3D visual management and control system and method for asphalt concrete face rockfill dam slope paving construction

Abstract

The invention discloses a 3D visual management and control system and method for asphalt concrete face rockfill dam slope paving construction, and belongs to the technical field of water conservancy and hydropower engineering. Aiming at the problems of low efficiency and high cost caused by the fact that the existing 3D paving technology is not suitable for a large slope surface and depends on manpower, the system comprises a positioning subsystem, a communication subsystem, a slope surface operation subsystem and a paving subsystem, and is matched with an operation core to realize data collection and control; according to the method, precise paving of the slope surface is completed through equipment installation, slope section division, positioning arrangement and real-time management and control. According to the system, sub-meter-level and centimeter-level dual positioning is adopted, trend prediction and self-adaptive control are combined, the construction quality is monitored in real time, a thermodynamic diagram is rendered, digital and precise management and control of slope paving are achieved, the construction efficiency and quality are improved, and the manpower and material cost is reduced.

Description

Technical Field

[0001] This invention relates to the fields of water conservancy and hydropower engineering, geographic information systems, computer-aided engineering management software, and graphics and image software, specifically to a 3D visualization control system and method for the paving construction of asphalt concrete face rockfill dam slopes. Background Technology

[0002] With the deep application of Building Information Modeling (BIM) technology in infrastructure construction, digital construction has become an important development direction for modern water conservancy and hydropower engineering. BIM-based 3D paving technology, as a core component of digital construction, directly applies the 3D model from the design phase to the construction phase, achieving a fundamental shift from the traditional "two-dimensional drawings - physical benchmark construction mode" to a "three-dimensional model - digitally driven" mode.

[0003] In international research and practice, BIM-based 3D paving technology has formed a relatively complete technical system and application paradigm. The U.S. Federal Highway Administration (FHWA) pioneered the application of BIM technology throughout the entire lifecycle of highway engineering in the early 2010s. Its proposed "digital twin" concept provided a theoretical foundation for 3D paving technology, and its feasibility was verified through a series of demonstration projects. The EN ISO 19650 series of standards adopted by the European Committee for Standardization (CEN) provides a normative framework for infrastructure BIM information management, while the IFC data format defined by ISO 16739 and its infrastructure extension (IFCAlignment) provide technical guarantees for data interoperability between design models and construction equipment. European construction machinery manufacturers such as Dynapac (Germany) and Volvo CE (Sweden) have developed mature integrated 3D control systems that support the direct import of BIM model data to drive construction machinery. The i-Construction program implemented by Japan's Ministry of Land, Infrastructure, Transport and Tourism deeply integrates 3D paving technology with UAV surveying and cloud computing, establishing a digital closed-loop workflow from design to acceptance. This plan significantly improved the industry's technological level by mandating the use of 3D data in government-invested projects. The AustroadsBIM Guidelines, developed by the Australian Roads Research Board (ARRB), provide specific guidance for the digital construction of road works.

[0004] At the academic research level, international scholars are mainly focusing on the following areas: A research team at the University of Michigan in the United States has developed a real-time data interface between BIM and GNSS, controlling paving accuracy to within 3 millimeters; research at the University of Leeds in the United Kingdom has proposed a real-time quality inspection method based on point cloud data, achieving continuous quality monitoring during the construction process; and RWTH Aachen University in Germany has improved the stability of construction quality under environmental factors such as temperature changes by establishing a coupled model of material properties and construction parameters. These research results have been published in journals such as *Automation in Construction* and *Advanced Engineering Informatics*, and have facilitated extensive technical exchanges through international conference platforms.

[0005] In China, since 2017, the Ministry of Transport has successively issued documents such as the "Guiding Opinions on Promoting the Application of BIM Technology in Highway and Waterway Engineering" and the "Application Standard of Highway Engineering Design Information Model," providing policy support for the application of BIM technology in road engineering. In recent years, the practice of major projects such as the Beijing-Xiong'an Expressway and the Shenzhen-Zhongshan Bridge has demonstrated that BIM-based 3D paving technology has achieved large-scale application. Central state-owned enterprises such as China Railway and China Communications Construction have conducted integrated research on "BIM + 3D paving" technology based on major engineering projects, establishing a digital workflow from design to construction. In terms of academic research, research institutions such as Chang'an University and Southeast University have made significant progress in 3D paving accuracy control and multi-source data fusion, and related research results have been published in journals such as the *China Journal of Highway and Transport Engineering* and the *Journal of Transportation Engineering*.

[0006] However, despite the increasing prevalence of 3D paving technology, 3D asphalt paving technology for steep slopes and sloping surfaces remains largely undeveloped, particularly in the application of asphalt paving on the slopes of asphalt concrete-faced rockfill dams in water conservancy and hydropower projects. Although the application of asphalt paving on slopes is not as widespread as horizontal paving, it generally requires higher precision and is more complex to construct, thus necessitating the support of a paving construction control system based on a precise positioning system and BIM. Summary of the Invention

[0007] Current 3D paving technology mainly focuses on smooth working surfaces, using positioning systems and control modules to level the height difference between the actual construction surface and the design BIM. This is far from sufficient for paving construction on steep slopes. In asphalt concrete face rockfill dam slope paving construction, it is necessary to consider 3D data of the construction surface and 3D control of the construction equipment. This means considering both the uniform paving of the slope and the free movement of the construction equipment in both the dam line and the slope line. Some hydropower projects, such as the construction of pumped storage upper reservoirs, have already made attempts to use winches to manually control the equipment for paving and compaction on the dam crest. However, since there is currently no suitable digital control system, manual intervention is required throughout the process, consuming a lot of labor costs. At the same time, in order to ensure construction quality, frequent measurements and modifications are necessary, leading to a sharp increase in asphalt material consumption.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a 3D visualization control system and method for paving construction of asphalt concrete face rockfill dam slopes, comprising four subsystems: a positioning system, a communication system, a slope operation system, and a paving system.

[0009] The positioning system includes sub-meter-level positioning units and centimeter-level positioning units. The sub-meter-level positioning units are satellite positioning devices installed on all operating equipment, used for slope segment division and slope equipment installation and positioning to ensure accurate construction paths and avoid abnormal traction torque caused by slope equipment misalignment. The centimeter-level positioning units include a total station installed below the construction slope and a 360° prism installed on the paving equipment, used for precise control of paving quality and material usage.

[0010] The communication system is equipped with wireless communication antennas and wireless communication modules for all operating equipment to ensure the stability of the entire system module functions and coordinate the transmission of data from various sensors and signals from the controller.

[0011] The slope operation system is a winch control module added to the winch at the top of the slope. As the main power unit of the entire system, it is used to assist all construction equipment in providing power, ensuring that the construction equipment runs smoothly and regularly on the slope, and to monitor the posture of the construction equipment in real time and make timely corrections and adjustments.

