A high-precision milling and intelligent paving integrated system based on pavement widening

Abstract

The application discloses a high-precision milling and intelligent paving integrated system based on an extended pavement, which comprises a milling module, a paving module, a material temporary storage module, a moving platform and a control module; continuous integrated construction is realized; sensors are used to monitor construction parameters in real time, and intelligent algorithms are used for dynamic adjustment, so that the precision of milling depth and paving thickness is ensured; meanwhile, a path planning and environment adaptation mechanism is introduced, a construction process is optimized, and construction quality and efficiency are improved; finally, waste materials are screened, usable aggregates are reserved, and the recycled usable aggregates are secondarily buried, so that the use of paving materials is reduced, and cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of road construction technology, and more specifically, to a high-precision milling and intelligent paving integrated system for widened road surfaces. Background Technology

[0002] In traditional road widening construction, milling and paving are usually carried out in separate steps. First, milling equipment is used to remove the old pavement layer, and then paving equipment is used to lay the new pavement layer. This separate operation method has the following disadvantages: long construction cycle and low efficiency; poor connection between milling and paving, which can easily lead to poor pavement smoothness; lack of real-time monitoring and adjustment, making it difficult to guarantee accuracy; serious material waste and high cost. Summary of the Invention

[0003] To address at least one of the aforementioned technical problems, the present invention aims to provide a high-precision milling and intelligent paving integrated system for road widening, which enables continuous integrated construction, improves construction quality and efficiency, and reduces costs.

[0004] This invention provides a high-precision milling and intelligent paving integrated system for road widening, comprising: a milling module, a paving module, a material storage module, a moving platform, and a control module;

[0005] The milling module is located at the front of the mobile platform and is used for milling the road surface;

[0006] The paving module is located at the rear of the mobile platform and is used for laying materials;

[0007] The material storage module includes a waste storage unit and a paving material storage unit, which are used to temporarily store waste and paving material, respectively.

[0008] The control module includes a sensor data processor, a path planning unit, and an environmental adaptation unit, used to coordinate milling and paving operations;

[0009] The mobile platform carries the entire system as it moves along the road surface.

[0010] In this solution, the milling module includes a milling drum, a depth sensor, and a first drive device; the depth sensor is a laser rangefinder or an ultrasonic sensor, which monitors the milling depth in real time, obtains milling depth data, and sends the milling depth data to the control module; the first drive device is used to adjust the height of the milling drum.

[0011] In this scheme, the milling module dynamically adjusts the milling feed depth value based on depth sensor data. Specifically, it obtains the milling depth value through the depth sensor based on a preset control cycle to obtain the measured milling depth; obtains the target depth for the current control cycle; subtracts the measured milling depth for the current control cycle from the target depth to obtain the milling depth deviation value for the current control cycle; multiplies the milling depth deviation value for the current control cycle by a preset depth calibration coefficient to obtain the depth correction value for the next control cycle; and accumulates the target depth and the depth correction value for the next control cycle to obtain the feed depth value for the next control cycle.

[0012] In this scheme, the depth correction coefficient k is dynamically adjusted according to the hardness of the road surface material, and its formula is as follows: ;in Here, H is the baseline correction coefficient, and H is the real-time detected road material hardness. The hardness of the road surface material is measured using a preset hardness sensor as a reference.

[0013] In this solution, the paving module includes a paver, a thickness sensor, and a second drive device; the thickness sensor is used to monitor the paving thickness in real time and send the paving thickness to the control module, and the second drive device is used to control the paving thickness of the paver.

[0014] In this solution, the control module adjusts the amount of paving material based on the thickness sensor, and the formula is as follows: Where V represents the required volume of paving material, A represents the paving area, and h represents the paving thickness. This refers to the density of the paving material.

[0015] In this scheme, the paving thickness h is dynamically adjusted according to the milling depth to ensure road surface smoothness, and the formula is as follows: ,in This represents the target paving thickness, where 'a' is the thickness compensation coefficient.

[0016] In this scheme, the path planning unit is also used to optimize the movement path of milling and paving, specifically including: obtaining the road expansion area and paving width; generating a path set based on preset paving rules and the road expansion area and paving width; extracting the distance value and path features of any path in the path set, and evaluating the construction time value based on the distance value and path features; performing a comprehensive analysis of the path distance value and construction time value to obtain a comprehensive construction score value; after traversing all paths in the path set, taking the paving path corresponding to the highest comprehensive construction score value as the current movement path for milling and paving.

