Cement concrete pavement construction device

Abstract

The invention discloses a cement concrete pavement construction device, which realizes accurate leveling through a hydraulic servo leveling execution mechanism transversely arranged along a paver, and comprises a plurality of sections of independently controlled telescopic template groups, and a dual-redundancy linear hydraulic cylinder above each section of template realizes synchronous control through a time sensitive network; a terrain laser three-dimensional scanner is arranged at the front end of the paver, the terrain laser three-dimensional scanner and a walking encoder form a space-time synchronization module, elevation data of the surface of the roadbed are obtained in real time, and a cross section fluctuation oscillogram is generated; the dynamic leveling controller receives scanning data through an optical fiber, and converts a topographic waveform into a template vertical compensation instruction by using a built-in elevation deviation compensation algorithm; meanwhile, the actual paving thickness is fed back in a closed loop mode through a microwave dielectric constant sensor embedded in a concrete layer, algorithm parameters are dynamically corrected to form a feed-forward-feedback composite control loop, and the formwork set is made to adjust roadbed fluctuation and concrete rheological interference in a self-adaptive mode in the paving process.

Description

Technical Field

[0001] The present invention relates to the technical field of road construction equipment, and more particularly to a cement concrete pavement construction device. Background Art

[0002] In the field of cement concrete pavement construction, the leveling control technology of traditional pavers faces many technical bottlenecks. Due to the presence of irregular undulations such as local depressions and ridges on the roadbed surface, it is difficult to adjust the height of the template based on the roadbed surface during dynamic paving, resulting in the leveling response lagging behind the actual terrain changes. Under complex terrain conditions, the paver needs to be started and stopped frequently to adjust the template posture, which not only reduces construction efficiency, but also causes the initial setting of concrete during shutdown, resulting in a decrease in the interlayer bond strength. Existing research attempts to improve adaptability by improving the walking mechanism or increasing the freedom of the template, but is limited by the computing power of the control system, and multi-degree-of-freedom coordinated motion is prone to mechanical interference.

[0003] The root cause of these technical shortcomings lies in the inherent limitations of traditional control system architecture: open-loop control modes cannot eliminate initial errors caused by uneven roadbeds, and a single feedback loop cannot cope with the coupled effects of multiple variables such as concrete rheology, mechanical vibration, and environmental interference. Therefore, a cement concrete pavement construction device is urgently needed. Summary of the Invention

[0004] One purpose of the present invention is to provide a cement concrete pavement construction device. Traditional pavers have insufficient precision in coordinated control of multi-section templates, delayed updating of terrain data, and lack of closed-loop feedback, resulting in excessive deviation in paving thickness and periodic fluctuations on the surface. The existing vibration system cannot dynamically respond to abnormal distribution of aggregates, resulting in uneven density, excessive energy consumption, and deviation of construction parameters from design tolerances. The monitoring accuracy of the stacking height around the template is low, a single sensor cannot distinguish between surface / internal states, and there is a lack of an abnormality handling mechanism. Concrete quality assessment relies on offline tests, and it is impossible to predict defects and optimize vibration parameters in real time. Template vibration induces resonance, resulting in positioning errors and reduced equipment life. Segregation detection is delayed, and uneven distribution of compaction pressure causes surface wave deformation. The terrain data processing efficiency is low, the model matching error rate is high, and noise interference is significant. The template joint extrusion force monitoring fails, resulting in leakage and edge collapse.

[0005] In order to achieve these objects and other advantages of the present invention, a cement concrete pavement construction device is provided, comprising: A hydraulic servo leveling actuator, positioned transversely along the paver, comprises a multi-section, independently controlled telescopic formwork assembly, each section of which is provided with a dual-redundant linear hydraulic cylinder, which is synchronously controlled via a time-sensitive network. A topographic laser 3D scanner, which is located at the front end of the paver in the direction of travel and forms a time-space synchronization module with the paver's travel encoder. The topographic laser 3D scanner is used to obtain real-time elevation data of the roadbed surface and generate a cross-sectional undulation waveform diagram; A dynamic leveling controller is connected to the terrain laser 3D scanner via optical fiber communication. The dynamic leveling controller internally integrates an elevation deviation compensation algorithm module, which is used to convert a cross-sectional undulating waveform diagram into a vertical compensation amount instruction for a multi-segment template group; a closed-loop feedback unit comprising a microwave dielectric constant sensor embedded in the fresh concrete layer, the microwave dielectric constant sensor being used to detect the actual paving thickness of the concrete in real time and compare it with the designed thickness value, thereby generating a thickness error signal which is fed back to the dynamic leveling controller; Among them, the dynamic leveling controller dynamically corrects the elevation deviation compensation algorithm parameters according to the thickness error signal, forming a feedforward-feedback composite control loop, so that the template group can achieve adaptive adjustment during the paving process.

[0006] Preferably, it is characterized in that it further comprises: Aggregate particle size sensing module, which includes a millimeter-wave radar array located at the paver feed opening, identifies oversized aggregates in real time and adjusts the formwork vibration frequency in a coordinated manner; An adaptive vibration system dynamically adjusts the vibrating rod insertion depth and excitation force based on the density distribution detected by a microwave dielectric constant sensor, and uses an anti-resonance control algorithm to reduce energy consumption by 25%; The BIM interface module converts the thickness tolerance band of the design model into the constraint boundary of the dynamic leveling controller, realizing digital twin mapping for the entire life cycle.

[0007] Preferably, in the telescopic formwork group, a group of ultrasonic displacement sensors are installed on the side of each section of the formwork, and the ultrasonic displacement sensors are used to monitor the accumulation height of concrete around the formwork in real time. The ultrasonic displacement sensors are connected to the main control chip of the adaptive vibration system via optical fiber communication; Among them, when the ultrasonic displacement sensor detects that the accumulation height of concrete around a section of the formwork exceeds a preset range, the main control chip of the adaptive vibration system receives the ultrasonic displacement sensor and combines it with the density information detected by the microwave dielectric constant sensor to judge the vibration requirements corresponding to the area with abnormal concrete accumulation; if it is judged that the area needs to be vibrated more, the main control chip of the adaptive vibration system controls the adaptive vibration system, adjusts the insertion depth, excitation force and vibration time of the vibrating rod, and at the same time, the main control chip of the adaptive vibration system sends instructions to the control unit of the hydraulic servo leveling actuator through the wireless communication module to adjust the height and inclination angle of the corresponding formwork.

