algorithm to obtain millimeter-level elevation information.

[0018] The first adaptive vibration reduction system includes a magnetorheological damper and a vibration sensor; the vibration sensor adjusts the working state of the magnetic excitation coil according to the vehicle body vibration data, controls the viscosity change of the magnetic fluid, and changes the working state of the magnetorheological damper.

[0019] The GNSS-based real-time plane positioning module includes a UHF signal processing system and a position sharing system. The UHF signal processing system receives the plane coordinate (mobile station) position information of the paving machine and the compacting machine, performs signal processing, and sends the processed signal to the position sharing system. The position sharing system displays the position information of the paving machine and the compacting machine in a graphical manner, so that the operator can obtain the relative position of each operating machine, adjust the operating trajectory in real time, and optimize the operating path.

[0020] The compaction machinery 3D printing control subsystem includes a plane positioning and vibration reduction integrated box installed at the connection between the compaction wheel and the body of the compaction machinery and a GNSS-based real-time plane positioning module installed on the compaction machinery operating table; the plane positioning and vibration reduction integrated box includes a second mobile station for real-time positioning based on GNSS plane coordinates and a second adaptive vibration reduction system.

[0021] The integrated planar positioning and vibration reduction box includes a rover for real-time positioning based on GNSS plane coordinates and an adaptive vibration reduction system, achieving the coordinated vibration reduction and planar positioning functions. The box is 5mm thick, 300mm long, 300mm wide, and 500mm high. The remaining parameters are the same as those of the integrated three-dimensional positioning and vibration reduction box.

[0022] The 3D printing real-time detection feedback control subsystem includes a real-time detection module for on-site paving gradation of road construction materials installed at the front end of the compaction machinery, a real-time detection module for the compaction status of the roadbed and pavement installed on the compaction machinery, and a data comprehensive calculation and processing module installed on the operating console of the compaction machinery vehicle.

[0023] The paving gradation real-time detection module includes a pavement information scanning device and a communication module installed at the front end of the compacting machinery; the pavement information scanning device captures pavement gradation image information in real time at a frequency of 10Hz when the compacting machinery follows the paving machinery; the communication module transmits the pavement gradation image information to the paving gradation calculation module via the UHF frequency band, with a frequency range of 300MHz-3GHz and a transmission power of 2W.

[0024] The subgrade and pavement compaction status real-time detection module includes an infrared temperature detector installed on the lower part of the compacting machine body, an acceleration sensor installed at the support point of the paving machine and the compacting machine wheel suspension system, a pressure sensor installed at the outlet pipe of the compacting machine compaction roller plunger pump, and a comprehensive environmental data storage and communication module installed on the compacting machine operating table; the infrared temperature detector detects the asphalt temperature in real time with a data update frequency of 10Hz, and sends the asphalt temperature data to the subgrade and pavement compaction status calculation module; the acceleration sensor measures the vibration data of the paving machine and the compacting machine in real time with a data update frequency of 10Hz, and sends the vehicle body vibration data to the subgrade and pavement compaction status calculation module. The state calculation module and the control module of the adaptive vibration reduction system; the pressure sensor measures the compaction strength of the compaction machinery's compaction roller in real time, and sends the compaction machinery's compaction strength data to the roadbed and pavement compaction state calculation module; the comprehensive environmental data storage device is used by the staff to input the initial environmental data before the paving work begins. The initial environmental data refers to the data that affects the compaction degree and compaction thickness during the paving-compacting operation, but the data changes have a negligible effect on the changes in the compaction degree and compaction thickness; the communication module transmits the pavement compaction information to the roadbed and pavement compaction state calculation module via the UHF frequency band, with a frequency range of 300MHz-3GHz and a transmission power of 2W.