[0012] The paving system includes angle sensors and a material placement controller installed on the paving equipment. These are used to divide the construction area into slope sections, control the overall construction process, and ensure that the system can carry out paving construction efficiently, economically, safely, and stably in accordance with the design objectives.

[0013] Optionally, it also includes a uniformly configured computing core; the computing core is used to collect construction point information and construction design data, calculate the target posture of the paving equipment, the posture of the paving and spreading equipment, the amount of material spread, the running speed and the posture correction torque, and send the control signals down to each controller; each computing cycle independently completes data collection, unified calculation and unified control, and the computing cycle runs at a frequency of 0.08 seconds to 0.1 seconds;

[0014] The computing core is equipped with a target comparison algorithm and a pose conversion algorithm. The formula for the target comparison algorithm is: z target =DEM.query(x world ,y world ), where z target For the target slope surface in (x world ,y world The elevation at () is shown; the DEM is a digital elevation model; x world y world The attitude transformation algorithm formula is: P (where P is the plane coordinate in the world coordinate system). desired_local =T machine_inv ·P desired_world , where P desired_local Let T be the homogeneous coordinates of the desired point in the paver's local coordinate system; machine_inv For the paver pose transformation matrix (T) machine The inverse matrix of P; desired_world Let [x] be the homogeneous coordinates of the desired point in the world coordinate system (in the form [x]). world ,y world ,z desired_world ,1] T ).

[0015] Optionally, it also includes a construction trend prediction module and an adaptive control module; the construction trend prediction module is used to add the calculation results of each calculation cycle to the trend prediction, pre-calculate the slope running speed, equipment attitude tendency and material consumption of the next cycle, and avoid problems such as equipment delay, equipment rigidity and insufficient material consumption; the adaptive control module is used to realize the system height adaptation, ensuring smooth construction speed, stable equipment attitude and material saving;

[0016] The slope operation system is equipped with a force and moment calculation algorithm for correcting lateral slippage and yaw. The formula for the lateral force to correct lateral slippage is: The formula for the yaw moment to correct the yaw, representing the desired lateral force, is as follows: Where K py K dy For lateral deviation control, the proportional gain and derivative gain are e; y This is the lateral deviation (the difference between the actual position and the desired position); K represents the rate of change of lateral deviation.pψ K dψ For the proportional gain and derivative gain of heading deviation control; e ψ This is the heading deviation (the difference between the actual heading and the desired heading); The rate of change of heading deviation;

[0017] The computational core is also used to calculate the torque generated by the winch tension on the paver's center of gravity and to construct the tension distribution matrix, wherein the torque includes the torque about the x-axis. and torque about the z-axis Where F i α is the pulling force of the i-th winch; i Let x be the angle between the pulling direction of the i-th winch and the x-axis of the paver; i y i z i Let be the coordinates of the i-th winch anchor point in the paver coordinate system; the tension distribution matrix is:

[0018]

[0019] Where F x For the target x-direction force (the resultant force requirement of the paver along the x-axis), F y The target lateral corrective force; M z Target yaw correction torque; M x The target roll correction torque; F1, F2, ..., F n Let α1, α2, ..., α be the pulling force of the 1st to the nth winches; n The pulling direction angles of each winch; d1, d2, ..., d n For each winch arm; z1, z2, ..., z n Here are the z-coordinates of each winch anchor point.

[0020] Optionally, the data obtained from each calculation cycle of the calculation core is not directly used as the input item for the next calculation cycle, so as to realize simultaneous construction and detection; the paving system is used to record the construction asphalt thickness, construction asphalt temperature, and rolling height and temperature in real time, and compares the recorded data with the design data to form a heat map and render it on the central control screen in real time, so as to ensure that the construction business is accurate and controllable;

[0021] The fabric controller is equipped with a feeding opening algorithm and a control command superposition algorithm. The formula for the feeding opening algorithm is as follows: Where K ff (t) represents the feedforward opening of the feed gate at time t (range 0 to 1); Q demand (t) represents the theoretical material flow rate of the paver at time t; Q maxThe maximum feed flow rate is defined as follows: when the feed gate is fully open (opening degree = 100%); the control command superposition algorithm formula is: Where K(t) is the final control opening of the feeding gate at time t; K ff (t) represents the gate feedforward opening at time t; K p K i K d Here, represents the proportional gain, integral gain, and derivative gain of the PID controller; e(t) represents the deviation between the actual material usage and the theoretical material usage at time t; ∫e(t)dt represents the integral term of the deviation. This represents the rate of change of deviation.

[0022] A method for a 3D visualization control system for the paving construction of an asphalt concrete face rockfill dam slope includes the following steps:

[0023] S1. Construction equipment installation: The entire construction system is equipped with corresponding equipment for a positioning subsystem, a communication subsystem, a slope operation subsystem, and a paving subsystem. The positioning subsystem includes satellite positioning equipment (providing sub-meter level positioning) installed on all operating equipment, a total station installed below the construction slope, and a 360° prism installed on the paving equipment (providing centimeter level positioning). The communication subsystem includes wireless communication antennas and modules installed on all operating equipment. The slope operation subsystem includes a winch control module installed on the slope top winch. The paving subsystem includes angle sensors and a material placement controller installed on the paving equipment.

[0024] S2. Construction area slope segment division: Based on the overall BIM model of the construction slope, the three-dimensional surface geometry coverage optimization algorithm is used to divide the construction area slope segments; Input the overall BIM model of the construction slope, the width of a single construction slope segment and the overlap width of multiple construction slope segments, and automatically calculate the location data set of each construction slope segment under the vertical projection of the slope and render it to the 3D scene;

[0025] S3. Slope positioning system layout; determine the starting position of the current slope segment using satellite positioning equipment (sub-meter level positioning); based on the slope bottom position P of the current construction slope segment. bottom Location P at the top of the slope top Total station sight cone angle θ cone and the maximum effective measurement distance D under the required accuracy max Calculate the optimal setting position of the total station to achieve centimeter-level positioning in order to control paving quality and material usage;

[0026] S4. Slope construction and real-time operation control: Real-time data is obtained through the positioning subsystem and communication subsystem, and the slope operation subsystem and paving subsystem are controlled to work together to accurately control the paving material distribution, construction quality and the attitude of the operating equipment to complete the paving operation.

[0027] Optionally, the slope segment division of the construction area described in step 2 shall satisfy the following constraints and algorithm steps:

[0028] Constraints: The slope segment division must completely cover the construction slope surface and meet the requirements for strip overlap (effective coverage width W). effective =W·(1-Overlap%), where W is the width of a single slope segment, and Overlap% is the percentage of overlap between adjacent slope segments; the dominant coverage direction is upward along the curved surface.