[0008] Preferably, the ultrasonic displacement sensor has a built-in signal processing module and multiple groups of independently working ultrasonic detection channels, each group of detection channels is equipped with ultrasonic transmitting and receiving devices of different frequencies, and the multiple groups of ultrasonic detection channels are divided into high-frequency detection channels, medium-frequency detection channels, and low-frequency detection channels according to the frequency. The high-frequency detection channel is used to capture the microstructural characteristics of the concrete surface and assist in monitoring the surface density when the stacking height changes. The medium-frequency detection channel is used to monitor the internal particle stacking state of the concrete and the internal density gradient when the stacking height changes. The low-frequency detection channel is used to sense the overall volume change of the concrete and directly monitor the volume deformation caused by the change in the stacking height. Among them, when any detection channel detects that the concrete pile height exceeds or falls below the set threshold, a first-level response is triggered, the adaptive vibration system suspends or adjusts the concrete delivery rate, and the hydraulic servo leveling actuator adjusts the formwork to correct the pile height; when the high-frequency detection channel detects that the surface density of the concrete is lower than the set threshold during the pile height change, combined with the pile height data, a second-level response is triggered, and the adaptive vibration system reduces the vibration frequency and adjusts the vibration area; when the intermediate-frequency detection channel detects that the internal density of the concrete is unevenly distributed during the pile height change, combined with the pile height data, a third-level response is triggered, and the adaptive vibration system adopts an intermittent vibration mode; when the low-frequency detection channel monitors that the concrete volume deformation rate exceeds the design allowable range during the pile height change, a fourth-level response is triggered, and the adaptive vibration system works together with the hydraulic servo leveling actuator to adjust the formwork and re-evaluate the pile height setting.

[0009] Preferably, it is characterized in that it further comprises: The concrete quality pre-assessment module includes a data acquisition unit, a data analysis unit and an assessment decision unit. The data acquisition unit is connected to the ultrasonic displacement sensor and the microwave dielectric constant sensor to obtain the stacking height and density of the concrete. The data analysis unit is used to process the data transmitted by the data acquisition unit. The assessment decision unit has a built-in machine learning concrete quality assessment model. When the assessment decision unit predicts that the concrete quality does not meet the standard, it sends an instruction to the main control chip of the adaptive vibration system. The main control chip adjusts the insertion depth, excitation force and vibration duration of the vibrating rod, and feeds back the adjusted parameters to the assessment decision unit. The assessment decision unit dynamically adjusts the assessment results accordingly.

[0010] Preferably, a piezoelectric contact force sensor is provided between any adjacent templates to monitor the concrete extrusion force at the template joints in real time.

[0011] Preferably, the elevation deviation compensation algorithm module performs the following compensation amount conversion method: Dynamically adjust the terrain data processing window length according to the real-time travel speed of the paver, filter the cross-sectional undulating waveforms obtained by 3D scanning, and identify the distribution characteristics of peaks and troughs; A delay compensation model is established based on the concrete material properties, and the response delay time of the hydraulic system is calculated using the real-time collected concrete viscosity parameters and design thickness data; A downward compensation strategy is adopted for the peak area, and the compensation amount increases nonlinearly with the positive deviation between the actual elevation and the design value. An upward compensation strategy is adopted for the trough area, and the compensation amount increases gradiently with the increase of the negative deviation. The two types of compensation coefficients are adjusted in real time according to the slump of concrete. Compensation instructions are sent to each template group through a time-sensitive network to constrain the relationship between the time intervals between adjacent template actions and the paving speed, so that there is no misalignment interference during the collaborative leveling process of the template groups.

[0012] Preferably, the downward compensation strategy for the peak area is as follows: when the positive deviation of the actual elevation from the design value is in a first interval, the compensation amount is increased according to a first linear ratio; when the deviation enters a second interval, the compensation amount is switched to an exponential increasing mode, and the increasing rate decreases as the slump of the concrete increases; The upward compensation strategy for the trough area is as follows: when the actual elevation is lower than the design value by a negative deviation that reaches a trigger threshold, the compensation amount is increased in steps, and the increase in each step is dynamically adjusted according to the real-time slump value; Real-time adjustment of the two types of compensation coefficients is achieved in the following way: an online slump detection probe is set on the concrete conveyor belt. When the slump change is detected to exceed the set tolerance, the compensation coefficient update program is started, where the peak compensation coefficient update rate is higher than the trough compensation coefficient.

[0013] Preferably, the first interval is when the actual elevation positive deviation is less than or equal to 5% of the design thickness value, and the first linear proportional compensation amount increase rate is 0.6-0.8mm leveling amount per millimeter deviation; when the deviation exceeds 5% of the design thickness value and enters the second interval, the base increase rate of the exponential increase mode is set to 1.2-1.5mm leveling amount per millimeter deviation, and the exponential increase rate is reduced by 15%-20% for every 10mm increase in concrete slump detected; The activation trigger of the second interval is achieved in the following way: when the positive deviation of more than three adjacent sampling points continuously detected in the three-dimensional scanning waveform exceeds the threshold of the first interval, it automatically switches to the exponential compensation mode and starts the concrete density pre-enhancement vibration within the range of 1.2 times the template width behind the area.

[0014] Preferably, the triggering threshold of the upward compensation strategy for the trough area is 3% to 5% of the design thickness value, and the step-by-step improvement includes three compensation stages: First compensation stage: When the negative deviation reaches the trigger threshold, the increase range is 0.8%~1.2% of the design thickness value, and the increase range increases linearly with the increase of slump; Second compensation stage: If the deviation continues to exceed 1.5 times the current template width, the lifting range is increased to 1.5% to 2.0% of the design thickness value, and the coordinated lifting mode of the adjacent templates is activated; The third compensation stage: When the accumulated deviation time exceeds the period of two formwork widths of the paver, the lifting amplitude switches to dynamic follow-up mode and is adjusted comprehensively based on the real-time slump value and the predicted results of the terrain scanning data 5m ahead; When each stage is switched, the local pre-vibration program of the adaptive vibration system is triggered synchronously, and high-frequency low-amplitude vibration is started 0.8m in front of the target compensation area to improve the fluidity of the concrete.