[0025] The data comprehensive calculation and disposal module includes a UHF signal processing system, a paving gradation calculation system, and a roadbed and pavement compaction state calculation system; the UHF signal processing system receives information from the paving gradation real-time detection module and the roadbed and pavement compaction state real-time detection module, performs signal processing, and sends the processed signal to the paving gradation calculation system and the roadbed and pavement compaction state real-time detection module; the paving gradation calculation system predicts the pavement information scanned by the gradation real-time detection module based on machine learning and convolutional neural network (CNN) model, and improves the road section that does not meet the gradation requirements by adjusting the speed of the paving machinery's spreading boom in real time; the roadbed and pavement compaction thickness calculation system calculates the roadbed and pavement compaction thickness based on machine learning and random forest regression (CNN) model. The subgrade and pavement compaction degree real-time detection module predicts the number of compaction passes based on the compaction machine vibration data, compaction machine compaction strength, pavement asphalt temperature data, asphalt viscosity and other information sent by the subgrade and pavement compaction thickness real-time detection system to the data comprehensive calculation and processing module. By adjusting the paving machine screed height in real time, the road section that does not meet the compaction thickness requirements is improved. The subgrade and pavement compaction degree real-time detection module predicts the number of compaction passes based on the compaction machine vibration data, compaction machine compaction strength, pavement asphalt temperature data, asphalt viscosity and other information sent by the subgrade and pavement compaction status real-time detection system to the data comprehensive calculation and processing module based on machine learning and random forest regression model.

[0026] The technical effects achieved by the present invention are:

[0027] This invention achieves this through physical structural innovation and algorithmic collaborative control. This invention overcomes the vibration problem caused by site vibration during paving. The magnetorheological damper, with its adaptive vibration reduction effect, can effectively overcome the vibration problem during operation and improve the accuracy of paving thickness. Through the dual drive of physical structural innovation and algorithmic collaborative control, closed-loop optimization of the entire paving and compaction process is achieved, providing a high-precision, low-cost systematic solution for transportation civil engineering projects. This invention constructs real-time detection and feedback control for 3D printing based on machine learning, uses historical construction data to train the model, and combines real-time UHF transmission data to fine-tune parameters, achieving adaptive adjustment of the paving boom speed and compaction roller pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is the present invention;

[0029] Figure 2 Schematic diagram of the reference coordinate position signal generating subsystem of the present invention;

[0030] Figure 3 is a schematic diagram of the compaction machinery of the present invention;

[0031] Figure 4 is a schematic diagram of the paving machine of the present invention;

[0032] Figure 5 This is a schematic diagram of a three-dimensional positioning and vibration reduction integrated box of the present invention;

[0033] Figure 6 This is a schematic diagram of a plane positioning and vibration reduction integrated box of the present invention;

[0034] Figure 7 It is a schematic diagram of the collaborative paving and compacting operation site of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is described in detail below with reference to the following examples. It should be understood that the following text is only used to describe one or more specific embodiments of the present invention and does not strictly limit the scope of protection of the present invention.

[0036] like Figure 1-Figure 7 As shown, a high-precision paving and compaction dynamic optimization control system includes a reference coordinate position signal generation subsystem, a paving machine 3D printing control subsystem, a compaction machine 3D printing control subsystem and a 3D printing real-time detection feedback control subsystem.

[0037] The reference coordinate position signal generation subsystem includes a reference station for real-time positioning based on GNSS plane coordinates and a three-dimensional infrared light signal generation device for millimeter-level elevation precision positioning;

[0038] like Figure 1-Figure 7 As shown, the first base station for real-time positioning based on GNSS plane coordinates includes an antenna, a GNSS receiver, a differential data processing unit and a communication module; the antenna supports L1, L2, and L5 frequency bands to improve positioning accuracy, the antenna gain is 10dBi, and the operating frequency is 1166-1288MHz / 1559-1605MHz; the GNSS receiver uses high-precision RTK differential positioning, with a positioning accuracy of 1-3cm and a plane coordinate data update frequency of 20Hz; the differential data processing unit is responsible for processing the satellite signals received from the GNSS receiver, calculating the position of the base station, and comparing it with the known reference position to generate differential correction data, and transmitting it in real time to the first mobile station for real-time positioning based on GNSS plane coordinates and the second mobile station for real-time positioning based on GNSS plane coordinates; the communication module transmits data via the UHF frequency band, with a frequency range of 300MHz-3GHz and a transmission power of 2W;

[0039] The three-dimensional infrared light signal generating device for millimeter-level elevation precision positioning includes a laser source, an optical conversion module, and a rotation drive module; the laser source emits a point laser with a wavelength of 835nm and a power of 2mW; the optical conversion module decomposes the laser source into three refracted light rays with different success rates through a three-dimensional beam splitter prism, and then converts the refracted light rays into three lines of laser through a Powell prism (angle of 30°); the rotation drive module is used to drive the laser source and the optical conversion module to rotate clockwise at a rotation speed of 600rpm.

