Highway subgrade compaction accurate compensation rolling method and device

Abstract

The invention provides a precise compensation rolling method and device for highway subgrade compaction, and relates to the technical field of subgrade compaction, and the method comprises the steps: calculating a vibration compaction energy system component according to acceleration data and positioning data, calculating an energy mutual feedback index through the energy system component, and evaluating the quality of a compaction point to obtain a compaction point quality result; based on the Mie scattering theory, the filler grain composition is inversed through millimeter-wave radar data, and the cavity of the compaction area is detected by combining the echo time difference in the millimeter-wave radar data, so that a millimeter-wave radar detection result is obtained; based on the compaction point quality result and the millimeter wave radar detection result, evaluating the filler compaction degree, and determining an underpressure area; and calculating an energy difference value between the energy index of the underpressure area and a preset energy index, optimizing a pressure supplementing parameter in combination with filler particle gradation to obtain a pressure supplementing strategy, and guiding the road roller to go to the underpressure area for pressure supplementing based on the pressure supplementing strategy. The problem that the compaction effect is not uniform is solved.

Description

Technical Field

[0001] This invention relates to the field of roadbed compaction technology, and more specifically, to a method and apparatus for precise compensation compaction of highway roadbeds. Background Technology

[0002] In roadbed compaction technology, traditional compaction operations primarily rely on manual operation and experience-based judgment. Specifically, a road roller is used to repeatedly compact the roadbed fill material in multiple rounds to ensure the compaction degree meets the design specifications. However, this traditional compaction method has significant limitations. Firstly, compaction operations are highly dependent on the operator's skill level; different operators have varying operating habits and skill levels, making it difficult to maintain a uniform compaction quality. Secondly, traditional methods cannot obtain real-time and accurate compaction trajectory and quality data. The lack of real-time feedback of this crucial data prevents precise adjustments and optimizations to the compaction operation, leading to uneven compaction results.

[0003] Therefore, there is an urgent need for a precise compensation compaction method and device for highway subgrade compaction, which solves the problem of uneven compaction effect. Summary of the Invention

[0004] The purpose of this invention is to provide a method and apparatus for precise compensation compaction of highway subgrade, in order to improve the aforementioned problems. To achieve the above objective, the technical solution adopted by this invention is as follows:

[0005] Firstly, this application provides a method for precise compensation compaction of highway subgrade, including:

[0006] Acquire data on the acceleration of the vibratory roller, the positioning data of the road roller, and the millimeter-wave radar data of the filler.

[0007] Based on the acceleration data and the positioning data, the vibration compaction energy system components are calculated. The energy feedback index is calculated through the energy system components, and the compaction point quality is evaluated to obtain the compaction point quality result.

[0008] Based on Mie scattering theory, the particle size distribution of the filler is inverted through the millimeter-wave radar data, and the voids in the compacted area are detected by combining the echo time difference in the millimeter-wave radar data, thus obtaining the millimeter-wave radar detection results.

[0009] The compaction degree of the filler is evaluated based on the compaction point quality results and the millimeter-wave radar detection results to determine the under-compacted area.

[0010] The energy difference between the energy index of the under-pressure region and the preset energy index is calculated, and the pressure replenishment parameters are optimized by combining the packing particle size distribution to obtain the pressure replenishment strategy;

[0011] The aforementioned compaction strategy guides the road roller to the under-compacted area for compaction.

[0012] Secondly, this application also provides a precision compensation compaction device for highway subgrade, comprising:

[0013] The acquisition module is used to acquire data on the acceleration of the vibratory wheel, the positioning data of the road roller, and the millimeter-wave radar data of the filler.

[0014] The calculation module is used to calculate the vibration compaction energy system components based on the acceleration data and the positioning data, calculate the energy feedback index through the energy system components and evaluate the compaction point quality to obtain the compaction point quality result;

[0015] The detection module is used to invert the particle size distribution of the filler through the millimeter-wave radar data based on the Mie scattering theory, and to detect voids in the compacted area by combining the echo time difference in the millimeter-wave radar data, so as to obtain the millimeter-wave radar detection results.

[0016] The evaluation module is used to evaluate the compaction degree of the filler based on the compaction point quality results and the millimeter-wave radar detection results, and to determine the under-compacted area;

[0017] The optimization module is used to calculate the energy difference between the energy index of the under-pressure area and the preset energy index, and to optimize the pressure replenishment parameters by combining the packing particle size distribution to obtain the pressure replenishment strategy.

[0018] The pressure replenishment module is used to guide the road roller to the under-pressure area for pressure replenishment based on the pressure replenishment strategy.