[0015] The present invention has at least the following beneficial effects: The comprehensive beneficial effects of the present invention are reflected in the overall improvement of pavement construction quality, efficiency and equipment reliability. Through the coordinated control of multi-section independent leveling templates and high-precision terrain scanning, the paving thickness and flatness are finely controlled, effectively eliminating the thickness deviation caused by roadbed undulations and concrete rheological properties, ensuring that the edges of the formed pavement are neat and the joints are tight. The intelligent vibration system combines real-time aggregate monitoring and anti-resonance control to significantly improve the density and uniformity of concrete and avoid segregation and over-vibration defects. Multi-source sensor fusion technology can accurately identify working condition changes such as stacking anomalies, material segregation and mechanical resonance, and trigger the adaptive adjustment mechanism in stages to quickly correct local defects while maintaining continuous construction. The combination of dynamic compensation algorithm and high-response hydraulic drive greatly reduces equipment vibration loss and maintenance frequency, and extends the service life of key components. The overall solution significantly improves the stability of pavement construction quality under complex terrain through data-driven closed-loop control logic, while reducing the intensity of manual intervention and material waste.

[0016] Other advantages, objectives and features of the present invention will be reflected in part from the following description and will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of the template described in one of the technical solutions described in the present invention. DETAILED DESCRIPTION

[0018] The present invention will be described in further detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0019] Cement concrete pavement construction device, including: The hydraulic servo leveling actuator is arranged horizontally along the paver. The hydraulic servo leveling actuator includes three groups of multi-section independently controlled telescopic templates (the paver is provided with a support frame 1, and the support frame 1 is provided with three groups of multi-section templates that can slide up and down. The support frame 1 is provided with multiple pairs of hydraulic cylinders 2, and the multiple pairs of hydraulic cylinders 2 are connected one-to-one with the multiple sections of templates 3, and the templates 3 are slidably connected to the support frame 1). A dual-redundant linear hydraulic cylinder 2 is set above each section of template 3. The piston rods of the two hydraulic cylinders 2 drive the same template 3 in parallel through a ball joint mechanism. Multiple dual-redundant linear hydraulic cylinders 2 achieve microsecond-level synchronous control through a time-sensitive network (TSN). The time-sensitive network adopts the IEEE 802.1AS-2020 clock synchronization protocol and is based on the hardware timestamp function of PTP (Precision Time Protocol). Global time base alignment is achieved through the clock synchronization module of a dedicated TSN switch (such as Renesas RZ / N2L). The TSN network supports the IEEE 802.1Qbv time-triggered scheduling mechanism. Combined with the real-time response characteristics of the hydraulic cylinder servo valve (≤50μs), the synchronization error of multiple hydraulic cylinder control signals is controlled within ±1μs, ensuring the timing consistency of template posture adjustment. A topographic laser 3D scanner is mounted on the front of the paver and forms a spatiotemporal synchronization module with the paver's travel encoder. The scanner is used to acquire real-time subgrade surface elevation data and generate a cross-sectional undulation waveform. Its scanning head emits a 1550nm laser beam at a 120° fan angle and a scanning frequency of 100Hz. Combined with the pulse signal from the travel encoder, it establishes a 3D coordinate system (XYZ) to achieve spatiotemporal alignment between the subgrade elevation data and the paver's position. A dynamic leveling controller (using an FPGA chip to process scanning data) is connected to the terrain laser 3D scanner via optical fiber communication. The dynamic leveling controller integrates an elevation deviation compensation algorithm module, which is used to convert the cross-sectional undulating waveform into vertical compensation instructions for three groups of multi-segment templates. The elevation deviation compensation algorithm of the dynamic leveling controller decomposes the cross-sectional undulating waveform into multiple compensation amounts through cubic spline interpolation. The multiple compensation amounts are set in one-to-one correspondence with the multiple-segment templates 3, and the vertical displacement instruction accuracy of each corresponding template 3 is up to; A closed-loop feedback unit includes a microwave dielectric constant sensor embedded in the fresh concrete layer (buried 50 cm behind formwork 3, with its circular antenna array detecting the concrete dielectric constant at a frequency of 2.45 GHz and converting the paving thickness in real time using a dielectric constant-density relationship model). The microwave dielectric constant sensor integrates a dynamic moisture content compensation algorithm, which corrects the dielectric constant measurement value in real time based on synchronously collected ambient temperature and humidity data (accuracy of ±1% RH), and separates the moisture content interference signal from the density characteristic signal through multi-band sweep technology (2.4-2.5 GHz, 10 MHz step). The sensor's data update period is set to 10ms, matching the concrete flow velocity (typical value ≤5cm / s), ensuring that the thickness detection hysteresis error is less than 0.1mm during the concrete plastic deformation stage (initial setting time ≥30min). The microwave dielectric constant sensor is used to detect the actual paving thickness of the concrete in real time and compare it with the designed thickness value, generating a thickness error signal that is fed back to the dynamic leveling controller. The closed-loop feedback unit inputs the thickness error signal into the dynamic leveling controller after Kalman filtering, where it is superimposed with the feedforward instruction to form a composite control variable. Among them, the dynamic leveling controller dynamically corrects the elevation deviation compensation algorithm parameters according to the thickness error signal, forming a feedforward-feedback composite control loop, so that the three groups of templates can be adaptively adjusted during the paving process.

[0020] The laser beam emitted by a topographic laser 3D scanner has strong penetrating properties, capable of penetrating dust particles to a certain extent. Although dust can scatter and attenuate the laser, the laser energy emitted by the scanner is sufficient, and parameters such as its operating wavelength can reduce dust interference to a certain extent. For example, the near-infrared laser typically used in these scanners has a wavelength range that minimizes scattering when encountering dust particles. Part of the laser beam can penetrate the dust layer and reach the roadbed surface, thereby obtaining an effective reflected signal.

[0021] The hydraulic servo leveling actuator uses core components such as hydraulic pumps, valve groups and hydraulic cylinders with high wear resistance and high strength, which can effectively resist mechanical stress and wear under high-load conditions; the system integrates a comprehensive intelligent monitoring module to monitor parameters such as pressure, flow, oil temperature, and component operating status in real time 24 hours a day. Once the parameters deviate from the normal range, an early warning is immediately triggered and an automatic adjustment strategy is initiated to prevent potential failures in advance.