[0029] Algorithm steps:

[0030] S21: Calculate the projection vector of the dominant direction at each position on the surface. in Let this be the initial direction vector. Let p be the normal vector at a point p on the slope, and normalize is the normalization operation;

[0031] S22: Generate seed path; find the horizontal position pole P on the slope. start From P start Starting in the direction (Each step uses the Runge-Kutta method to...) (Reproject onto the tangent plane of the current point) to generate geodesics until the other boundary of the surface is reached, thus obtaining the seed path C0(t);

[0032] S23: Generate an equidistant offset path; sample the seed path C0(t) into a point set {p0, p1, ..., p...} n}; at each sampling point p k Calculate the path tangent vector T k Surface normal vector N k and binormal vector B k =normalize(T k ×N k ); along B k Directional movement W effective Distance to point q k =p k +W effective ×B k , q k Vertical projection back onto the surface yields q' k =projrat to surface(q k ,S)(S is the construction slope); set the point set q' k Connect the paths, smooth them, and resample them to obtain the offset path C1(t); iterate the above process to generate a series of offset paths C1(t) and C... i-1 (t);

[0033] S24: Coverage Verification and Adjustment; Check if the geodesic distance from all points on the surface to any center path is less than W / 2, add local center paths to uncovered island areas, and cut paths for areas with deformation exceeding the threshold; Output the set of construction slope segments {G} i (t)}.

[0034] Optionally, step 3, calculating the optimal setting position of the total station, includes the following steps:

[0035] S31: Identify candidate regions; locate the hilltop position P. top The point P that is farthest from the hypothetical instrument placement area far Define candidate region (Condidate) Region =P bottom ∩Disk(center=P far radius = D max ), where Disk is a P far Center D max A disk with radius ; if Condidate Region If it is an empty set, then increase D. max Or multiple stations may be set up;

[0036] S32: Optimize visibility; discretize the construction slope S into a representative point set {P} i}; Define the objective function F(P) station ) = max i |φ i |, where P station For the candidate positions of the instrument, φ i For P station Observation P i pitch angle, z i For P i elevation, z station For the instrument height (set to 0), L i For P station To P i Horizontal distance, x i y i For P i x and y coordinates, x s y s For P station The x and y coordinates are obtained; a grid search method is used in the Candidate database. Region Find F(P) station The minimum optimal position P optimal ;

[0037] S33: Verification and Output; Check P optimal Points at all locations (δ is a safety margin, with a value of 5°), output P optimal This is the optimal setting position for the total station.

[0038] Optionally, the precise control described in step 4 includes the following:

[0039] (1) Control of fabric spreading:

[0040] S411: Determine the detection point P at the leading edge of the concrete spreader in the paver coordinate system. local =(x offset ,0,z offset ), where x offset z is the horizontal distance from the leading edge of the fabric plate to the machine origin. offset The vertical height from the leading edge of the fabric plate to the machine origin;

[0041] S412: Transformation matrix T via paver machine (t) will P local Transform P into world coordinate system world (t)=T machine (t)×P local ;

[0042] S413: Query target elevation z target =DEM.query(x world ,y world ), calculate the expected world coordinate height z of the cloth plate. desired_wrold =z target +thickness (thickness is the preset paving thickness);

[0043] S414: via T machine The inverse matrix T of (t) machine_inv P desired_world =(x world ,y wrold ,z desired_world Transformed into P coordinate system of the paver desired_local =T machine_inv ·P desired_world Extract z desired_local The fabric plate height offset ΔH(t) is sent to the fabric controller;

[0044] (2) Material consumption monitoring: Calculate the theoretical material flow rate Q of the paver. demand (t)=v(t)·W·H·ρ, where v(t) is the paving speed, W is the paving width, H is the paving thickness, and ρ is the density of the asphalt mixture; based on Q demand (t) through Calculate the theoretical opening of the feeding gate, and then... Generate the final control command to control the material supply vehicle;

[0045] (3) Equipment attitude correction: A dual-loop control algorithm is adopted, with the outer loop adjusting the lateral deviation e. y , heading deviation e ψ and roll deviation e φ Calculate the desired lateral force F y_desired Desired yaw moment M z_desired and the desired rolling torque M x_desired The inner ring establishes a mapping model between the winch's pulling force and force / torque, and solves for the pulling force vector. (A is the tension distribution matrix as described in claim 3), controlling the winch to execute tension commands and correct the equipment posture.

[0046] This invention provides a 3D visualization control system and method for the paving construction of asphalt concrete face rockfill dam slopes, which has the following beneficial effects:

[0047] This 3D visualization control system and method for asphalt concrete face rockfill dam slope paving construction fills the gap in 3D asphalt paving technology for steep slopes and large inclined surfaces. It particularly solves the technical challenges of asphalt concrete face rockfill dam slope paving in water conservancy and hydropower projects, providing an effective technical solution for such special scenarios. It significantly reduces manual intervention, changing the traditional operation mode of manually controlling winches and frequent measurement and adjustment, reducing labor costs, and avoiding construction problems caused by human error, thus improving the automation level of the construction process. Through precise positioning and real-time quality monitoring, it effectively controls asphalt material consumption, avoiding material waste due to insufficient manual control precision, reducing project costs, and improving resource utilization efficiency. It achieves highly adaptive and stable control of the construction process, enabling real-time correction of equipment posture and adjustment of construction parameters, avoiding problems such as equipment delays, rigidity, and insufficient material usage, ensuring construction safety and quality stability. Simultaneously, through 3D visualization and real-time data feedback, the construction process is monitorable and traceable, facilitating timely detection and resolution of construction problems, and improving overall construction efficiency and project quality. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the posture correction logic of the invention;

[0049] Figure 2 A schematic diagram showing the installation of the construction equipment for this invention;

[0050] Figure 3 This is a schematic diagram showing the slope division of the construction area for this invention;

[0051] Figure 4 This is a schematic diagram of the slope positioning system layout for this invention;

[0052] Figure 5 This is a schematic diagram of the slope construction and real-time operation control of the invention. Detailed Implementation

[0053] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0054] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] Please see Figure 1 This invention provides a technical solution: a 3D visualization control system for the paving construction of asphalt concrete face rockfill dam slopes, comprising four subsystems: a positioning system, a communication system, a slope operation system, and a paving system.

[0057] The positioning system includes sub-meter-level and centimeter-level positioning units. The sub-meter-level positioning unit is a satellite positioning device installed on all operating equipment. It is used for slope segment division and slope equipment installation and positioning to ensure accurate construction path and avoid abnormal traction torque caused by slope equipment misalignment. The centimeter-level positioning unit includes a total station installed below the construction slope and a 360-degree prism installed on the paving equipment. It is used to precisely control paving quality and material usage.

