3D pavement paving system

Abstract

The invention discloses a 3D (three-dimensional) pavement paving system, belongs to the technical field of paving systems, and aims to solve the problem that the construction cost is very high when a plurality of total stations are arranged for determining the discharging amount of a paving machine at each point position and the length, width and height of a pavement when the conventional paving machine is matched with a total station software system. According to the invention, through the cooperative arrangement of the paver, the total station and the RTK satellite system and the cooperative arrangement of the paver, the total station and the RTK satellite system, the positioning of the RTK satellite system is in a centimeter level and only provides an xy coordinate, the positioning of the total station is in a millimeter level and only provides a z coordinate, and the RTK satellite positioning cost is low. The centimeter-level positioning can meet the requirements in the positioning sequence of the xy plane for pavement paving, the millimeter-level positioning capability of the total station can control the paving thickness error within + / -3mm, the cost is reduced, the total station and the tilt angle sensor on the paver are arranged to realize double-machine linkage, and the tilt angle sensor is used to control the paving thickness error within + / -3mm. And the heights of the discharge ports of the two machines are kept consistent, so that the paving efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of road paving systems, in particular to a 3D road paving system. BACKGROUND

[0002] Satellite RTK (Real-Time Kinematic) is a high-precision satellite navigation positioning technology that improves the positioning accuracy of GNSS from meter level to centimeter level through differential correction method. The RTK system mainly consists of a reference station and a mobile station. The reference station provides a reference benchmark, and the mobile station can move and receive satellite data. Domestic pavers gradually improve performance by introducing hydraulic technology, electronic technology and automatic control systems. The automatic leveling instrument adjusts the paving flatness through sensors.

[0003] The conventional working mode of the existing paver is to position X, Y and Z coordinates by a total station. The x and y coordinates are used to determine the plane, and the z coordinate is used to determine the thickness height of the longitudinal road surface. The total station is used in cooperation with the software system of the paver itself to determine the discharge amount of the paver and the length, width and height of the road surface at each point. The advantage of the total station is that the positioning is very accurate, and the disadvantage is that the cost is high. As the paving process needs to be moved every certain distance to follow the paver, if the total station does not move, a total station needs to be set every certain distance. The cost of setting multiple total stations will be very high.

[0004] To solve the above problems, a 3D road paving system is proposed. SUMMARY

[0005] The purpose of the present application is to provide a 3D road paving system, which solves the problem that the existing paver cooperates with the software system of the total station to determine the discharge amount of the paver and the length, width and height of the road surface at each point, and the cost of setting multiple total stations is very high.

[0006] To achieve the above purpose, the present application provides the following technical scheme: a 3D road paving system, comprising an RTK satellite system, a total station and a paver, characterized in that a prism receiver is installed on the mast on both sides of the large arm of the paver, the output end of the prism receiver is connected to the control box by wires, the discharge port of the paver is inclined and divided into upper and lower discharge ports, and the inclination angle is controlled by an inclination sensor. The operation steps of the 3D road paving system are as follows: S1: Obtain the design elevation: obtain the design elevation according to the road engineering construction drawing design file; S2: RTK satellite system positioning: the RTK satellite system includes two reference stations and a mobile station. The reference station and the mobile station are provided with a satellite receiver and can observe and receive satellite data to provide x and y coordinates. S3: Total station positioning settings: using the method of fixed station, the total station is fixed in the front of the paver, and the z coordinate is measured and recorded multiple times during movement, and the accuracy of x and y coordinates can be ignored; S4: Prism receiver receives data: the coordinates received by the prism receiver are corrected in height to achieve accurate paving; S5: Double machine linkage: for wider road surface, two or more pavers can be used to complete the linkage, and the inclination sensor is used to keep the discharge port height of the two machines consistent, and the road surface thickness consistent.