[0022] Microwave dielectric constant sensors should be designed with good seismic resistance and corrosion resistance, such as using a sturdy housing and a shock-absorbing mounting bracket. Depending on the concrete composition and state changes that may occur during construction, a sensor with an appropriate dielectric constant range should be selected. Different types of concrete (such as ordinary concrete, high-performance concrete, etc.) may have different dielectric constant ranges. Generally speaking, the dielectric constant of ordinary concrete is between 3-8, and that of high-performance concrete may be between 4-10. The dielectric constant range of the sensor should be able to cover these possible ranges and maintain good linearity and accuracy throughout the entire range.

[0023] During operation, if the terrain laser 3D scanner detects a depression in the roadbed ahead, the dynamic leveling controller immediately calculates the required lift for the corresponding set of formwork 3 in that area. Dual redundant hydraulic cylinders 2, under TSN control, extend synchronously, pre-lifting formwork 3 before the paver reaches that location. A microwave dielectric constant sensor continuously monitors the actual thickness of the placed concrete. If vibration subsidence is detected, the closed-loop feedback unit corrects the stroke command for hydraulic cylinder 2 in the next control cycle.

[0024] By adopting the technical solution, the coordination mechanism in the present invention enables the lead time of the leveling action to accurately match the traveling speed of the paver, and shortens the response time of the dynamic compensation of the thickness deviation.

[0025] In another technical solution, it also includes: The aggregate particle size sensing module includes a millimeter-wave radar array arranged on both sides of the paver hopper outlet. Its 24GHz transmitter scans the falling aggregate flow with a 10° beam angle. The echo signal is processed by FFT to extract the particle size distribution characteristics, identify oversized aggregates in real time, and adjust the vibration frequency of template 3 in conjunction. When it is detected that the proportion of aggregates with a particle size of more than 40mm exceeds 5%, a command is sent to the adaptive vibration system to adjust the template vibration frequency according to the following rules: Oversized particle size proportion ≤5%: vibration frequency is increased to 105%-110% of the rated value; oversized particle size proportion 5%-10%: vibration frequency is increased to 115%-125% of the rated value; oversized particle size proportion >10%: vibration frequency is increased to 130% of the rated value and an alarm is triggered; combined with the density data feedback from the microwave dielectric constant sensor, if the density after adjustment is still lower than the design value (such as 95%), the amplitude is increased by 5%-8% simultaneously The adaptive vibration system dynamically adjusts the vibrator's insertion depth and excitation force based on the density distribution detected by a microwave dielectric constant sensor, and uses an anti-resonance control algorithm to reduce energy consumption by 25%. The vibrator has an integrated piezoelectric driver, and its excitation frequency can be dynamically adjusted within a range of 30-120Hz. The amplitude can be precisely adjusted by 0.1-2.0mm through current control. The anti-resonance control algorithm (which prevents resonance between the hydraulic cylinder and the vibrating system) runs on the DSP chip. By monitoring the phase difference of the vibrator's acceleration signal, it adjusts the drive signal phase angle in real time, concentrating the vibration energy in the target frequency band (such as the 80-120Hz required for aggregate density) while offsetting vibration components in the mechanical resonance frequency band (such as 150-180Hz). The BIM interface module converts the thickness tolerance band (e.g., ±2mm) of the design model (a 3D construction model built based on BIM (Building Information Modeling) technology, including the design tolerance band for pavement thickness, and interacting in real time with the construction equipment control system via the OPC UA protocol) into constraint boundaries for the dynamic leveling controller, achieving full-lifecycle digital twin mapping. The BIM interface module receives the thickness tolerance band data (e.g., ±2mm) from the design model via the OPC UA protocol and converts it into a vibration force-thickness mapping table, which is stored in the controller. When the millimeter-wave radar identifies an area of ​​oversized aggregate accumulation, the system automatically increases the vibration frequency of the vibrator in that area to 120Hz and the amplitude to 1.5mm, while simultaneously reducing the vibration frequency to 80Hz in adjacent areas to prevent overvibration. An anti-resonance algorithm effectively counteracts the 150Hz resonance component caused by changes in concrete rheological resistance, reducing mechanical losses in the vibrator by 30%. BIM model data guides the adjustment of vibration parameter boundaries. For example, when the actual thickness approaches the design upper limit, the amplitude is automatically limited to 1.2mm. The conversion process of the design model's thickness tolerance band (e.g., ±2mm) into the constraint boundaries of the dynamic leveling controller is based on a segmented adjustment strategy and dynamic feedback mechanism. Specifically, it includes the following: Graded Deviation Response: When the thickness deviation is within ±1mm, the vibration force is linearly fine-tuned according to the baseline value, while the amplitude remains stable. When the thickness deviation exceeds ±1mm but does not reach ±2mm, the vibration force is proportionally increased (e.g., for every 0.5mm increase in deviation, the vibration force increases by 10% of the rated value), while the amplitude increases by 10%-15%. Real-time Parameter Optimization: Integrating density data fed back by the microwave dielectric constant sensor, if the concrete slump deviates from the design range (e.g., ±20mm), the tolerance band is automatically narrowed to ±1.5mm, and the vibration force adjustment range is simultaneously reduced. BIM Interaction Logic: Real-time communication with the BIM design software via the OPC UA protocol maps the design tolerance band to the dynamic adjustment boundaries of the vibration parameters (e.g., the upper limit of the vibration force is 120% of the rated value, and the upper limit of the amplitude is 2.0mm), ensuring that construction parameters are consistent with quality objectives. This technical solution reduces density differences in aggregate segregation zones, lowering vibration energy consumption from 5.2 kW·h in conventional systems to 3.9 kW·h. Surface defects caused by oversized aggregate are reduced, and thickness deviations from design values ​​are stabilized within ±1.2 mm.