[0017] This solution also includes: an intelligent recycling and secondary landfill system, which comprises a waste screening unit and a precision placement unit; the waste screening unit is used to screen out aggregates of different particle sizes; the precision placement unit is used to calculate the maximum aggregate particle size that can be used for secondary landfill in the current paving and the aggregate spacing in the secondary landfill, and sets the maximum aggregate particle size that can be used for secondary landfill in the current paving as... Its formula is ,in The particle size-to-thickness ratio coefficient is used; the spacing of the aggregate in the secondary landfill is set as S, and its formula is: ,in This is the spacing coefficient. This indicates the maximum aggregate size in the paving material.

[0018] This scheme also includes: extracting the total quantity and corresponding particle size of aggregates used in secondary landfill; estimating the volume of aggregates used in secondary landfill based on the total quantity and corresponding particle size of aggregates used in secondary landfill; and subtracting the volume of aggregates used in secondary landfill from the volume of paving material to obtain the optimized volume of paving material.

[0019] One or more technical solutions proposed in this application have at least the following technical effects:

[0020] To achieve continuous and integrated construction, sensors are used to monitor construction parameters in real time and intelligent algorithms are used to dynamically adjust them to ensure the accuracy of milling depth and paving thickness. At the same time, path planning and environmental adaptation mechanisms are introduced to optimize the construction process and improve construction quality and efficiency. Finally, waste materials are screened to retain usable aggregates, and the corresponding recycled usable aggregates are used for secondary landfill to reduce the use of paving materials, thereby reducing costs. Attached Figure Description

[0021] Figure 1 The diagram shows a block diagram of an integrated system for high-precision milling and intelligent paving of a road surface expansion project according to the present invention. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0024] Figure 1The diagram shows a block diagram of an integrated system for high-precision milling and intelligent paving of a road surface expansion project according to the present invention.

[0025] like Figure 1 As shown, this invention discloses a high-precision milling and intelligent paving integrated system for widened road surfaces, comprising:

[0026] Milling module, paving module, material storage module, moving platform and control module;

[0027] The milling module is located at the front of the mobile platform and is used for milling the road surface;

[0028] The paving module is located at the rear of the mobile platform and is used for laying materials;

[0029] The material storage module includes a waste storage unit and a paving material storage unit, which are used to temporarily store waste and paving material, respectively.

[0030] The control module includes a sensor data processor, a path planning unit, and an environmental adaptation unit, used to coordinate milling and paving operations;

[0031] The mobile platform carries the entire system as it moves along the road surface.

[0032] According to an embodiment of the present invention, after the entire system is started, the path planning unit generates an optimal movement path based on the positioning system and a preset construction area map. Then, the entire system is carried by a mobile platform and moves forward along the optimal movement path. During the movement, the depth sensor and hardness sensor of the milling module collect data in real time and send the collected data to the control module for calculation, generating a milling depth adjustment command, which is then fed back to the milling module for adjustment. Between the milling module and the paving module, there is also a cleaning system and a spraying system. The cleaning system is used to clean the road surface after milling, and the spraying system is used to spray a composite interface agent onto the cleaned road surface to enhance the bonding strength between the old and new road surfaces. Finally, the paving system completes the paving operation of the new road surface.

[0033] According to an embodiment of the present invention, the milling module includes a milling drum, a depth sensor, and a first driving device; the depth sensor is a laser rangefinder or an ultrasonic sensor, which monitors the milling depth in real time, obtains milling depth data, and sends the milling depth data to the control module; the first driving device is used to adjust the height of the milling drum.

[0034] It should be noted that the laser depth sensor or ultrasonic sensor mounted on the milling drum support continuously measures the distance from the sensor to the cleanly milled road surface and compares it with the reference distance from the sensor to the original unmilled road surface to calculate the actual milling depth in real time. For example, when working on an area where the original paving was too thick, if the actual depth is only 45 mm, failing to reach the target of 50 mm, then an error occurs. The deviation.