[0007] Further, the RTK satellite system positioning includes the following steps: S21: RTK satellite reference station paving: the reference station is a base station that provides a reference base, which is used as a measurement reference and is fixed in an open and well-ventilated place. The three-dimensional coordinate information of the reference station is known, and the distance from the mobile station is within 20 kilometers; S22: RTK satellite mobile station inspection: set on the paver, can be constantly moved, measure the three-dimensional coordinates of the user terminal (i.e. the paver); S23: Solve coordinates: RTK satellite solves x and y coordinates.

[0008] Further, the coordinate solving includes the following steps: S231: Reference station observes and receives RTK satellite data; S232: The reference station sends the observed data to the mobile station in real time through the radio station next to it; S233: The mobile station receives the reference station data at the same time, and also observes and receives satellite data; S234: Based on the reference station data and its own data, the mobile station performs real-time difference operation according to the relative positioning principle, thereby solving the three-dimensional coordinates of the mobile station, and selecting only x and y coordinates when outputting the coordinate value, and ignoring z coordinate.

[0009] Further, the RTK satellite positioning is centimeter level, which only provides x and y coordinates.

[0010] Further, the total station in the total station positioning setting has millimeter level positioning capability, and the total station only provides z coordinate to reduce manual measurement and rework.

[0011] Further, the prism receiver receiving data includes the following steps: S41: Receive coordinates: the prism receiver receives the x and y coordinates output by the RTK satellite system and the z coordinate output by the total station; S42: Coordinate transmission: the captured prism coordinates are transmitted to the control box of the paver control system in real time through the radio station; S43: elevation correction: prism coordinates need elevation correction, and then the elevation correction information is transmitted to the automatic control box. The elevation correction is to compare the received real-time coordinate data with the design data. The comparison of the measured elevation and the design elevation can timely find the problems in the paving process and correct them, so as to realize the real-time monitoring and control of the construction quality; S44: traction movement: the automatic control box issues an instruction, the hydraulic oil cylinder is driven by the hydraulic valve to make the traction arm produce corresponding movement, so that the screed plate moves vertically in the corresponding direction.

[0012] Further, the double-machine linkage includes the following steps: the prism receiver of the first road paver receives the total station signal, controls the discharge height of one end of the road paver, controls the discharge height of the other end of the first road paver through the inclination sensor, the other end of the first road paver is consistent with the second road paver through the inclination sensor, and the other end of the second road paver is controlled in the same way.

[0013] Compared with the prior art, the beneficial effects of the present application are: 1. The 3D pavement paving system provided by the present application sets up the road paver in cooperation with the total station and the RTK satellite system. The RTK satellite system positioning is centimeter level, only providing xy coordinates. The total station positioning is millimeter level, only providing z coordinates. The use of the RTK satellite positioning has lower cost, and the centimeter level positioning can meet the demand in the xy plane positioning sequence of pavement paving. The millimeter level positioning capability of the total station can control the paving thickness error within ±3 millimeters, far exceeding the ±10 millimeter standard of the traditional method, and reduces manual measurement and rework, thereby reducing the comprehensive cost. The total station only provides z coordinates, greatly reducing the work burden of the total station and improving the efficiency. The problem that the use of multiple total stations for setting up the road paver and the total station software system to determine the discharge amount of the road paver and the length, width and height of the pavement at each point is very high in cost is solved.