[0026] In another technical solution, each section of the three telescopic formwork groups is equipped with a set of ultrasonic displacement sensors (installed on the side brackets of each section, encased in an aluminum alloy housing, with an integrated 1MHz piezoelectric ceramic transmitter and receiver). These ultrasonic displacement sensors are used to monitor the concrete accumulation height around the formwork in real time. The ultrasonic displacement sensors are connected to the main control chip of the adaptive vibration system via optical fiber communication. The detection surface of the ultrasonic displacement sensor is flush with the inner wall of the formwork, and it transmits ultrasonic pulses at a 30° inclination angle toward the concrete accumulation area, with a pulse width of 10μs and a repetition frequency of 20kHz. The signal processing unit uses time domain reflectometry (TDR) to calculate the echo time difference, with a measurement accuracy of ±0.3mm and a range of 0-150mm. The sensor is connected to the main control chip of the adaptive vibration system via optical fiber, with a data update period of 5ms. When the ultrasonic displacement sensor detects that the concrete accumulation height around a section of formwork 3 exceeds a preset range, the adaptive vibration system's main control chip receives the ultrasonic displacement sensor and, combined with the density information detected by the microwave dielectric constant sensor, determines the vibration requirements corresponding to the area of ​​abnormal concrete accumulation. If it is determined that the area requires increased vibration, the adaptive vibration system's main control chip controls the adaptive vibration system to adjust the vibrating rod's insertion depth, excitation force, and vibration duration. Simultaneously, the adaptive vibration system's main control chip sends instructions to the control unit of the hydraulic servo leveling actuator via the wireless communication module to adjust the height and tilt angle of the corresponding formwork 3. When the accumulation height on the left side of a section of formwork 3 exceeds a preset threshold (e.g., +15 mm), the ultrasonic displacement sensor detects a 12% shortening of the echo time, and the main control chip immediately initiates the response logic: first, the concrete conveyor belt in that area is suspended for 2 seconds, and the corresponding vibrating rod's insertion depth is increased by 4 mm, raising the excitation force to 120% of the rated value. If the stacking height fails to return to the threshold within 5 seconds, the system activates a hydraulic servo leveling actuator, raising the section of formwork 3 by 3mm and tilting it outward by 0.8°, thereby alleviating stacking pressure through physical expansion. This technical solution enables stacking height monitoring with a resolution of ±0.5mm, shortening the response time for abnormality identification. Dynamic adjustment of vibration parameters reduces the standard deviation of the compaction density in the stacking area, improving the success rate of formwork 3 posture correction actions.

[0027] In another technical solution, the ultrasonic displacement sensor has a built-in signal processing module and multiple sets of independently working ultrasonic detection channels. Each set of detection channels is equipped with ultrasonic transmitting and receiving devices of different frequencies. The multiple sets of ultrasonic detection channels are divided into high-frequency detection channels, medium-frequency detection channels, and low-frequency detection channels according to the frequency. The high-frequency detection channel is used to capture the microstructural characteristics of the concrete surface and assist in monitoring the surface density when the stacking height changes. The medium-frequency detection channel is used to monitor the internal particle stacking state of the concrete and the internal density gradient when the stacking height changes. The low-frequency detection channel is used to sense the overall volume change of the concrete and directly monitor the stacking height. The high-frequency channel uses a 5MHz quartz crystal to emit short pulses with a pulse width of 2μs. The echo attenuation rate (unit: dB / mm) is used to analyze the density of the 0-10mm layer on the concrete surface, with a measurement error of ±3%. The medium-frequency channel uses a 400kHz composite piezoelectric plate to emit sound waves with a diffusion angle of 60°. The internal particle distribution state at a depth of 20-50mm is evaluated based on the reflected signal intensity gradient (ΔE / Δx). The gradient resolution is 0.5% / cm. The low-frequency channel is equipped with a 100kHz bending vibration plate. The volume deformation of the concrete on both sides of the formwork 3 is monitored by the change in the transit time (Δt). The sensitivity is 0.2%. When any detection channel detects that the concrete pile height exceeds or falls below a set threshold, a first-level response is triggered. The adaptive vibration system pauses or adjusts the concrete delivery rate, and the hydraulic servo leveling actuator adjusts formwork 3 to correct the pile height. When the high-frequency detection channel detects that the surface density of the concrete falls below a set threshold during a pile height change, a second-level response is triggered based on the pile height data. The adaptive vibration system reduces the vibration frequency and adjusts the vibration area. When the intermediate-frequency detection channel detects that the internal density of the concrete is unevenly distributed during a pile height change, a third-level response is triggered based on the pile height data. The adaptive vibration system adopts an intermittent vibration mode. When the low-frequency detection channel detects that the concrete volume deformation rate exceeds the design allowable range during a pile height change, a fourth-level response is triggered. The adaptive vibration system works in conjunction with the hydraulic servo leveling actuator to adjust formwork 3 and re-evaluate the pile height setting (response priority order: first-level response > second-level response > third-level response > fourth-level response). Level 1 response: When the detection value of any channel exceeds the threshold (for example, the density of the high-frequency channel is less than 85%), concrete delivery is immediately suspended and an alarm is issued, with a false trigger rate of less than 5%. Level 2 response: If the high-frequency channel indicates a loose surface (attenuation rate <-1.5dB / mm) and the pile height exceeds the standard, local high-frequency vibration (200Hz, 1.2mm amplitude) is activated to restore the surface density to above 92% within 5 seconds. Level 3 response: When the intermediate-frequency channel detects an internal density gradient greater than 1.0% / cm, the vibrator is switched to intermittent mode (working for 1 second and stopping for 0.5 seconds), combined with lateral vibration of the formwork at an amplitude of 30.3mm, to improve particle distribution uniformity by 40%. Level 4 response: When the low-frequency channel detects a volume expansion rate greater than 2%, hydraulic cylinder 2 drives formwork 3 to expand the spacing by 1.0mm, while reducing the delivery rate by 30%, shortening the volume deformation recovery time from 120 seconds to 25 seconds. With this technical solution, multi-frequency detection can improve the accuracy of abnormal type identification, the four-level response mechanism can reduce system failure downtime rate and reduce material waste, and the two-level response can improve surface repair efficiency.