[0040] The 3D printing control subsystem for paving machinery includes a 3D positioning and vibration damping integrated box installed at the center of the paving machinery's screed and a GNSS-based real-time planar positioning module installed at the paving machinery's operating console.

[0041] The three-dimensional positioning and vibration reduction integrated box includes a box body and a first adaptive vibration reduction system to achieve the coordinated vibration reduction and three-dimensional positioning functions; the three-dimensional positioning and vibration reduction integrated box is equipped with a first mobile station for real-time positioning based on GNSS plane coordinates and a three-dimensional space infrared light signal receiving device for millimeter-level elevation precision positioning;

[0042] like Figure 1-Figure 7 As shown, in the three-dimensional positioning and vibration reduction integrated box, the box body is composed of a high-strength aluminum alloy shell, a honeycomb structure partition and a rubber pad. The high-strength aluminum alloy shell is 5mm thick, 500mm long, 300mm wide and 500mm high, which is used to protect the internal components. The honeycomb structure partition is used inside the box. The partition material uses a carbon fiber honeycomb core to resist impact. The partition has a diameter of 50mm to place the mobile station for real-time positioning based on GNSS plane coordinates and the three-dimensional space infrared light signal receiving device for millimeter-level elevation precision positioning. The rubber pad is placed on the honeycomb structure partition and embedded in the box. It is 10mm thick and used to absorb energy and reduce vibration.

[0043] The first adaptive vibration damping system consists of a snap-on interface, three sets of magnetorheological dampers, a vibration sensor, and a base plate. The snap-on interface, made of aluminum alloy, connects to the housing. The lower end of the snap-on interface is integrated with the magnetorheological damper and vibration sensor piston heads, providing support for the housing and enhancing the integrity of the three-dimensional positioning vibration damping integrated box. The magnetorheological dampers are 100mm in diameter and 200mm in length, arranged in an equilateral triangle. The vibration sensors are 200mm in diameter and 200mm in length, with a spacing of 100mm between each of the three dampers. The vibration sensors adjust the operating state of the magnetic excitation coil based on vehicle vibration data, controlling the viscosity of the magnetic fluid and changing the operating state of the magnetorheological dampers. The base plate is welded to the center of the paving machine's screed to enhance the integrity of the entire structure. It is made of aluminum alloy with a thickness of 5mm, a length of 500mm, a width of 300mm, and a height of 100mm.

[0044] When the paving machinery is working, the vibration generated by the vehicle body will cause a large error in the three-dimensional positioning calculation. A three-dimensional positioning and vibration reduction integrated box is used to detect the vehicle body vibration signal in real time through a vibration sensor. After filtering, amplification and controller algorithm processing, the excitation current intensity of the magnetorheological damper is dynamically adjusted to form a closed-loop feedback control system, thereby adaptively adjusting the damping force according to the vibration intensity to achieve precise vibration reduction.

[0045] The use of a three-dimensional positioning and vibration-damping integrated box can improve the plane positioning accuracy of three-dimensional paving to 1-3cm, and the elevation positioning accuracy to 5mm. It has obvious advantages in projects that require high-precision paving thickness control.

[0046] The first mobile station for real-time positioning based on GNSS plane coordinates includes an antenna, a GNSS receiver, a computing unit and a communication module; the antenna supports L1, L2, and L5 frequency bands to improve positioning accuracy, the antenna gain is 10dBi, and the operating frequency is 1166-1288MHz / 1559-1605MHz; the GNSS receiver uses high-precision RTK differential positioning with a positioning accuracy of 1-3cm and a plane coordinate data update frequency of 20Hz; the computing unit corrects the plane coordinate data by processing the satellite signals received from the GNSS receiver and the differential correction transmitted by the real-time receiving base station, and the first mobile station for real-time positioning based on GNSS plane coordinates is used; the communication module transmits the corrected plane coordinate data through the UHF ultra-high frequency band, with a frequency range of 300MHz-3GHz and a transmission power of 2W.