[0058] The communication system is equipped with wireless communication antennas and wireless communication modules for all operating equipment to ensure the stability of the entire system module functions and coordinate the transmission of data from various sensors and signals from the controller.

[0059] The slope operation system is a winch control module added to the winch at the top of the slope. As the main power unit of the entire system, it is used to assist all construction equipment in providing power, ensuring that the construction equipment runs smoothly and regularly on the slope, and to monitor the posture of the construction equipment in real time and make timely corrections and adjustments.

[0060] The paving system includes angle sensors and material placement controllers installed on the paving equipment, which are used to divide the construction area into slope sections, control the overall construction operation, and ensure that the system can carry out paving construction efficiently, economically, safely and stably in accordance with the design goals.

[0061] The system also includes a uniformly configured computing core; the computing core is used to collect construction point information and construction design data, calculate the target posture of the paving equipment, the posture of the paving and spreading equipment, the amount of material spread, the running speed and the posture correction torque, and send the control signals down to each controller; each computing cycle independently completes data collection, unified calculation and unified control, and the computing cycle runs at a frequency of 0.08 seconds to 0.1 seconds;

[0062] The computing core is equipped with a target comparison algorithm and a pose transformation algorithm. The formula for the target comparison algorithm is: z target =DEM.query(x world ,y world ), where z target For the target slope surface in (x world ,y world The elevation at () is shown; the DEM is a digital elevation model; x world y world For planar coordinates in the world coordinate system, the attitude transformation algorithm formula is: P desired_local =T machine_inv ·P desired_world , where P desired_local Let T be the homogeneous coordinates of the desired point in the paver's local coordinate system; machine_inv For the paver pose transformation matrix (T) machine The inverse matrix of P; desired_world Let [x] be the homogeneous coordinates of the desired point in the world coordinate system (in the form [x]). world ,y world ,z desired_world ,1] T );

[0063] It also includes a construction trend prediction module and an adaptive control module; the construction trend prediction module is used to add the calculation results of each calculation cycle to the trend prediction, pre-calculate the slope running speed, equipment attitude tendency and material consumption of the next cycle, and avoid problems such as equipment delay, equipment rigidity and insufficient material consumption; the adaptive control module is used to realize the system height adaptation, ensuring smooth construction speed, stable equipment attitude and material saving;

[0064] The slope operation system is equipped with force and moment calculation algorithms for correcting lateral slippage and yaw. The formula for the lateral force to correct lateral slippage is: The formula for the yaw moment to correct the yaw, given the desired lateral force, is: Where K py K dy For lateral deviation control, the proportional gain and derivative gain are e; y This is the lateral deviation (the difference between the actual position and the desired position); K represents the rate of change of lateral deviation. pψ K dψ For the proportional gain and derivative gain of heading deviation control; e ψ This is the heading deviation (the difference between the actual heading and the desired heading); The rate of change of heading deviation;

[0065] The computational core is also used to calculate the torque generated by the winch tension on the paver's center of gravity and to construct the tension distribution matrix. The torque includes the torque about the x-axis. and torque about the z-axis Where F i α is the pulling force of the i-th winch; i Let x be the angle between the pulling direction of the i-th winch and the x-axis of the paver; i y i z i Let be the coordinates of the i-th winch anchor point in the paver coordinate system; the tension distribution matrix is:

[0066]

[0067] Where F x For the target x-direction force (the resultant force requirement of the paver along the x-axis), F y The target lateral corrective force; M z Target yaw correction torque; M x The target roll correction torque; F1, F2, ..., F n Let α1, α2, ..., α be the pulling force of the 1st to the nth winches; n The pulling direction angles of each winch; d1, d2, ..., d n For each winch arm; z1, z2, ..., z n Here are the z-coordinates of each winch anchor point;

[0068] The data obtained from each operation cycle of the computing core is not directly used as the input item for the next operation cycle, so as to realize simultaneous construction and detection. The paving system is used to record the asphalt thickness, asphalt temperature, and compaction height and temperature in real time, and compares the recorded data with the design data to form a heat map, which is rendered on the central control screen in real time to ensure that the construction business is accurate and controllable.

[0069] The fabric controller is equipped with a feed opening algorithm and a control command superposition algorithm. The formula for the feed opening algorithm is as follows: Where K ff (t) represents the feedforward opening of the feed gate at time t (range 0 to 1); Q demand (t) represents the theoretical material flow rate of the paver at time t; Q max The maximum feed flow rate is defined as follows: when the feed gate is fully open (opening degree = 100%); the control command superposition algorithm formula is: Where K(t) is the final control opening of the feeding gate at time t; K ff (t) represents the gate feedforward opening at time t; K p K i K d Here, represents the proportional gain, integral gain, and derivative gain of the PID controller; e(t) represents the deviation between the actual material usage and the theoretical material usage at time t; ∫e(t)dt represents the integral term of the deviation. This represents the rate of change of deviation.

[0070] A method for a 3D visualization control system for the paving construction of asphalt concrete face rockfill dam slopes is as follows:

[0071] Step 1: Install construction equipment. Install sensors and controllers on the equipment of the entire slope construction system, as shown in Table 1.

[0072] Table 1 Equipment Installation List

[0073]

[0074]

[0075] Step 2: Slope segment division of the construction area, using slope segment division algorithm constraints: complete coverage, strip overlap W. effective =W·(1-Overlap%), where W effective W represents the effective coverage width of the slope segment; W represents the design width of a single slope segment; Overlap% represents the percentage of overlap between adjacent slope segments, and the dominant coverage direction is upward along the curved surface.

[0076] Input parameters: strip width, overlap percentage;

[0077] Algorithm description: Calculate the projection vector of the dominant direction covering each position on the surface;

[0078]

[0079] in The normalized projection vector of the dominant coverage direction; normalize is the vector normalization function; This is the initial direction vector; Let p be the normal vector at a point p on the slope.