[0035] According to an embodiment of the present invention, the milling module dynamically adjusts the milling feed depth value based on depth sensor data, specifically as follows: based on a preset control cycle, the milling depth value is obtained through the depth sensor to obtain the measured milling depth; the target depth of the current control cycle is obtained; the target depth is subtracted from the measured milling depth of the current control cycle to obtain the milling depth deviation value of the current control cycle; the milling depth deviation value of the current control cycle is multiplied by a preset depth calibration coefficient to obtain the depth correction value of the next control cycle; the target depth and the depth correction value of the next control cycle are accumulated to obtain the feed depth value of the next control cycle.

[0036] The milling module dynamically adjusts the milling depth based on depth sensor data, using the following formula: ,in To control the cycle The actual milling depth, Let k be the target milling depth, and k be the depth correction coefficient. To control the cycle The deviation between the depth sensor measurement and the reference value.

[0037] It should be noted that the feed depth value for the next control cycle is set to... Its formula is: To reduce mechanical damage, the milling depth is adjusted gradually. For example, if the depth correction coefficient is 0.8, the target depth (reference value) is 50 mm, and the measured milling depth in the current control cycle is 45 mm, the deviation is -5 mm. Therefore, the milling depth in the next control cycle should be adjusted to... The depth sensor measures in millimeters; in the next control cycle, the depth sensor measures again, and if the measured depth becomes 46 mm, the deviation is... If it becomes 4 millimeters, then the new instruction depth is... Millimeters, and so on, rapidly and steadily approaching the target value.

[0038] According to an embodiment of the present invention, the depth correction coefficient k is dynamically adjusted based on the hardness of the road surface material, and its formula is as follows: ;in Here, H is the baseline correction coefficient, and H is the real-time detected road material hardness. The hardness of the road surface material is measured using a preset hardness sensor as a reference.

[0039] It should be noted that the feed rate varies when milling materials of different hardness, thus increasing the equipment's lifespan. When milling hard materials, the feed resistance is high, so the feed rate adjustment should be more gradual, requiring a smaller k-value. When milling softer materials, the adjustment can be more agile, using a larger k-value. For example, setting the standard asphalt hardness to... MPa, .

[0040] According to an embodiment of the present invention, the milling module further includes a tool angle adjustment device and a feed pressure sensor; the feed pressure sensor is used to monitor the feed pressure of the milling drum in real time and send the feed pressure to the control module; the control module determines the feed pressure, generates an entry angle adjustment value, and sends the entry angle adjustment value to the tool angle adjustment device to adjust the entry angle of the tool on the milling drum to avoid the tool from colliding head-on with the road aggregate.

[0041] It should be noted that the step of the control module determining the feed pressure and generating the infeed angle adjustment value specifically includes: comparing the feed pressure with a preset pressure threshold; when the feed pressure is greater than the preset pressure threshold, generating the infeed angle adjustment value; and setting the infeed angle adjustment value as... Its formula is ,in This represents the angle adjustment factor (unit: degrees / MPa). This indicates the feed pressure at the current entry angle. This indicates the preset pressure threshold; the cut-in angle for the next control cycle is set to... Its formula is ,in This indicates the entry angle of the current control cycle.

[0042] According to an embodiment of the present invention, the control module is further configured to: determine the feed pressure difference for different control cycles based on the feed pressure for different control cycles; then divide the feed pressure difference for different control cycles by the control cycle to obtain the rate of change of the corresponding feed pressure; if the rate of change of the feed pressure is greater than a preset positive change threshold, adjust the tool angle based on a preset first advance angle adjustment coefficient, wherein the preset first advance angle coefficient is less than or equal to the angle adjustment coefficient; and when the rate of change of the feed pressure is less than a preset negative change threshold, control the tool angle to return to the initial working angle.

[0043] It should be noted that, for example, if the initial working angle is set to 45 degrees, and the infeed angle adjustment value of the control cycle t is 5 degrees, then the infeed angle of the next control cycle will be 45 + 5 = 50 degrees; if the infeed angle adjustment value of the control cycle t+1 is 5 degrees, then the infeed angle of the next control cycle t+2 will be 50 + 5 = 55 degrees. When the rate of change of the feed pressure in the control cycle t+2 is less than the preset negative change threshold, the tool angle will be restored to the initial working angle of 45 degrees.

[0044] According to an embodiment of the present invention, the paving module includes a paver, a thickness sensor, and a second driving device; the thickness sensor is used to monitor the paving thickness in real time and send the paving thickness to the control module, and the second driving device is used to control the paving thickness of the paver.