[0028] In another technical solution, it also includes: The concrete quality pre-assessment module includes a data acquisition unit, a data analysis unit, and an assessment and decision-making unit. The data acquisition unit is connected to the ultrasonic displacement sensor and the microwave dielectric constant sensor to obtain the pile height and density of the concrete (the data acquisition unit is connected to multiple detection channels of the ultrasonic displacement sensor and the microwave dielectric constant sensor via an RS-485 bus, and synchronously obtains pile height, surface density, and internal dielectric constant data at a 20ms cycle). The data analysis unit is used to process the data transmitted by the data acquisition unit (the data analysis unit uses a sliding time window algorithm (window length 2 seconds, step length 0.5 seconds) to normalize the raw data and extract characteristic parameters including the pile height change rate (ΔH / Δt). , surface echo attenuation gradient (dB / mm), and dielectric constant fluctuation variance (σ²). The assessment and decision unit has a built-in machine learning concrete quality assessment model (the assessment and decision unit embeds a quality prediction model based on the random forest algorithm. Using a training dataset (containing 500 sets of construction data for concrete with different mix ratios), it establishes a nonlinear mapping relationship between characteristic parameters and compressive strength and slump, and outputs a quality score of 0-100 and a defect probability of 0-1). When the assessment and decision unit predicts that the concrete quality does not meet the standards, it sends instructions to the main control chip of the adaptive vibration system. The main control chip adjusts the vibrator insertion depth, excitation force, and vibration duration, and feeds the adjusted parameters back to the assessment and decision unit, which dynamically adjusts the assessment results accordingly. If the assessment and decision unit detects that the quality score of a certain area is lower than 75 points or the defect probability exceeds 0.3, it immediately sends adjustment instructions to the adaptive vibration system via the CAN bus. For example, if the surface echo attenuation gradient falls below a threshold (e.g., -1.2dB / mm) and the dielectric constant variance exceeds 0.15, this indicates a risk of aggregate segregation, triggering an increase in the vibrator insertion depth by 2mm, an increase in the excitation force by 10N, and a 30% extension of the vibration duration in that area. The adjusted sensor data is re-input into the evaluation model via a feedback loop to achieve dynamic parameter optimization and ensure a prediction error rate of less than 2%. By employing this technical solution, the present invention can effectively improve the early identification rate of concrete quality defects and shorten the response time for vibration parameter adjustments. In actual construction, this reduces the deviation of compressive strength from the design value, reduces the rework rate, and reduces energy consumption per cubic meter of concrete.

[0029] In another technical solution, a piezoelectric contact force sensor is provided between any adjacent templates 3 to monitor the concrete extrusion force at the joints of the templates 3 in real time; A piezoelectric contact force sensor is embedded in the joint between adjacent formwork panels 3. It uses a PZT-5H piezoelectric ceramic disc as the sensing element, with its polarization direction perpendicular to the joint surface. The piezoelectric contact force sensor monitors the extrusion force signal (range 0-3 MPa, nonlinearity <0.5%) at a 1kHz sampling rate. The signal is converted to a voltage signal (0-10V) by a charge amplifier. A threshold comparator then determines whether the pressure exceeds the threshold (for example, the threshold is set to 2.2 MPa). When the control unit detects that the extrusion force momentarily exceeds the threshold, it immediately sends a pulse signal to the pressure relief valve of hydraulic cylinder 2, reducing the pressure by 30% within 15ms and simultaneously activating the reverse compensating hydraulic cylinder 2 to slightly retract it by 0.5mm. For example, if aggregate jamming causes the extrusion force to increase suddenly from 1.8 MPa to 3.0 MPa in 0.1 seconds, the pressure relief valve opens, reducing the pressure to 2.1 MPa, and the reverse compensating hydraulic cylinder 2 pushes formwork panel 3 back 0.3mm to relieve the stress. The system records the location of the abnormal event and, during subsequent paving, pre-sets a 0.2mm compensation margin for the formwork 3 in that area. This technical solution reduces the incidence of grout leakage at the joints of the formwork 3, stabilizes the fluctuation range of the joint gap to between 0.3-0.7mm, reduces formwork 3 deformation, and controls edge slump height from 4mm to within 0.8mm.

[0030] In another technical solution, the elevation deviation compensation algorithm module performs the following compensation amount conversion method: Dynamically adjust the terrain data processing window length according to the real-time travel speed of the paver, filter the cross-sectional undulating waveforms obtained by 3D scanning, and identify the distribution characteristics of peaks and troughs; A delay compensation model is established based on the concrete material properties, and the response delay time of the hydraulic system is calculated using the real-time collected concrete viscosity parameters and design thickness data; A downward compensation strategy is adopted for the peak area, and the compensation amount increases nonlinearly with the positive deviation between the actual elevation and the design value. An upward compensation strategy is adopted for the trough area, and the compensation amount increases gradiently with the increase of the negative deviation. The two types of compensation coefficients are adjusted in real time according to the slump of concrete. Compensation instructions are sent to each formwork group via a time-sensitive network, constraining the relationship between the time intervals between adjacent formwork movements and the paving speed, ensuring that the formwork groups coordinate and level without interference. This technical solution enables precise leveling of the formwork groups, effectively addressing the effects of roadbed fluctuations and concrete rheology, improving pavement paving smoothness and thickness accuracy, and ensuring consistent construction quality.

[0031] In another technical solution, the downward compensation strategy for the peak area is as follows: when the positive deviation of the actual elevation from the design value is in a first interval, the compensation amount increases according to a first linear ratio; when the deviation enters a second interval, the compensation amount switches to an exponential increasing mode, and the increasing rate decreases as the slump of concrete increases; The upward compensation strategy for the trough area is as follows: when the actual elevation is lower than the design value by a negative deviation that reaches a trigger threshold, the compensation amount is increased in steps, and the increase in each step is dynamically adjusted according to the real-time slump value; Real-time adjustment of the two compensation coefficients is achieved through the following method: An online slump detection probe is installed on the concrete conveyor belt. When the detected slump change exceeds the set tolerance, the compensation coefficient update program is initiated, with the peak compensation coefficient updating at a higher rate than the trough compensation coefficient. This technical solution achieves precise compensation for peaks and troughs, dynamically adjusting the compensation strategy and coefficient based on the deviation and concrete slump. This improves the smoothness and thickness accuracy of the pavement, effectively addresses the impact of roadbed fluctuations and concrete rheological properties, and ensures the stability of construction quality.

[0032] In another technical solution, the first interval is when the actual elevation positive deviation is less than or equal to 5% of the design thickness value, and the first linear proportional compensation amount increase rate is 0.6-0.8 mm leveling amount per millimeter deviation; when the deviation exceeds 5% of the design thickness value and enters the second interval, the base increase rate of the exponential increase mode is set to 1.2-1.5 mm leveling amount per millimeter deviation, and the exponential increase rate is reduced by 15%-20% for every 10 mm increase in concrete slump detected; The activation of the second interval is triggered by the following method: when the positive deviation of three or more adjacent sampling points in the three-dimensional scanning waveform exceeds the first interval threshold, the system automatically switches to exponential compensation mode and initiates pre-enhancement vibration of concrete density within an area 1.2 times the formwork width behind the area. This technical solution, through clearly dividing compensation intervals, setting differentiated increase rates, and incorporating a dynamic slump adjustment mechanism, achieves hierarchical and precise control of compensation in the peak area. Combined with the second interval activation logic based on continuous sampling points and pre-enhancement vibration measures, it can effectively address elevation deviations caused by localized uplift of the roadbed, reduce paving thickness errors caused by over- or under-compensation, and improve the uniformity of road surface smoothness and density.