[0047] A three-dimensional infrared light signal receiving device for millimeter-level elevation precision positioning includes an infrared light receiver, a data processing unit, and a communication module. The infrared light receiver has a spectral response range of 800-1500nm, and a bandwidth filter is installed on the front end of the receiver. The bandwidth filter has a central wavelength of 835nm and a bandwidth of 15nm. The data processing unit receives infrared light signals emitted by the three-dimensional infrared light signal generating device for millimeter-level elevation precision positioning in real time through the infrared light receiver, performs data acquisition, and applies a time-to-distance conversion algorithm to obtain millimeter-level elevation information.

[0048] The first adaptive vibration reduction system includes a magnetorheological damper and a vibration sensor; the vibration sensor adjusts the working state of the magnetic excitation coil according to the vehicle body vibration data, controls the viscosity change of the magnetic fluid, and changes the working state of the magnetorheological damper.

[0049] Based on the GNSS real-time plane positioning module, it includes a UHF signal processing system and a position sharing system. The UHF signal processing system receives the plane coordinate (mobile station) position information of the paving machinery and the compacting machinery, performs signal processing, and sends the processed signal to the position sharing system. The position sharing system displays the position information of the paving machinery and the compacting machinery in a graphical manner, so that the operating personnel can obtain the relative position of each operating machinery, adjust the operating trajectory in real time, and optimize the operating path.

[0050] like Figure 1-Figure 7 As shown, the 3D printing control subsystem of the compacting machinery includes a plane positioning and vibration reduction integrated box installed at the connection between the compacting wheel and the body of the compacting machinery and a GNSS-based real-time plane positioning module installed on the operating table of the compacting machinery; the plane positioning and vibration reduction integrated box includes a second mobile station for real-time positioning based on GNSS plane coordinates and a second adaptive vibration reduction system.

[0051] The integrated plane positioning and vibration reduction box consists of a mobile station for real-time positioning based on GNSS plane coordinates and an adaptive vibration reduction system, realizing the coordination of vibration reduction and plane positioning functions; the box body is 5mm thick, 300mm long, 300mm wide and 500mm high, and the other parameters are the same as the integrated three-dimensional positioning and vibration reduction box.

[0052] The 3D printing real-time detection feedback control subsystem includes a real-time detection module for on-site paving gradation of road construction materials installed at the front end of the compaction machinery, a real-time detection module for the compaction status of the roadbed and pavement installed on the compaction machinery, and a data comprehensive calculation and processing module installed on the operating console of the compaction machinery vehicle.

[0053] The paving gradation real-time detection module includes a pavement information scanning device and a communication module installed at the front end of the compacting machinery. The pavement information scanning device captures pavement gradation image information in real time at a frequency of 10Hz when the compacting machinery follows the paving machinery. The communication module transmits the pavement gradation image information to the paving gradation calculation module via the UHF frequency band, with a frequency range of 300MHz-3GHz and a transmission power of 2W.

[0054] The real-time detection module for the compaction status of the roadbed and pavement includes an infrared temperature detector installed on the lower part of the compaction machine body, an acceleration sensor installed at the support point of the wheel suspension system of the paving machine and the compaction machine, a pressure sensor installed at the outlet pipe of the compaction roller plunger pump of the compaction machine, and a comprehensive environmental data storage and communication module installed on the compaction machine operating table; the infrared temperature detector detects the asphalt temperature in real time with a data update frequency of 10Hz, and sends the asphalt temperature data to the roadbed and pavement compaction status calculation module; the acceleration sensor measures the vibration data of the paving machine and the compaction machine in real time with a data update frequency of 10Hz, and sends the vehicle body vibration data to the roadbed and pavement compaction status calculation module. The real-state calculation module and the control module of the adaptive vibration reduction system; the pressure sensor measures the compaction strength of the compaction machinery's compaction roller in real time, and sends the compaction machinery's compaction strength data to the roadbed and pavement compaction state calculation module; the comprehensive environmental data storage device, in which the staff inputs the initial environmental data before the paving work begins. The initial environmental data refers to the data that affects the compaction degree and compaction thickness during the paving-compacting operation, but the data changes have negligible effects on the changes in compaction degree and compaction thickness; the communication module transmits the pavement compaction information to the roadbed and pavement compaction state calculation module via the UHF frequency band, with a frequency range of 300MHz-3GHz and a transmission power of 2W.