[0045] It should be noted that the paver is responsible for spreading the paving material evenly and compacting it initially. The thickness sensor monitors the actual thickness of the paved road surface in real time through infrared or radar sensors. The second drive device changes the thickness of the paving layer by adjusting the height or elevation angle of the paver.

[0046] According to an embodiment of the present invention, the control module adjusts the amount of paving material according to the thickness sensor, and the formula is as follows: Where V represents the required volume of paving material, A represents the paving area, and h represents the paving thickness. This refers to the density of the paving material.

[0047] According to an embodiment of the present invention, the paving thickness h is dynamically adjusted according to the milling depth to ensure road surface smoothness, and the formula is as follows: ,in This represents the target paving thickness, where 'a' is the thickness compensation coefficient.

[0048] It should be noted that d represents the final milling depth. When the milling depth d exceeds the target depth, more paving material is needed to fill the gap. The thickness compensation coefficient needs to take into account the difference in compaction coefficient between the new and old materials. For example, if the thickness compensation coefficient is set to 1.1, the settlement of the new material after compaction will be about 10%.

[0049] According to an embodiment of the present invention, the path planning unit is further used to optimize the movement path for milling and paving, specifically including:

[0050] Obtain the area to be expanded and the paving width;

[0051] Based on preset paving rules, a set of paths is generated according to the area of ​​the expanded road surface and the paving width;

[0052] Extract the distance value and path features of any path in the path set, and evaluate the construction time value based on the distance value and path features;

[0053] A comprehensive construction score is obtained by comprehensively analyzing the distance and construction time values ​​of the path.

[0054] After traversing all paths in the path set, the paving path corresponding to the highest overall construction score is taken as the current movement path for milling and paving.

[0055] It should be noted that the path planning unit is used to optimize the movement path for milling and paving, and its formula is: ,in This represents the overall construction score for path i. This is the distance value for path i. Let be the construction time value for path i. and These are distance and time weighting coefficients, respectively; the path characteristics include turning radius, slope gradient, etc. For example, when the path turns, the paving speed will decrease, and the required construction time will increase. ,in This means that based on the estimated average paving speed value of path i, the paving speed at each location on that path can be estimated according to the path characteristics. By integrating, summing, and then taking the average, the estimated average paving speed value of the corresponding path can be obtained. This is expressed as a road surface condition coefficient, determined based on road surface smoothness and friction coefficient, for example, […]. Set it to 1.

[0056] It should be noted that the distance weighting coefficient and time weighting coefficient are set according to the construction management terminal. For example, if the construction period is tight, the time weighting coefficient is increased. For example, when milling and paving an irregularly shaped parking lot, after the operator inputs the boundary of the construction area, the path planning unit will generate multiple candidate schemes. For example, Scheme 1 follows the paving rule of parallel milling one line at a time, which has the shortest total distance, but has more turns. Each turn requires the equipment to decelerate and adjust, which leads to a longer construction time. Scheme 2 is the paving rule of spiral milling from the outside to the inside. The total distance is slightly longer, but the turns are gentler, which may result in a shorter total time.

[0057] According to an embodiment of the present invention, it further includes: an intelligent recycling and secondary landfill system, the intelligent recycling and secondary landfill system comprising a waste screening unit and a precise arrangement unit; the waste screening unit is used to screen out aggregates of different particle sizes; the precise arrangement unit is used to calculate the maximum aggregate particle size that can be used for the current paving of the secondary landfill and the aggregate spacing of the secondary landfill, and sets the maximum aggregate particle size that can be used for the current paving of the secondary landfill as... Its formula is ,in The particle size-to-thickness ratio coefficient is used; the spacing of the aggregate in the secondary landfill is set as S, and its formula is: ,in This is the spacing coefficient. This indicates the maximum aggregate size in the paving material.