[0080] Generate a seed path and find the horizontal position pole P. start From P start Depart, along the direction (At each step, the Runge-Kutta method is used to...) (Reproject onto the tangent plane of the current point to keep the path on the surface) Generate a geodesic line until it reaches another boundary of the surface;

[0081] Generate equidistant offset paths, using the seed path C0(t) as a reference, and generate a series of parallel offset paths {C} to both sides. i (t)} and {C -i (t)}, serving as the centerline of other bands; the geodesic distance between adjacent paths should be equal to the effective coverage width W. effective ;

[0082] Distance geodesic (C i (T),C i±1 (t))≈W effective =W·(1-Overlap%)

[0083] Discretized seed path: Sample C0(t) into a series of points {p0, p1, ..., p...} n};

[0084] Calculate the offset direction at each sampling point p k Above: Calculate the tangent vector T of the path at that point. k (the first derivative of C0(t)); calculate the normal vector N. k (The normal to the surface at this point); calculate the binormal vector B. k =normalize(T k ×N k ); this vector B k Located within the tangent plane and perpendicular to the path direction, it is the direction of offset; to maintain consistency, ensure that all B... k Pointing to the same side of the path;

[0085] Execute the offset, starting from the seed path and following B. k Directional movement W effective The distance is used to obtain the point q on the new path. k ;

[0086] q k =p k +W effective ×B k

[0087] Projecting onto the surface, point q k By projecting the perpendicular projection back onto surface S, find the nearest surface point q'. k ;

[0088] q′ k =projrat to surface(q k ,S)

[0089] Smoothing and resampling, the point set {q' obtained by direct projection k The result is not smooth; connect them into a new path C1(t), and perform smoothing (such as spline fitting) and resampling;

[0090] Iteration: Using the newly generated path C1(t) as the new reference, repeat steps 1-5 to continue offsetting outwards until the entire surface is covered;

[0091] Coverage verification and adjustments are detailed below:

[0092] Verify coverage by checking if the geodesic distance from all surface points to a central path is less than W / 2 (i.e., covered by the strip); for edge or complex areas, gap detection is required to address insufficient coverage: if uncovered "island" areas appear, add a new, shorter central path locally in that area; address excessive distortion: in areas with high curvature, the offset strip may undergo severe deformation; check the strip's stretching or twisting rate; if the deformation exceeds the threshold, it needs to be cut at that point;

[0093] The algorithm outputs a set of construction slope segments, and finally outputs the center path {C1(t)}. It then renders the surface projection strip in the set and marks the true coordinates of the projection strip. This gives the set of construction slope segments with a specified width and overlap rate on the construction slope.

[0094] Step 3: Slope positioning system setup. After obtaining the slope segment set, the slope positioning system is set up before slope segment construction.

[0095] The equipment's GPS system primarily handles sub-meter level positioning, used to determine the initial layout position of the current slope section; during construction, more precise centimeter-level positioning is required to control paving quality and material usage.

[0096] Given the current construction slope section, the known parameters are:

[0097] P bottom Location at the bottom of the slope;

[0098] P top Location of the top of the slope;

[0099] θ coneThe cone angle of a total station;

[0100] D max The maximum effective measurement distance under the required accuracy;

[0101] Identify candidate regions that satisfy distance constraints and recognize key points: find the slope crest region P. top Let P be the point (or points) furthest from the hypothetical instrument placement area. far ;

[0102] Define the candidate region, instrument station P station Must be located at P far Centered on D max The distance constraint can only be satisfied within a disk of radius P; simultaneously, P station It must be at the bottom of the slope P bottom Within the range;

[0103] Condidate Region =P bottom ∩Disk(center=P far radius = D max )

[0104] If Condidate Region The fact that it is an empty set indicates that the maximum measured distance D is... max The value is too small to measure the entire slope; D needs to be increased. max Alternatively, consider using multiple stations;

[0105] The goal of optimizing visibility within the candidate region is to find a location P. station This ensures that the entire slope is within its visual cone;

[0106] Discretizing the slope surface: Discretizing the slope surface S into a set of representative points {P} i These points should cover the key features of the slope (such as the four corner points, the center point, etc.);

[0107] Define the objective function F(P) station ): Quantification from P station Viewing the slope {P i The "difficulty level" of}; a good goal is to minimize the most demanding observation angle;

[0108] For each slope point P i Calculate from P station Observe its pitch angle φ i ;

[0109]

[0110] Among them, z iLet z be the elevation of the i-th slope point; station The total station instrument height (usually taken as 0); L i The horizontal distance from the total station to the i-th slope point;

[0111] L i For P station To P i horizontal distance The cone angle of a total station is θ cone This means that its pitch angle range is approximately (Assuming the instrument is horizontally mounted); in order to efficiently observe a high point P i Its pitch angle φ i It should be much smaller

[0112] Define the objective function as the maximum pitch angle:

[0113] F(P station ) = max i |φ i |

[0114] Find F(P) station The smallest P station ;

[0115]

[0116] The slope and candidate region are searched using a grid: Candidate Region Divide the data into a grid and calculate F(P) for each grid point. station ), select the point with the smallest value;

[0117] Verification and Output: Check in P optimal Points, are they all? (δ is a safety margin, such as 5°), to ensure that the line of sight is near the center of the cone for the best measurement results; output the optimal station location P. optimal ;

[0118] Step 4: Slope construction and real-time operation control. The paver transformation matrix and the concrete placement plate transformation matrix are calculated in real time. After the positioning system is set up, the centimeter-level position transformation matrix (Matrix4x4) of the paver at any time on the slope can be known. According to the target slope 3D model set by the system, the concrete placement plate height and winch speed are dynamically adjusted during operation to ensure that the asphalt paving meets the target standards.

[0119] At any time t, calculate the height offset ΔH(t) of the concrete slab relative to the paver's bottom plate, so that the bottom edge of the concrete slab always maintains a constant preset height with the target slope (paving is carried out close to the slope).

[0120] Known quantities:

[0121] Paver position: T machine (t), a 4x4 transformation matrix, represents the transformation of the paver's base plate coordinate system M relative to the world coordinate system W; it includes position (x, y, z) and rotation (roll, pitch, yaw);

[0122] Target slope model: A three-dimensional mesh or digital elevation model (DEM) that allows querying the target elevation z corresponding to any (x,y) world coordinate. target (x,y);

[0123] Controlled object: the concrete spreader plate, whose movement is a vertical translation (assuming it moves along the Z-axis in the paver coordinate system M);

[0124] Execute the following steps within each control cycle (e.g., every 100 milliseconds):

[0125] Determine the "detection point" (world coordinates) at the leading edge of the fabric plate, and calculate the coordinates of the center point of the leading edge of the fabric plate (i.e., the position that first contacts the material) in the world coordinate system;

[0126] Define the coordinates of the detection point in the machine coordinate system: In the paver's own coordinate system M, the center point P of the leading edge of the concrete slab. local It is a fixed offset; assuming the origin of the machine coordinate system is at the center of the base plate, the X-axis points in the forward direction, and the Z-axis points upward;

[0127] P local =(x offset ,0,z offset )

[0128] x offset This is the horizontal distance from the front edge of the fabric plate to the machine origin (usually a positive value, indicating the front).