[0055] The data comprehensive calculation and processing module includes a UHF signal processing system, a paving gradation calculation system, and a roadbed and pavement compaction state calculation system; the UHF signal processing system receives information from the paving gradation real-time detection module and the roadbed and pavement compaction state real-time detection module, performs signal processing, and sends the processed signal to the paving gradation calculation system and the roadbed and pavement compaction state real-time detection module; the paving gradation calculation system predicts the pavement information scanned by the gradation real-time detection module based on machine learning and convolutional neural network (CNN) model, and improves the road sections that do not meet the gradation requirements by adjusting the speed of the paving machinery's placing boom in real time; the roadbed and pavement compaction thickness calculation system uses machine learning and random forest regression (Random Forest Regression) model to calculate the road surface information scanned by the gradation real-time detection module. The roadbed and pavement compaction degree real-time detection module uses a machine learning and random forest regression model to predict the number of compaction passes based on the compaction machine vibration data, compaction machine compaction strength, pavement asphalt temperature data, asphalt viscosity and other information sent by the base pavement compaction thickness real-time detection system to the data comprehensive calculation and processing module. By adjusting the paving machine screed height in real time, the road sections that do not meet the compaction thickness requirements can be improved. The roadbed and pavement compaction degree real-time detection module uses a machine learning and random forest regression model to predict the number of compaction passes based on the compaction machine vibration data, compaction machine compaction strength, pavement asphalt temperature data, asphalt viscosity and other information sent by the base pavement compaction status real-time detection system to the data comprehensive calculation and processing module.

[0056] like Figure 1-Figure 7 As shown, the working principle of the present invention is as follows: First, a GNSS-based real-time positioning mobile station for paving machinery and compacting machinery is placed within the effective range of a GNSS-based real-time positioning base station, specifically a first GNSS-based real-time positioning mobile station and a second GNSS-based real-time positioning mobile station. The placement of the GNSS-based real-time positioning base station should ensure a wide field of view within the effective range and no electromagnetic interference to improve its positioning accuracy. During operation, the GNSS-based real-time positioning base station receives satellite signals through an antenna, obtains plane coordinate correction information through a GNSS receiver and a differential data processing unit, and transmits this coordinate to the first GNSS-based real-time positioning mobile station and the second GNSS-based real-time positioning mobile station through a communication module. The first GNSS-based real-time positioning mobile station and the second GNSS-based real-time positioning mobile station receive satellite signals through an antenna, and obtain the precise plane coordinates of the mobile station through the GNSS receiver and the plane coordinate correction information in real time. The real-time plane coordinates of the paving and compacting machinery are displayed on the operating consoles of the paving and compacting machinery through the location sharing system. The operator can optimize the operation path according to the real-time location information, avoiding the inefficiency caused by the lack of linkage between paving and compacting in traditional paving.

[0057] Then, a three-dimensional infrared light signal generator for millimeter-level elevation precision positioning (hereinafter referred to as the signal generator) is placed 50-200 meters ahead of the paving machine in its direction of travel. The signal generator emits a rotating infrared laser with a wavelength of 835nm, which is captured by the infrared light receiver of a three-dimensional infrared light signal receiver for millimeter-level elevation precision positioning (hereinafter referred to as the signal receiver). The data processing unit performs a time-to-distance conversion algorithm to obtain millimeter-level paving thickness data. This data is sent to the data comprehensive calculation and processing module via the communication module, which serves as the basis for automatically controlling the parameters of the paving and compacting machinery. An adaptive vibration reduction system is used to reduce the calculation errors caused by vibration in the first GNSS plane coordinate real-time positioning rover and the second GNSS plane coordinate real-time positioning rover and signal receiver.