[0058] It should be noted that the waste generated by milling is quickly transported away by the conveyor belt behind the equipment and enters a multi-layer vibrating screen. For example, excessively large waste materials of 50 mm in size are removed, and aggregates of 5-15 mm are retained. The retained aggregates are then transported to the waste temporary storage unit for preservation and are designated as secondary landfill aggregates. The particle size and paving spacing of the secondary landfill aggregates are set to ensure that the secondary landfill aggregates are fully covered by the paving material and can rearrange to form a stable skeleton structure during compaction. At the same time, it prevents large aggregates from being crushed or protruding from the surface during compaction. The particle size-to-thickness ratio coefficient ranges from 0.3 to 0.5. The spacing coefficient is set according to the characteristics of the paving material. For example, when the viscosity and fluidity of the paving material are relatively good, the corresponding spacing coefficient can be relatively small, such as 1.5; when the viscosity and fluidity of the paving material are relatively poor, the corresponding spacing can be relatively large, such as 2.5.

[0059] According to an embodiment of the present invention, it further includes:

[0060] Extract the total quantity and corresponding particle size of aggregate used in secondary landfills;

[0061] Based on the total amount of aggregate used in secondary landfill and the corresponding particle size, estimate the volume of aggregate to be used in secondary landfill;

[0062] The optimized paving material volume is obtained by subtracting the volume of secondary backfill aggregate from the paving material volume.

[0063] It should be noted that the average particle size is obtained by averaging the particle size of the secondary landfill aggregate. The volume of the secondary landfill aggregate is set as Its formula is Where N represents the total amount of aggregate used in secondary landfill. It is expressed as the filling density coefficient.

[0064] According to an embodiment of the present invention, the environmental adaptation unit is further configured to adjust the temperature of the paving material, obtain the current ambient temperature value based on a preset temperature sensor, and set the target temperature value of the paving material as... Its formula is ,in Indicates the reference material temperature value. Indicates the temperature compensation coefficient. Indicates the ambient temperature value. This represents the reference ambient temperature value.

[0065] It should be noted that the reference material temperature value is the optimal paving temperature value verified for the corresponding paving material under standard ambient temperature, and the reference material target temperature value is the temperature value of the corresponding paving material when it arrives at the screed. The temperature compensation coefficient is usually a negative value, such as -0.5, because when the ambient temperature rises, the material dissipates heat more slowly during transportation and paving. In order to prevent overheating, the factory temperature needs to be appropriately reduced.

[0066] According to an embodiment of the present invention, the control module is further configured to generate a speed control command for the mobile platform based on the milling speed value and the maximum paving speed value, specifically as follows:

[0067] Obtain the milling speed value and the maximum paving speed value;

[0068] When the milling speed value is greater than or equal to the maximum paving speed value, a control command is generated to move the mobile platform forward at the current maximum paving speed value;

[0069] When the milling speed is less than the maximum paving speed, a control command is generated to move the mobile platform forward at the current milling speed.

[0070] It should be noted that during the milling process, the number of control cycles required to reach the target milling depth is recorded. The total milling time is obtained by multiplying this number of control cycles by the corresponding control cycle duration. Then, the current milling width is obtained, and the current milling width is divided by the total milling time to obtain the current milling speed. The maximum paving speed is directly related to the paving power. When the moving platform moves forward at the current maximum paving speed, the milling speed is subtracted from the maximum paving speed to obtain the first speed difference. The depth correction coefficient is then revised based on this first speed difference; the larger the first speed difference, the smaller the corresponding depth correction coefficient. By revising the depth correction coefficient, the feed rate during milling is reduced, thereby reducing the milling speed and mechanical damage. When the milling speed is less than the maximum paving speed, the milling speed is set as the current paving speed, and the paving power of the second drive device is queried according to the corresponding paving speed, thereby reducing energy consumption and mechanical wear. Based on historical paving data, a correlation table between paving speed and the paving power of the second drive device is constructed. The paving power of the current drive device is determined by querying the correlation table. The historical paving data includes at least historical paving speed and the paving power of the second drive device corresponding to the historical paving speed.