[0129] z offset : Vertical height from the front edge of the fabric plate to the machine origin (usually a negative value or zero, indicating that it is below the base plate);

[0130] Transform the probe points to the world coordinate system: using the paver's transformation matrix T. machine (t), P local Transform to world coordinate system W to obtain P world (t);

[0131] P world (t)=T machine (t)×P local

[0132] P local Expanded to homogeneous coordinates [xoffset ,0,z offset ] T Then with T machine Multiply the components and take the first three components of the result, which is P. world (x,y,z);

[0133] The expected elevation of the target slope at the detection point was obtained by querying the detection point P. world Find the (x,y) coordinates of (t); query the target elevation using the target slope model, input (x... world ,y world ), thus obtaining the target elevation z of that point. target ;

[0134] z target =DEM.query(x world ,y world )

[0135] To calculate the world coordinate height required for the cloth plate, the bottom edge of the cloth plate should be located at z. target The height; setting the paving thickness;

[0136] z desired_world =z target +thickness

[0137] thickness: Preset paving thickness; if the fabric plate just touches the target surface, then thickness = 0; for mesh models, perform interpolation calculations for triangular facets;

[0138] The core transformation of the matrix algorithm involves converting the desired world coordinate height to the paver's coordinate system, and then calculating the height z in the world coordinate system. desired_world Calculate the Z coordinate of the point in the paver coordinate system M at the current moment;

[0139] Obtain the orientation of the machine coordinate system's Z-axis in the world coordinate system: Paver transformation matrix T machine The third column represents the unit direction vector T of the machine coordinate system's Z-axis in the world coordinate system. axis_world ;

[0140] Calculate the height difference vector: Calculate the vector from the origin (T) of the machine base plate. machine The translation vector part, i.e., Origin machine_world ) to the desired point (x) world ,y world ,z desired_world The vector of ) is used to construct the world coordinates of the desired point (whose horizontal position is the same as the probe point):

[0141] P desired_world =(x world ,yworld ,z desired_world )

[0142] P desired_world Transform to the paver coordinate system M; this requires using T. machine The inverse matrix T machine_inv ;

[0143] P desired_local =T machine_inv ·P desired_world

[0144] Extracting the relative height and transforming it to obtain P desired_local z coordinates desired_local This refers to the required height of the concrete slab relative to the paver's base plate.

[0145] ΔH(t)=z desired_local

[0146] ΔH(t) has automatically taken into account the paver's pitch and roll angles; regardless of how the machine tilts, z desired_local It is always along the machine's own Z-axis;

[0147] Output control commands, send the calculated ΔH(t) as control commands to the lifting controller of the paving system's concrete placing plate, so that it moves to the specified height;

[0148] Look-ahead control: Based on the machine speed, calculate the target height below the machine position some time in the future, and then adjust the height of the fabric plate in advance; this requires introducing the machine speed v(t) and the control system delay τ to calculate the look-ahead point;

[0149] P lookahead_local =(x offset +v×τ,0,z offset )

[0150] Multi-point detection and averaging: Define multiple detection points (left, center, and right) at the front edge of the fabric plate, calculate the required ΔH for each, and then take the average or minimum value to ensure that the fabric plate will not "get stuck" in certain positions;

[0151] Filtering: z retrieved from DEM target The calculated ΔH(t) may contain noise; a low-pass filter (such as a moving average filter) needs to be applied to ΔH(t) to smooth the control action and avoid frequent and violent actions of the hydraulic system.

[0152] Safety limit: The output value of ΔH(t) must be limited to ensure that it is within the physical travel range of the fabric plate lifting mechanism;

[0153] The centimeter-level positioning system and inertial navigation system (IMU) are tightly integrated to obtain accurate and reliable T data. machine (t);

[0154] Monitor material usage and replenish materials promptly; monitor the condition of the construction surface.

[0155] Theoretical demand calculation (feedforward model);

[0156] The theoretical material flow rate Q of the paver per unit time demand (t):

[0157] Q demand (t)=v(t)·W·H·ρ

[0158] Q demand v(t) represents the theoretical material flow rate of the paver at time t; v(t) represents the paving speed at time t; W represents the paving width; H represents the paving thickness; and ρ represents the density of the asphalt mixture.

[0159] Q demand (t) is the flow rate that the feeding system should provide to meet the current paving parameters;

[0160] Gate opening feedforward calculation, theoretical opening K of the feeding gate ff (t)(feedforward component) can be estimated using an empirical model; assuming the gate flow rate Q gate It has an approximately linear relationship with the opening degree K (or a curve obtained through calibration):

[0161]

[0162] Q max The maximum feed rate when the gate is fully open (K = 100%);

[0163] The final control command, based on the feedback output, is the superposition of the feedforward component and the PID feedback component:

[0164]

[0165] Where K(t) is the final control opening of the feeding gate at time t; K ff (t) represents the gate feedforward opening at time t; K p K i K d Here, represents the proportional gain, integral gain, and derivative gain of the PID controller; e(t) represents the deviation between the actual material usage and the theoretical material usage at time t; ∫e(t)dt represents the integral term of the deviation. The rate of change of deviation;

[0166] The entire process monitors the equipment's posture and corrects its posture. When the paver is working on a steep or soft slope, it may experience posture problems such as sideslip or deflection around the vertical axis due to factors such as gravity and uneven ground adhesion. The winch's tension is used as a control input to counteract the unbalanced forces and torques that cause abnormal posture, enabling the paver to travel stably along the predetermined path (vertical projection of the slope).

[0167] Dual-loop control algorithm:

[0168] Outer loop (position / attitude loop): Based on the position and attitude deviations, calculate the resultant force and resultant torque required to correct the deviations;

[0169] Inner loop (force control loop): Based on the target resultant force / moment calculated by the outer loop, calculate the required tension value of each winch and control the winch to execute;

[0170] Outer ring - Calculate the required corrective force and torque, as follows:

[0171] Path tracking deviation:

[0172] Lateral deviation:

[0173] e y =y actual -y desired

[0174] Heading deviation:

[0175] e ψ =θ yaw -ψ desired

[0176] (ψ desired (This refers to the tangent direction of the desired path)

[0177] Attitude stability deviation:

[0178] Roll deviation: e φ =θ roll -φ target (Working on a slope, φ) target It may not be 0, but rather consistent with the cross slope angle, but excessive lateral tilting must be prevented.