[0058] Finally, in the 3D printing real-time detection and feedback control subsystem, the compaction force of the compaction machine is provided by the plunger pump on the compaction roller. The pressure sensor is connected to the pressure sensor through the compaction machine's plunger pump, achieving a closed-loop physical response between the hardware and a hybrid mechanical-electronic linkage. Compared to traditional paving where the pressure sensor is directly installed on the compaction wheel, this improves the update rate of the compaction force data. The data comprehensive calculation and processing module receives paving thickness, gradation information, asphalt temperature, and compaction force data, and combines it with the original environmental data to perform real-time detection and feedback control based on machine learning. This allows paving parameters to be controlled during the construction process, reducing material loss and labor costs.

[0059] like Figure 1-Figure 7 As shown, the working principle of the present invention in actual use is as follows:

[0060] Step 1: Install the reference coordinate position signal generation subsystem, the 3D printing control subsystem for paving machinery, the 3D printing control subsystem for compacting machinery, and the 3D printing real-time detection feedback control subsystem.

[0061] Step 2: Place the paving machinery and compacting machinery, and input the original environmental data into the integrated environmental data storage; when the two work together, the safety distance along the working path shall not be less than 10 meters and not more than 20 meters.

[0062] Step 3: Turn on the mobile station for real-time positioning of the paving machinery and compacting machinery based on GNSS plane coordinates, and obtain the real-time plane positions of the paving machinery and compacting machinery in real time through the position sharing system.

[0063] Step 4: Control the target paving thickness according to design requirements. When the paver begins operation, the height of the screed plate should be set to the initial value of the target paving thickness. The compactor follows the paver to perform compaction operations. Millimeter-level elevation precision positioning uses a three-dimensional infrared light signal receiving device to obtain real-time information on the thickness of the asphalt paving on the road surface. During operation, each compactor's on-site paving gradation real-time detection module or subgrade and pavement compaction status real-time detection module will feed back to the data comprehensive calculation and processing module using UHF bands in different frequency ranges. The data comprehensive calculation and processing module obtains the gradation and compaction data sent by each compactor through the signal processing system, and adjusts the working status in real time through the paving gradation calculation module and the subgrade and pavement compaction status calculation module.

[0064] Step 5: After paving is completed, the compaction machinery continues the compaction operation according to the compaction pass number and compaction strength data obtained by the roadbed and pavement compaction status calculation system until the compaction is completed.

[0065] Step 6: Carry out paving and compaction operations on the next road section, and return to step 3 until the paving of the entire road section is completed.

[0066] The foregoing is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art may make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained herein shall, unless otherwise specified or limited, be implemented in accordance with conventional means in the art.

Claims

1. A high-precision paving and compaction dynamic optimization control system, characterized by: It includes a reference coordinate position signal generation subsystem, a paving machinery 3D printing control subsystem, a compaction machinery 3D printing control subsystem, and a 3D printing real-time detection feedback control subsystem; The reference coordinate position signal generating subsystem includes a reference station for real-time positioning based on GNSS plane coordinates and a three-dimensional space infrared light signal generating device; The 3D printing control subsystem of the paving machine includes a three-dimensional positioning and vibration reduction integrated box installed at the center of the paving machine's screed and a GNSS-based real-time plane positioning module installed at the paving machine's operating console; The three-dimensional positioning and vibration reduction integrated box includes a box body and a first adaptive vibration reduction system to achieve the coordinated vibration reduction and three-dimensional positioning functions; the three-dimensional positioning and vibration reduction integrated box is equipped with a first mobile station for real-time positioning based on GNSS plane coordinates and a three-dimensional space infrared light signal receiving device; The compaction machinery 3D printing control subsystem includes a plane positioning and vibration reduction integrated box installed at the connection between the compaction wheel and the machine body of the compaction machinery, and a GNSS-based real-time plane positioning module installed on the compaction machinery operating console; The plane positioning and vibration reduction integrated box includes a second rover for real-time positioning based on GNSS plane coordinates and a second adaptive vibration reduction system; The plane positioning and vibration reduction integrated box includes a rover for real-time positioning based on GNSS plane coordinates and an adaptive vibration reduction system, which realizes the coordination of vibration reduction and plane positioning functions; The 3D printing real-time detection feedback control subsystem includes a real-time detection module for on-site paving gradation of road construction materials installed at the front end of the compaction machinery, a real-time detection module for the compaction status of the roadbed and pavement installed on the compaction machinery, and a data comprehensive calculation and processing module installed on the operating console of the compaction machinery vehicle.