[0033] In another technical solution, the trigger threshold of the upward compensation strategy for the trough area is 3% to 5% of the design thickness value, and the step-by-step improvement includes three compensation stages: In the first compensation phase, when the negative deviation reaches the trigger threshold, the lift is increased by 0.8% to 1.2% of the design thickness, and the lift increases linearly with increasing slump. For example, for a design thickness of 100mm, the lift is between 0.8mm and 1.2mm. In the second compensation phase, if the deviation persists beyond 1.5 times the current formwork width, the lift increases to 1.5% to 2.0% of the design thickness, and the coordinated lift mode of adjacent formwork is activated. This requires real-time monitoring of the sustained range of the deviation, and the formwork width can be appropriately selected based on the actual construction situation. For example, a common formwork width might be 2m. If the deviation persists beyond 3m (1.5 times the formwork width), the second phase begins. In the third compensation phase, if the accumulated deviation exceeds the period of two formwork widths, the lift switches to dynamic follow-up mode, adjusting the lift based on the real-time slump value and the predicted terrain scan data 5m ahead. The paver speed affects the accumulation time, and the period of two formwork widths needs to be calculated based on the formwork width and travel speed. The range of lifting amplitude in each stage is determined through experiments to adapt to different deviation situations and concrete conditions; Each stage switch synchronously triggers the adaptive vibration system's local pre-vibration program, initiating high-frequency, low-amplitude vibration 0.8m in front of the target compensation area to improve concrete fluidity. The adaptive vibration system is connected to a dynamic leveling controller, which sends instructions to the adaptive vibration system when the compensation stage switches. Vibration is initiated 0.8m in front of the target compensation area. This position is set to allow the concrete to be processed before reaching the compensation area, improving its fluidity and better adapting to formwork adjustments. The frequency and amplitude of the high-frequency, low-amplitude vibration can be selected based on actual needs. For example, the high frequency may be between 80Hz and 120Hz, and the low amplitude may be between 0.5mm and 1.5mm. Using this technical solution, the present invention achieves precise compensation for trough areas by setting clear trigger thresholds and graded compensation stages, dynamically adjusting the lifting amplitude in combination with slump and terrain scanning data, and initiating the pre-vibration program when the stage switches. This strategy can effectively deal with negative deviations caused by roadbed depressions and other conditions, improve the flatness and thickness accuracy of road paving, and ensure the stability of construction quality. At the same time, through measures such as coordinated lifting and pre-vibration, the density and fluidity of concrete are guaranteed, reducing the occurrence of construction defects.

[0034] The number of devices and processing scales described herein are intended to simplify the description of the present invention. Applications, modifications, and variations of the cement concrete pavement construction apparatus of the present invention will be apparent to those skilled in the art.

[0035] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. Cement concrete pavement construction device, characterized in that, include: A hydraulic servo leveling actuator, positioned transversely along the paver, comprising a multi-section, independently controlled telescopic formwork assembly, each section of which is provided with a dual-redundant linear hydraulic cylinder, the multiple dual-redundant linear hydraulic cylinders being synchronously controlled via a time-sensitive network; A topographic laser 3D scanner is located at the front end of the paver in the direction of travel and forms a time-space synchronization module with the paver's travel encoder. The topographic laser 3D scanner is used to obtain real-time elevation data of the roadbed surface and generate a cross-sectional undulation waveform diagram; A dynamic leveling controller connected to the terrain laser 3D scanner via optical fiber communication, wherein the dynamic leveling controller internally integrates an elevation deviation compensation algorithm module, the elevation deviation compensation algorithm module being used to convert a cross-sectional undulating waveform diagram into vertical compensation amount instructions for a multi-segment template group; a closed-loop feedback unit comprising a microwave dielectric constant sensor embedded in the fresh concrete layer, the microwave dielectric constant sensor being used to detect the actual paving thickness of the concrete in real time and compare it with the designed thickness value, thereby generating a thickness error signal which is fed back to the dynamic leveling controller; Among them, the dynamic leveling controller dynamically corrects the elevation deviation compensation algorithm parameters according to the thickness error signal, forming a feedforward-feedback composite control loop, so that the template group can achieve adaptive adjustment during the paving process.

2. The cement concrete pavement construction device according to claim 1, characterized in that: Also includes: Aggregate particle size sensing module, which includes a millimeter-wave radar array located at the paver feed opening, identifies oversized aggregates in real time and adjusts the formwork vibration frequency in a coordinated manner; An adaptive vibration system dynamically adjusts the vibrating rod insertion depth and excitation force based on the density distribution detected by a microwave dielectric constant sensor, and uses an anti-resonance control algorithm to reduce energy consumption; The BIM interface module converts the thickness tolerance band of the design model into the constraint boundary of the dynamic leveling controller, realizing digital twin mapping for the entire life cycle.

3. The cement concrete pavement construction device according to claim 2, characterized in that: In the telescopic formwork group, a group of ultrasonic displacement sensors are installed on the side of each section of the formwork. The ultrasonic displacement sensors are used to monitor the pile height of concrete around the formwork in real time. The ultrasonic displacement sensors are connected to the main control chip of the adaptive vibration system. Among them, when the ultrasonic displacement sensor detects that the accumulation height of concrete around a section of the formwork exceeds a preset range, the main control chip of the adaptive vibration system receives the ultrasonic displacement sensor and combines it with the density information detected by the microwave dielectric constant sensor to judge the vibration requirements corresponding to the area with abnormal concrete accumulation; if it is judged that the area needs to be vibrated more, the main control chip of the adaptive vibration system controls the adaptive vibration system, adjusts the insertion depth, excitation force and vibration time of the vibrating rod, and at the same time, the main control chip of the adaptive vibration system sends instructions to the control unit of the hydraulic servo leveling actuator through the wireless communication module to adjust the height and inclination angle of the corresponding formwork.