[0014] 2. The 3D pavement paving system provided by the present application sets up the total station and the inclination sensor on the road paver, realizes double-machine linkage, and can use two or more road pavers to complete the paving of a relatively wide pavement. The use of the inclination sensor makes the discharge port heights of the two machines consistent, the pavement thickness consistent, and the paving efficiency improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the overall process of the present application; Figure 2 The figure is a schematic diagram of the double-machine linkage process of the present application; Figure 3 The figure is a schematic diagram of the 3D pavement paving system of the present application; Figure 4The flowchart of the RTK satellite system positioning of the application is shown in the figure; Figure 5 The flowchart of the prism receiver receiving data of the application is shown in the figure. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0017] In order to solve the existing technical problems, such as Figures 1-5 The following preferred technical solutions are provided as shown in the figure: A 3D road paving system, an RTK satellite system, a total station and a road paver, prism receivers are installed on the masts on both sides of the large arm of the road paver, the output wires of the prism receivers are connected to the control box, the discharge port of the road paver is inclined and is divided into an upper discharge port and a lower discharge port, and the inclination angle is controlled by an inclination sensor. The operation steps of the 3D road paving system are as follows: Step one: obtaining the design elevation: obtaining the design elevation according to the road engineering construction drawing design file; Step two: RTK satellite system positioning: the RTK satellite system includes two reference stations and a mobile station, the reference stations and the mobile station are provided with satellite receivers and can observe and receive satellite data to provide x and y coordinates; Step three: total station positioning setting: the method of fixed station setting is avoided, the total station is fixed at the front end of the road paver, the z coordinate is measured and recorded multiple times when moving, and the accuracy of the x and y coordinates can be ignored; Step four: prism receiver receiving data: the coordinates received by the prism receiver are corrected in elevation to realize accurate paving; Step five: double-machine linkage: for a wider road surface, two or more road pavers can be used to complete linkage, an inclination sensor is used to keep the discharge port heights of the two machines consistent and the road surface thickness consistent.

[0018] The RTK satellite system positioning includes the following steps: Step one: RTK satellite reference station laying: the reference station is a reference station providing a reference, is used as a measurement reference, is fixed in an open and good view place, the three-dimensional coordinate information of the reference station is known, and the distance from the mobile station is within 20 kilometers; Step two: RTK satellite mobile station inspection: set on the road paver, can be constantly moved, and measures the three-dimensional coordinates of the user terminal; Step three: solve coordinates: RTK satellite solve x, y coordinates.

[0019] Solve coordinates include the following steps: Step one: base station observation and receive RTK satellite data; Step two: the base station sends observation data to the mobile station in real time through the radio station (i.e. data link) next to it; Step three: the mobile station receives the base station data, and also observes and receives satellite data; Step four: based on the base station data and its own data, the mobile station performs real-time differential operation according to the relative positioning principle, and solves the three-dimensional coordinates of the mobile station, and selects only x, y coordinates to output to the prism receiver when outputting coordinate values, and ignores z coordinates.

[0020] RTK satellite positioning is centimeter level, only provides x, y coordinates, and the cost of using RTK satellite positioning is relatively low. Centimeter-level positioning can meet the demand in the positioning sequence of x, y plane of road paving.

[0021] The total station in the positioning setting of the total station has millimeter-level positioning capability. The total station only provides z coordinates to reduce manual measurement and rework. The millimeter-level positioning capability of the total station can control the paving thickness error within ±3 millimeters, far exceeding the ±10 millimeter standard of traditional methods, and reduces manual measurement and rework, thereby reducing the overall cost. The total station only provides z coordinates to greatly reduce the work burden of the total station and improve efficiency.

[0022] The prism receiver receives data including the following steps: Step one: receive coordinates: the prism receiver receives the x, y coordinates output by the RTK satellite system and the z coordinates output by the total station; Step two: coordinate transmission: the captured prism coordinates are transmitted to the control box of the paving machine control system in real time through the radio station; Step three: elevation correction: the prism coordinates need to be corrected in elevation, and the elevation correction information is transmitted to the automatic control box. The elevation correction is to compare the real-time coordinate data received by the control box with the design data. The comparison of the measured elevation and the design elevation can timely discover problems in the paving process and correct them, thereby realizing real-time monitoring and control of construction quality; Step four: traction movement: the automatic control box issues instructions to drive the hydraulic cylinder through the hydraulic valve to make the traction arm move correspondingly, so that the screed plate moves vertically in the corresponding direction. After elevation correction, traction movement compensates for road surface fluctuations to ensure that the road surface flatness and elevation accuracy meet the design requirements, realizing accurate paving.

[0023] The double-machine linkage comprises the following steps: the prism receiver of the first paver receives the total station signal, controls the discharge height of one end of the paver, controls the discharge height of the other end of the first paver through the inclination sensor, the other end of the first paver is kept consistent with the second paver through the inclination sensor, and the other end of the second paver is controlled in the same way.