2. A high-precision paving and compaction dynamic optimization control system according to claim 1, characterized in that: The first base station for real-time positioning based on GNSS plane coordinates includes an antenna, a GNSS receiver, a differential data processing unit, and a communication module; the differential data processing unit is responsible for processing satellite signals received from the GNSS receiver, calculating the position of the base station, and comparing it with a known reference position to generate differential correction data, and transmitting the differential correction data in real time to the first mobile station for real-time positioning based on GNSS plane coordinates and the second mobile station for real-time positioning based on GNSS plane coordinates; The three-dimensional infrared light signal generating device includes a laser source, an optical conversion module, and a rotation drive module; the laser source emits a point laser with a wavelength of 835nm and a power of 2mW; the optical conversion module decomposes the laser source into three refracted light rays with different success rates through a three-dimensional beam splitter prism, and then converts the refracted light rays into three lines of laser through a Powell prism; the rotation drive module is used to drive the laser source and the optical conversion module to rotate clockwise at a rotation speed of 600rpm.

3. The high-precision paving and compaction dynamic optimization control system according to claim 2, characterized in that: The three-dimensional positioning and vibration reduction integrated box consists of a high-strength aluminum alloy shell, a honeycomb structure partition, and a rubber pad. The high-strength aluminum alloy shell is 5mm thick, 500mm long, 300mm wide, and 500mm high, and is used to protect the internal components. The box body uses a honeycomb structure partition, and the partition material uses a carbon fiber honeycomb core to resist impact. A hole with a diameter of 50mm is opened inside the partition to accommodate a mobile station for real-time positioning based on GNSS plane coordinates and a three-dimensional space infrared light signal receiving device for millimeter-level elevation precision positioning. The rubber pad is placed on the honeycomb structure partition and embedded in the box body. It is 10mm thick and is used to absorb energy and reduce vibration. The first adaptive vibration reduction system consists of a snap-on interface, three groups of magnetorheological dampers, one group of vibration sensors and a base plate. The snap-on interface is made of aluminum alloy and is used to connect to the box. The lower end of the snap-on interface is integrated with the magnetorheological damper and the piston head of the vibration sensor to provide support for the box and increase the integrity of the three-dimensional positioning vibration reduction integrated box. The magnetorheological dampers have a diameter of 100 mm and a length of 200 mm and are distributed in an equilateral triangle. The vibration sensors have a diameter of 200 mm and a length of 200 mm, and are spaced 100 mm apart from the three groups of dampers. The vibration sensors adjust the working state of the magnetic excitation coil according to the vehicle body vibration data, control the viscosity change of the magnetic fluid, and change the working state of the magnetorheological damper. The base plate is welded to the center of the paving machine ironing board to increase the integrity of the entire structure. It is made of aluminum alloy with a thickness of 5 mm, a length of 500 mm, a width of 300 mm, and a height of 100 mm.

4. The high-precision paving and compaction dynamic optimization control system according to claim 3, characterized in that: The first mobile station for real-time positioning based on GNSS plane coordinates comprises an antenna, a GNSS receiver, a computing unit and a communication module; the computing unit first determines the accurate position of the mobile station for real-time positioning based on GNSS plane coordinates by processing satellite signals received from the GNSS receiver and differentially corrected plane coordinate data transmitted by a real-time receiving base station; The communication module transmits the corrected plane coordinate data via the UHF frequency band; The three-dimensional infrared light signal receiving device includes an infrared light receiver, a data processing unit, and a communication module; The infrared light receiver and the data processing unit receive the infrared light signal emitted by the three-dimensional infrared light signal generating device in real time through the infrared light receiver to collect data and apply the time-distance conversion algorithm to obtain millimeter-level elevation information.