[0179] Pitch deviation: e θ =θ pitch -θ target Use a PD (proportional-derivative) controller to calculate the virtual "corrective force" and "corrective torque" that need to be applied;

[0180] Forces and moments used to correct lateral slip and yaw:

[0181]

[0182] (Lateral force pulls the machine back)

[0183]

[0184] (Yaw moment is used to correct direction)

[0185] Torque used to stabilize the roll:

[0186]

[0187] (Rolling torque to prevent rollover)

[0188] K p φ and K d φ represents the proportional and differential gain coefficients of the corresponding control loop;

[0189] Inner ring – winch tension distribution, using the virtual F calculated from the outer ring. y_desired M z_desired M x_desired Mapped to the actual pulling force command of the winch;

[0190] Establish a force / torque mapping model:

[0191] There are n winches, and the position of their anchor points in the paver coordinate system is (x... i y i , z i The direction vector of the tension is (cosα). i sinα i ,0);

[0192] The pulling force F generated by the i-th winch i In the paver coordinate system, it can be decomposed into:

[0193]

[0194]

[0195] The torque it generates on the paver's center of gravity is:

[0196]

[0197] Construct the allocation matrix:

[0198]

[0199] Where d i =x i ·sinα i -y i ·cosα i It is the "lever arm" of the i-th winch;

[0200] Solve for the target tension vector:

[0201] Find the force vector F = [F1, F2, ..., F n ] T

[0202] Make

[0203] Direct solution for the case of two hoists (n=2):

[0204]

[0205] Control the winch based on the tension result:

[0206] Dynamic delay: There is a delay in the tension of the steel cable and the response of the winch motor; filtering and prediction need to be added to the control algorithm; singular configuration: when the lever arm d of the winch's tension... i When the value is very small or zero, the allocation matrix A may be ill-conditioned, leading to an extreme tension in the solution; the algorithm needs to detect and avoid this situation; ground interaction: the algorithm assumes that the paver is a rigid body; in reality, the interaction between the tracks or tires and the ground is very complex and will affect the control effect;

[0207] Safety thresholds for force, angle, and position must be set; if these are exceeded, the system should enter a safety mode (such as stopping paving, slow tightening, etc.) to prevent rollover or cable breakage.

[0208] Through the aforementioned algorithm of the slope operation system, the winch system is no longer a simple "cart puller," but has evolved into an active attitude stabilization assistance system, which can significantly improve the paver's operating capability and safety on complex slopes.

[0209] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A 3D visualization control system for the paving construction of asphalt concrete face rockfill dam slopes, characterized in that, It includes four subsystems: positioning system, communication system, slope operation system, and paving system. The positioning system includes sub-meter-level positioning units and centimeter-level positioning units. The sub-meter-level positioning units are satellite positioning devices installed on all operating equipment, used for slope segment division and slope equipment installation and positioning to ensure accurate construction paths and avoid abnormal traction torque caused by slope equipment misalignment. The centimeter-level positioning units include a total station installed below the construction slope and a 360° prism installed on the paving equipment, used for precise control of paving quality and material usage. The communication system is equipped with wireless communication antennas and wireless communication modules for all operating equipment to ensure the stability of the entire system module functions and coordinate the transmission of data from various sensors and signals from the controller. The slope operation system is a winch control module added to the winch at the top of the slope. As the main power unit of the entire system, it is used to assist all construction equipment in providing power, ensuring that the construction equipment runs smoothly and regularly on the slope, and to monitor the posture of the construction equipment in real time and make timely corrections and adjustments. The paving system includes angle sensors and a material placement controller installed on the paving equipment. These are used to divide the construction area into slope sections, control the overall construction process, and ensure that the system can carry out paving construction efficiently, economically, safely, and stably in accordance with the design objectives.

2. The system according to claim 1, characterized in that, It also includes a uniformly configured computing core; the computing core is used to collect construction point information and construction design data, calculate the target posture of the paving equipment, the posture of the paving and spreading equipment, the amount of material spread, the running speed and the posture correction torque, and send the control signals down to each controller; each computing cycle independently completes data collection, unified calculation and unified control, and the computing cycle runs at a frequency of 0.08 seconds to 0.1 seconds; The computing core is equipped with a target comparison algorithm and a pose conversion algorithm. The formula for the target comparison algorithm is: z target =DEM.query(x world ,y world ), where z target For the target slope surface in (x world ,y world The elevation at () is shown; the DEM is a digital elevation model; x world y world The attitude transformation algorithm formula is: P (where P is the plane coordinate in the world coordinate system). desired_local =T mochine_inv ·P desired_world , where P desired_local Let T be the homogeneous coordinates of the desired point in the paver's local coordinate system; machine_inv For the paver pose transformation matrix (T) machine The inverse matrix of P; desired_world Let [x] be the homogeneous coordinates of the desired point in the world coordinate system (in the form [x]). world ,y world ,z desired_world ,1] T ).

3. The system according to claim 1, characterized in that, It also includes a construction trend prediction module and an adaptive control module; the construction trend prediction module is used to add the calculation results of each calculation cycle to the trend prediction, pre-calculate the slope running speed, equipment attitude tendency and material consumption of the next cycle, and avoid problems such as equipment delay, equipment rigidity and insufficient material consumption; the adaptive control module is used to realize the system height adaptation, ensuring smooth construction speed, stable equipment attitude and material saving; The slope operation system is equipped with a force and moment calculation algorithm for correcting lateral slippage and yaw. The formula for the lateral force to correct lateral slippage is: The formula for the yaw moment to correct the yaw, representing the desired lateral force, is as follows: Where K py K dy For lateral deviation control, the proportional gain and derivative gain are e; y This is the lateral deviation (the difference between the actual position and the desired position); K represents the rate of change of lateral deviation. pψ K pψ For the proportional gain and derivative gain of heading deviation control; e ψ This is the heading deviation (the difference between the actual heading and the desired heading); The rate of change of heading deviation; The computational core is also used to calculate the torque generated by the winch tension on the paver's center of gravity and to construct the tension distribution matrix, wherein the torque includes the torque about the x-axis. and torque about the z-axis Where F i α is the pulling force of the i-th winch; i Let x be the angle between the pulling direction of the i-th winch and the x-axis of the paver; i y i z i Let be the coordinates of the i-th winch anchor point in the paver coordinate system; the tension distribution matrix is: Where F x For the target x-direction force (the resultant force requirement of the paver along the x-axis), F y Target lateral corrective force; M z Target yaw correction torque; M x The target roll correction torque; F1, F2, ..., F n Let α1, α2, ..., α be the pulling force of the 1st to the nth winches; n The pulling direction angles of each winch; d1, d2, ..., d n For each winch arm; z1, z2, ..., z n Here are the z-coordinates of each winch anchor point.

4. The system according to claim 1, characterized in that, The data obtained from each calculation cycle of the calculation core is not directly used as the input item for the next calculation cycle, so as to realize simultaneous construction and detection; the paving system is used to record the construction asphalt thickness, construction asphalt temperature, and rolling height and temperature in real time, and compares the recorded data with the design data to form a heat map and render it on the central control screen in real time, so as to ensure that the construction business is accurate and controllable; The fabric controller is equipped with a feeding opening algorithm and a control command superposition algorithm. The formula for the feeding opening algorithm is as follows: Where K ff (t) represents the feedforward opening of the feed gate at time t (range 0 to 1); Q demand (t) represents the theoretical material flow rate of the paver at time t; Q max The maximum feed flow rate is defined as follows: when the feed gate is fully open (opening degree = 100%); the control command superposition algorithm formula is: Where K(t) is the final control opening of the feeding gate at time t; K ff (t) represents the gate feedforward opening at time t; K p K i K d Here, represents the proportional gain, integral gain, and derivative gain of the PID controller; e(t) represents the deviation between the actual material usage and the theoretical material usage at time t; ∫e(t)dt represents the integral term of the deviation. This represents the rate of change of deviation.