[0024] It is to be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0025] The above description is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the present application and according to the technical scheme and the inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A 3D road paving system comprising an RTK satellite system, a total station and a paver, characterized in that, The prism receiver is installed on the masts on both sides of the paver boom, and the output end of the prism receiver is connected to the control box by a wire, the discharge port of the paver is inclined, and is divided into an upper discharge port and a lower discharge port, and the inclination angle is controlled by an inclination sensor, and the operation steps of the 3D pavement paving system are as follows: S1: obtaining a design elevation: obtaining a design elevation according to a road engineering construction drawing design file; S2: RTK satellite system positioning: the RTK satellite system includes two reference stations and a mobile station, the reference stations and the mobile station are provided with satellite receivers, can observe and receive satellite data, and provide x, y coordinates; S3: positioning setting of the total station: the total station is fixed at the front end of the paver by a fixed station setting method, and the z coordinate is measured and recorded multiple times during movement, and the accuracy of the x, y coordinates can be ignored; S4: prism receiver receives data: the coordinates received by the prism receiver are corrected in elevation to realize accurate paving; S5: double-machine linkage: for a wider road surface, two or more pavers can be used to complete the linkage, and the inclination sensor is used to keep the discharge port height of the two machines consistent, and the road surface thickness is kept consistent.

2. A 3D pavement paving system as claimed in claim 1, characterized in that: The RTK satellite system positioning includes the following steps: S21: RTK satellite reference station laying: the reference station is a reference station, which is used as a measurement reference and is fixed in an open and good view place, the three-dimensional coordinate information of the reference station is known, and the distance from the mobile station is within 20 kilometers; S22: RTK satellite mobile station inspection: the mobile station is arranged on the paver and can move continuously to measure the three-dimensional coordinates of the user terminal (i.e. the paver); S23: coordinate solving: the RTK satellite solves the x, y coordinates.

3. A 3D pavement paving system as claimed in claim 2, characterized in that: The coordinate solving includes the following steps: S231: the reference station observes and receives RTK satellite data; S232: the reference station sends the observed data to the mobile station in real time through the radio station beside it; S233: the mobile station receives the reference station data and also observes and receives satellite data; S234: the mobile station performs real-time difference operation based on the reference station data and its own data according to the relative positioning principle, thereby solving the three-dimensional coordinates of the mobile station, and when outputting the coordinate values, only the x, y coordinates are selected to be output to the prism receiver, and the z coordinate is ignored.

4. A 3D pavement paving system as claimed in claim 2, characterized in that: The RTK satellite positioning is centimeter level, and only provides x, y coordinates.

5. A 3D pavement paving system as in claim 2, wherein: The total station in the total station positioning setting has millimeter level positioning capability, and the total station only provides z coordinate to reduce manual measurement and rework.

6. A 3D pavement paving system as in claim 2, wherein: The prism receiver receiving data includes the following steps: S41: receiving coordinates: the prism receiver receives the x, y coordinates output by the RTK satellite system and the z coordinate output by the total station; S42: coordinate transmission: the captured prism coordinates are transmitted to the control box of the paver control system in real time through the radio station. S43: elevation correction: prism coordinates need elevation correction, and then the elevation correction information is transmitted to the automatic control box. The elevation correction is to compare the received real-time coordinate data with the design data. The comparison of the measured elevation and the design elevation can timely find out the problems in the paving process and correct them, so as to realize the real-time monitoring and control of the construction quality; S44: traction movement: the automatic control box issues instructions, drives the hydraulic cylinder through the hydraulic valve to make the traction arm move correspondingly, so that the screed plate moves vertically in the corresponding direction.

7. A 3D pavement paving system as in claim 2, wherein: The double-machine linkage includes the following steps: the prism receiver of the first paving machine receives the total station signal, controls the discharge height of one end of the paving machine, controls the discharge height of the other end of the first paving machine through the inclination sensor, the other end of the first paving machine is consistent with the second paving machine through the inclination sensor, and the other end of the second paving machine is controlled in the same way.

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