4. The cement concrete pavement construction device according to claim 3, characterized in that: The ultrasonic displacement sensor has a built-in signal processing module and multiple groups of independently working ultrasonic detection channels. Each group of detection channels is equipped with ultrasonic transmitting and receiving devices of different frequencies. The multiple groups of ultrasonic detection channels are divided into high-frequency detection channels, medium-frequency detection channels, and low-frequency detection channels according to the frequency. The high-frequency detection channel is used to capture the microstructural characteristics of the concrete surface and assist in monitoring the surface density when the stacking height changes. The medium-frequency detection channel is used to monitor the internal particle stacking state of the concrete and the internal density gradient when the stacking height changes. The low-frequency detection channel is used to sense the overall volume change of the concrete and directly monitor the volume deformation caused by the change in stacking height. Among them, when any detection channel detects that the concrete pile height exceeds or falls below the set threshold, a first-level response is triggered, the adaptive vibration system suspends or adjusts the concrete delivery rate, and the hydraulic servo leveling actuator adjusts the formwork to correct the pile height; when the high-frequency detection channel detects that the surface density of the concrete is lower than the set threshold during the pile height change, combined with the pile height data, a second-level response is triggered, and the adaptive vibration system reduces the vibration frequency and adjusts the vibration area; when the intermediate-frequency detection channel detects that the internal density of the concrete is unevenly distributed during the pile height change, combined with the pile height data, a third-level response is triggered, and the adaptive vibration system adopts an intermittent vibration mode; when the low-frequency detection channel monitors that the concrete volume deformation rate exceeds the design allowable range during the pile height change, a fourth-level response is triggered, and the adaptive vibration system works together with the hydraulic servo leveling actuator to adjust the formwork and re-evaluate the pile height setting.

5. The cement concrete pavement construction device according to claim 4, characterized in that: Also includes: The concrete quality pre-assessment module includes a data acquisition unit, a data analysis unit and an assessment decision unit. The data acquisition unit is connected to the ultrasonic displacement sensor and the microwave dielectric constant sensor to obtain the stacking height and density of the concrete. The data analysis unit is used to process the data transmitted by the data acquisition unit. The assessment decision unit has a built-in machine learning concrete quality assessment model. When the assessment decision unit predicts that the concrete quality does not meet the standard, it sends an instruction to the main control chip of the adaptive vibration system. The main control chip adjusts the insertion depth, excitation force and vibration duration of the vibrating rod, and feeds back the adjusted parameters to the assessment decision unit. The assessment decision unit dynamically adjusts the assessment results accordingly.

6. The cement concrete pavement construction device according to claim 1, characterized in that: Piezoelectric contact force sensors are set between any adjacent formwork to monitor the concrete extrusion force at the formwork joints in real time.

7. The cement concrete pavement construction device according to claim 2, characterized in that: The elevation deviation compensation algorithm module performs the following compensation amount conversion method: Dynamically adjust the terrain data processing window length according to the real-time travel speed of the paver, filter the cross-sectional undulating waveforms obtained by 3D scanning, and identify the distribution characteristics of peaks and troughs; A delay compensation model is established based on the concrete material properties, and the response delay time of the hydraulic system is calculated using the real-time collected concrete viscosity parameters and design thickness data; A downward compensation strategy is adopted for the peak area, and the compensation amount increases nonlinearly with the positive deviation between the actual elevation and the design value. An upward compensation strategy is adopted for the trough area, and the compensation amount increases gradiently with the increase of the negative deviation. The two types of compensation coefficients are adjusted in real time according to the slump of concrete. Compensation instructions are sent to each template group through a time-sensitive network to constrain the relationship between the time intervals between adjacent template actions and the paving speed, so that there is no misalignment interference during the collaborative leveling process of the template groups.

8. The cement concrete pavement construction device according to claim 7, characterized in that: The downward compensation strategy for the peak area is as follows: when the positive deviation of the actual elevation from the design value is within a first interval, the compensation amount increases according to a first linear ratio; when the deviation enters a second interval, the compensation amount switches to an exponential increasing mode, and the increasing rate decreases as the slump of concrete increases; The upward compensation strategy for the trough area is as follows: when the actual elevation is lower than the design value by a negative deviation that reaches a trigger threshold, the compensation amount is increased in steps, and the increase in each step is dynamically adjusted according to the real-time slump value; Real-time adjustment of the two types of compensation coefficients is achieved in the following way: an online slump detection probe is set on the concrete conveyor belt. When the slump change is detected to exceed the set tolerance, the compensation coefficient update program is started, where the peak compensation coefficient update rate is higher than the trough compensation coefficient.

9. The cement concrete pavement construction device according to claim 8, characterized in that: The first interval is when the actual elevation positive deviation is less than or equal to 5% of the design thickness value, and the first linear proportional compensation amount increase rate is 0.6-0.8mm leveling amount per millimeter deviation. When the deviation exceeds 5% of the design thickness value and enters the second interval, the base increase rate of the exponential increase mode is set to 1.2-1.5mm leveling amount per millimeter deviation, and the exponential increase rate is reduced by 15%-20% for every 10mm increase in concrete slump detected. The activation trigger of the second interval is achieved in the following way: when the positive deviation of more than three adjacent sampling points continuously detected in the three-dimensional scanning waveform exceeds the threshold of the first interval, it automatically switches to the exponential compensation mode and starts the concrete density pre-enhancement vibration within the range of 1.2 times the template width behind the area.

10. The cement concrete pavement construction device according to claim 9, characterized in that: The trigger threshold of the upward compensation strategy for the trough area is 3% to 5% of the design thickness value, and the step-by-step improvement includes three compensation stages: First compensation stage: When the negative deviation reaches the trigger threshold, the increase range is 0.8%~1.2% of the design thickness value, and the increase range increases linearly with the increase of slump; Second compensation stage: If the deviation continues to exceed 1.5 times the current template width, the lifting range is increased to 1.5% to 2.0% of the design thickness value, and the coordinated lifting mode of the adjacent templates is activated; The third compensation stage: When the accumulated deviation time exceeds the period of two formwork widths of the paver, the lifting amplitude switches to dynamic follow-up mode and is adjusted comprehensively based on the real-time slump value and the predicted results of the terrain scanning data 5m ahead; When each stage is switched, the local pre-vibration program of the adaptive vibration system is triggered synchronously, and high-frequency low-amplitude vibration is started 0.8m in front of the target compensation area to improve the fluidity of the concrete.

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