5. The high-precision paving and compaction dynamic optimization control system according to claim 4, characterized in that: The first adaptive vibration reduction system includes a magnetorheological damper and a vibration sensor; the vibration sensor adjusts the working state of the magnetic excitation coil according to the vehicle body vibration data, controls the viscosity change of the magnetic fluid, and changes the working state of the magnetorheological damper; The GNSS-based real-time plane positioning module includes a UHF signal processing system and a position sharing system. The UHF signal processing system receives the plane coordinate (mobile station) position information of the paving machine and the compacting machine, performs signal processing, and sends the processed signal to the position sharing system. The position sharing system displays the position information of the paving machine and the compacting machine in a graphical manner, so that the operator can obtain the relative position of each operating machine, adjust the operating trajectory in real time, and optimize the operating path.

6. The high-precision paving and compaction dynamic optimization control system according to claim 5, characterized in that: The paving gradation real-time detection module includes a road surface information scanning device and a communication module installed at the front end of the compaction machine; the road surface information scanning device captures road surface gradation image information in real time at a frequency of 10Hz when the compaction machine follows the paving machine; the communication module transmits the road surface gradation image information to the paving gradation calculation module via the UHF frequency band.

7. The high-precision paving and compaction dynamic optimization control system according to claim 6, characterized in that: The subgrade and pavement compaction status real-time detection module includes an infrared temperature detector installed on the lower part of the compacting machine body, an acceleration sensor installed at the support point of the paving machine and the compacting machine wheel suspension system, a pressure sensor installed at the outlet pipe of the compacting machine compaction roller plunger pump, and a comprehensive environmental data storage and communication module installed on the compacting machine operating table; the infrared temperature detector detects the asphalt temperature in real time with a data update frequency of 10Hz, and sends the asphalt temperature data to the subgrade and pavement compaction status calculation module; the acceleration sensor measures the vibration data of the paving machine and the compacting machine in real time with a data update frequency of 10Hz, and sends the vehicle body vibration data to the subgrade and pavement compaction status calculation module. The dynamic data is sent to the roadbed and pavement compaction state calculation module and the control module of the adaptive vibration reduction system; the pressure sensor measures the compaction strength of the compaction machinery's compaction roller in real time, and sends the compaction machinery's compaction strength data to the roadbed and pavement compaction state calculation module; the comprehensive environmental data storage device is used by the staff to input the initial environmental data before the paving work begins. The initial environmental data refers to the data that affects the compaction degree and compaction thickness during the paving-compacting operation, but the data changes have negligible effects on the changes in the compaction degree and compaction thickness; the communication module transmits the pavement compaction information to the roadbed and pavement compaction state calculation module via the UHF frequency band.

8. The high-precision paving and compaction dynamic optimization control system according to claim 7, characterized in that: The data comprehensive calculation and disposal module includes a UHF signal processing system, a paving gradation calculation system, and a roadbed and pavement compaction state calculation system; the UHF signal processing system receives information from the paving gradation real-time detection module and the roadbed and pavement compaction state real-time detection module, performs signal processing, and sends the processed signal to the paving gradation calculation system and the roadbed and pavement compaction real-time detection module; the paving gradation calculation system predicts the pavement information scanned by the gradation real-time detection module based on machine learning and convolutional neural network models, and improves the road sections that do not meet the gradation requirements by adjusting the speed of the paving machinery's spreading boom in real time; the roadbed and pavement compaction thickness calculation system Based on machine learning and random forest regression model, the compaction thickness of the compaction machinery vibration data, compaction machinery compaction strength, pavement asphalt temperature data, asphalt viscosity and other information sent by the base pavement compaction thickness real-time detection module to the data comprehensive calculation and processing module is predicted, and the road section that does not meet the compaction thickness requirements is improved by adjusting the paving machinery ironing plate height in real time; the subgrade and pavement compaction degree real-time detection module predicts the number of compaction passes based on the compaction machinery vibration data, compaction machinery compaction strength, pavement asphalt temperature data, asphalt viscosity and other information sent by the base pavement compaction status real-time detection system to the data comprehensive calculation and processing module.

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