[0071] This invention discloses a high-precision milling and intelligent paving integrated system for road widening, comprising a milling module, a paving module, a material storage module, a mobile platform, and a control module; enabling continuous integrated construction; utilizing sensors to monitor construction parameters in real time and dynamically adjusting them through intelligent algorithms to ensure the accuracy of milling depth and paving thickness; simultaneously introducing path planning and environmental adaptation mechanisms to optimize the construction process and improve construction quality and efficiency; finally, by screening waste materials, retaining usable aggregates, and secondary landfilling the corresponding recycled usable aggregates to reduce the use of paving materials, thereby reducing costs.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0073] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0074] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0075] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0076] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A high-precision milling and intelligent paving integrated system for widened road surfaces, characterized in that, include: Milling module, paving module, material storage module, moving platform and control module; The milling module is located at the front of the mobile platform and is used for milling the road surface; The milling module includes a milling drum, a depth sensor, and a first drive device; the depth sensor is a laser rangefinder or an ultrasonic sensor, which monitors the milling depth in real time, obtains milling depth data, and sends the milling depth data to the control module; the first drive device is used to adjust the height of the milling drum. The milling module dynamically adjusts the milling feed depth value based on depth sensor data, specifically as follows: Based on a preset control cycle, the milling depth value is obtained through a depth sensor to obtain the measured milling depth; Obtain the target depth for the current control cycle; Subtract the measured milling depth of the current control cycle from the target depth to obtain the milling depth deviation value of the current control cycle; Multiply the milling depth deviation value of the current control cycle by the preset depth correction coefficient to obtain the depth correction value of the next control cycle. The target depth and the depth correction value of the next control cycle are summed to obtain the feed depth value of the next control cycle. The depth correction coefficient k is dynamically adjusted based on the hardness of the road surface material, and its formula is as follows: ;in Here, H is the baseline correction coefficient, and H is the real-time detected road material hardness. The hardness of the road surface material is measured using a preset hardness sensor as a reference. The paving module is located at the rear of the mobile platform and is used for laying materials; The material storage module includes a waste storage unit and a paving material storage unit, which are used to temporarily store waste and paving material, respectively. The control module includes a sensor data processor, a path planning unit, and an environmental adaptation unit, used to coordinate milling and paving operations; The mobile platform carries the entire system as it moves along the road surface.

2. The integrated system for high-precision milling and intelligent paving of road widening as described in claim 1, characterized in that, The paving module includes a paver, a thickness sensor, and a second drive device; the thickness sensor is used to monitor the paving thickness in real time and send the paving thickness to the control module, and the second drive device is used to control the paving thickness of the paver.

3. The integrated system for high-precision milling and intelligent paving of road widening as described in claim 2, characterized in that, The control module adjusts the amount of paving material based on the thickness sensor, using the following formula: Where V represents the required volume of paving material, A represents the paving area, and h represents the paving thickness. This refers to the density of the paving material.

4. The integrated system for high-precision milling and intelligent paving of road widening as described in claim 3, characterized in that, The paving thickness h is dynamically adjusted according to the milling depth to ensure road surface smoothness, and the formula is as follows: ,in This represents the target paving thickness, where 'a' is the thickness compensation coefficient and 'd' represents the final milling depth. The target milling depth.

5. The integrated system for high-precision milling and intelligent paving of road widening as described in claim 1, characterized in that, The path planning unit is also used to optimize the movement paths for milling and paving, specifically including: Obtain the area to be expanded and the paving width; Based on preset paving rules, a set of paths is generated according to the area of ​​the expanded road surface and the paving width; Extract the distance value and path features of any path in the path set, and evaluate the construction time value based on the distance value and path features; A comprehensive construction score is obtained by comprehensively analyzing the distance and construction time values ​​of the path. After traversing all paths in the path set, the paving path corresponding to the highest overall construction score is taken as the current movement path for milling and paving.

6. The integrated system for high-precision milling and intelligent paving of road widening as described in claim 1, characterized in that, Also includes: An intelligent recycling and secondary landfill system includes a waste screening unit and a precise placement unit. The waste screening unit is used to screen out aggregates of different particle sizes. The precise placement unit is used to calculate the maximum aggregate particle size available for the current paving secondary landfill and the aggregate spacing in the secondary landfill, setting the maximum aggregate particle size available for the current paving secondary landfill as... Its formula is ,in The particle size-to-thickness ratio coefficient is used; the spacing of the aggregate in the secondary landfill is set as S, and its formula is: ,in This is the spacing coefficient. This indicates the maximum aggregate size in the paving material.

7. The integrated system for high-precision milling and intelligent paving of road widening as described in claim 6, characterized in that, Also includes: Extract the total quantity and corresponding particle size of aggregate used in secondary landfills; Based on the total amount of aggregate used in secondary landfill and the corresponding particle size, estimate the volume of aggregate to be used in secondary landfill; The optimized paving material volume is obtained by subtracting the volume of secondary backfill aggregate from the paving material volume.

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