5. A method for a 3D visualization control system used in the paving construction of an asphalt concrete face rockfill dam slope as described in any one of claims 1 to 4, characterized in that, Includes the following steps: S1. Construction equipment installation: The entire construction system is equipped with corresponding equipment for a positioning subsystem, a communication subsystem, a slope operation subsystem, and a paving subsystem. The positioning subsystem includes satellite positioning equipment (providing sub-meter level positioning) installed on all operating equipment, a total station installed below the construction slope, and a 360° prism installed on the paving equipment (providing centimeter level positioning). The communication subsystem includes wireless communication antennas and modules installed on all operating equipment. The slope operation subsystem includes a winch control module installed on the slope top winch. The paving subsystem includes angle sensors and a material placement controller installed on the paving equipment. S2. Construction area slope segment division: Based on the overall BIM model of the construction slope, the three-dimensional surface geometry coverage optimization algorithm is used to divide the construction area slope segments; Input the overall BIM model of the construction slope, the width of a single construction slope segment and the overlap width of multiple construction slope segments, and automatically calculate the location data set of each construction slope segment under the vertical projection of the slope and render it to the 3D scene; S3. Slope positioning system layout; determine the starting position of the current slope segment using satellite positioning equipment (sub-meter level positioning); based on the slope bottom position P of the current construction slope segment. bottom Location P at the top of the slope top Total station sight cone angle θ cone and the maximum effective measurement distance D under the required accuracy max Calculate the optimal setting position of the total station to achieve centimeter-level positioning in order to control paving quality and material usage; S4. Slope construction and real-time operation control: Real-time data is obtained through the positioning subsystem and communication subsystem, and the slope operation subsystem and paving subsystem are controlled to work together to accurately control the paving material distribution, construction quality and the attitude of the operating equipment to complete the paving operation.

6. The method according to claim 5, characterized in that, The slope segment division of the construction area described in step 2 satisfies the following constraints and algorithm steps: Constraints: The slope segment division must completely cover the construction slope surface and meet the requirements for strip overlap (effective coverage width W). effective =W·(1-Overlap%, where W is the width of a single slope segment and Overlap% is the percentage of overlap between adjacent slope segments), with the dominant coverage direction being upward along the curved surface; Algorithm steps: S21: Calculate the projection vector of the dominant direction at each position on the surface. in Let this be the initial direction vector. Let p be the normal vector at a point p on the slope, and normalize is the normalization operation; S22: Generate seed path; find the horizontal position pole P on the slope. start From P start Starting in the direction (Each step uses the Runge-Kutta method to...) (Reproject onto the tangent plane of the current point) to generate geodesics until the other boundary of the surface is reached, thus obtaining the seed path C0(t); S23: Generate an equidistant offset path; The seed path C0(t) is sampled as a point set {p0, p1, ..., p...} n }; at each sampling point p k Calculate the path tangent vector T k Surface normal vector N k and binormal vector B k =normalize(T k ×N k ); along B k Directional movement W effective Distance to point q k =p k +W effective ×B k , q k Vertical projection back onto the surface yields q' k =projrat to surface(q k ,S)(S is the construction slope); set the point set q' k Connect the paths, smooth them, and resample them to obtain the offset path C1(t); iterate the above process to generate a series of offset paths C1(t) and C... i-1 (t); S24: Coverage Verification and Adjustment; Check if the geodesic distance from all points on the surface to any center path is less than W / 2, add local center paths to uncovered island areas, and cut paths for areas with deformation exceeding the threshold; Output the set of construction slope segments {G} i (t)}.

7. The method according to claim 5, characterized in that, Step 3, calculating the optimal setting position of the total station, includes the following steps: S31: Identify candidate regions; locate the hilltop position P. top The point P that is farthest from the hypothetical instrument placement area far Define candidate region (Condidate) Region =P bottom ∩Disk(center=P far radius = D max ), where Disk is a P far Center D max A disk with radius ; if Condidate Region If it is an empty set, then increase D. max Or multiple stations may be set up; S32: Optimize visibility; discretize the construction slope S into a representative point set {P} i }; Define the objective function F(P) stion ) = max i |φ i |, where P station For the candidate positions of the instrument, φ i For P station Observation P i pitch angle, z i For P i elevation, z station For the instrument height (set to 0), L i For P station To P i Horizontal distance, x i y i For P i x and y coordinates, x s y s For P station The x and y coordinates are obtained; a grid search method is used in the Candidate database. Region Find F(P) station The minimum optimal position P optimal ; S33: Verification and Output; Check P optimal Points at all locations (δ is a safety margin, with a value of 5°), output P optimal This is the optimal setting position for the total station.

8. The method according to claim 5, characterized in that, The precise control described in step 4 includes the following: (1) Control of fabric spreading: S411: Determine the detection point P at the leading edge of the concrete spreader in the paver coordinate system. local =(x offset ,0,z offset ), where x offset z is the horizontal distance from the leading edge of the fabric plate to the machine origin. offset The vertical height from the leading edge of the fabric plate to the machine origin; S412: Transformation matrix T via paver machine (t) will P local Transform P into world coordinate system world (t)=T machine (t)×P local ; S413: Query target elevation z target =DEM.query(x world ,y world ), calculate the expected world coordinate height z of the cloth plate. desired_world =z target +thickness (thickness is the preset paving thickness); S414: via T machine The inverse matrix T of (t) machine_inv P desired_world =(x world ,y world ,z desired_world Transformed into P coordinate system of the paver desired_local =T machine_inv ·P desired_world Extract z desired_local The fabric plate height offset ΔH(t) is sent to the fabric controller; (2) Material consumption monitoring: Calculate the theoretical material flow rate Q of the paver. demand (t)=v(t)·W·H·ρ, where v(t) is the paving speed, W is the paving width, H is the paving thickness, and ρ is the density of the asphalt mixture; based on Q demand (t) through Calculate the theoretical opening of the feeding gate, and then... Generate the final control command to control the material supply vehicle; (3) Equipment attitude correction: A dual-loop control algorithm is adopted, with the outer loop adjusting the lateral deviation e. y , heading deviation e ψ and roll deviation e φ Calculate the desired lateral force F y_desired Desired yaw moment M z_desired and the desired rolling torque M x_desired The inner ring establishes a mapping model between the winch's pulling force and force / torque, and solves for the pulling force vector. (A is the tension distribution matrix as described in claim 3), controlling the winch to execute tension commands and correct the equipment posture.

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