[0019] The beneficial effects of this invention are as follows:

[0020] This invention calculates the components of the vibration compaction energy system and quantifies the energy transfer and feedback during the compaction process from multiple dimensions, achieving a precise reconstruction of the energy transfer and feedback process and overcoming the shortcomings of insufficient accuracy in the calculation of compaction indicators in existing technologies. In terms of compaction quality assessment, this invention accurately evaluates the compaction quality at compaction points and detects the presence of voids and other defects within the compacted area, enabling timely identification and treatment of under-compacted areas, thus improving the compaction quality of highway subgrades and enhancing their stability and bearing capacity. Furthermore, it optimizes the supplementary compaction parameters based on the energy difference in under-compacted areas and the particle size distribution of the filler, avoiding insufficient or excessive supplementary compaction and improving compaction efficiency and quality. In summary, this invention solves the problem of uneven compaction effects.

[0021] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the process of the precise compensation compaction method for highway subgrade as described in this embodiment of the invention;

[0024] Figure 2 This is a schematic diagram of the structure of the highway subgrade compaction precision compensation rolling equipment described in an embodiment of the present invention.

[0025] The markings in the diagram are: 800, Precision compensation compaction equipment for highway subgrade; 801, Processor; 802, Memory; 803, Multimedia component; 804, I / O interface; 805, Communication component. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] Example 1:

[0029] This embodiment provides a method for precise compensation compaction of highway subgrade.

[0030] See Figure 1 The figure shows that the method includes steps S1 to S6, including:

[0031] S1: Acquire vibration wheel acceleration data, road roller positioning data, and filler millimeter-wave radar data;

[0032] In this step, the acceleration data of the vibrating wheel is obtained through an acceleration sensor, which is installed on both sides of the vibrating wheel;

[0033] The positioning data of the road roller is obtained through multiple satellite positioning devices, which are respectively installed on the top of the road roller and on both sides of the vibrating wheel. The satellite positioning devices on both sides of the vibrating wheel are used to obtain the coordinates of the vibrating wheel in real time, and the satellite positioning device on the top of the road roller is used to determine the forward direction of the road roller.

[0034] The millimeter-wave radar data for the filler is obtained through a millimeter-wave radar device, which is located on both sides of the vibrating wheel.

[0035] S2: Calculate the vibration compaction energy system components based on the acceleration data and the positioning data, calculate the energy feedback index through the energy system components and evaluate the compaction point quality to obtain the compaction point quality result;

[0036] To clarify the specific method for obtaining the compaction point quality results, step S2 includes S21 to S23, specifically:

[0037] S21: Calculate the vibration compaction energy system components based on the acceleration data and the positioning data. The vibration compaction energy system components include the total energy output by the vibrating wheel, the surface filler energy, the deep filler energy, and the vibrating wheel energy.

[0038] In this step, the expression for the total energy output by the vibrating wheel is:

[0039] (1);

[0040] In the above formula (1), This represents the total energy output by the road roller through the vibrating drum, where ∫ represents the integral symbol. Indicates excitation force. Indicates the instantaneous velocity of the vibrating wheel. Represents the integral variable. Indicates time;

[0041] Wherein, the total energy output by the road roller through the vibrating drum represents the total energy output by the vibrating drum;

[0042] The energy expression for the surface filler is:

[0043] (2);

[0044] In the above formula (2), Indicates the energy of the surface filler. Indicates the vibration angular velocity of the packing. Indicates frequency, This indicates the initial vibration amplitude of the packing. Indicates the energy of the surface filler decay over time, Indicates time, The cosine function representing vibration. It represents the product of the angular velocity of vibration and time. Indicates the attenuation coefficient. Indicates the vibration phase of the packing material;

[0045] The energy expression for the deep packing is:

[0046] (3);

[0047] In the above formula (3), This represents the energy of the deep packing material as the vibration wave propagates downwards. Indicates the density of the filler. Indicates the vibration angular velocity of the packing. Indicates frequency, This indicates the initial vibration amplitude of the packing. Indicates the radius of vibration wave propagation. This indicates the energy decay as the propagation radius increases. Indicates the absorption coefficient. Indicates the absorption coefficient.

[0048] Wherein, the energy of the deep packing material when the vibration wave propagates downward represents the energy of the deep packing material;

[0049] The energy expression for the vibrating wheel is:

[0050] (4);

[0051] In the above formula (4), This represents the energy fed back to the vibrating wheel. This represents the energy received by the vibrating wheel from the vibrating system, and ∫ represents the integral sign. Indicates the mass of the eccentric block. Indicates the mass of the vibrating wheel. This represents the rotational angular velocity of the eccentric block. Indicates time, Represents gravitational acceleration. This indicates the force exerted by the frame on the vibrating wheel. Indicates frequency, This represents the acceleration of the vibrating wheel. Indicates the instantaneous velocity of the vibrating wheel. Represents the integral variable;

[0052] The energy fed back to the vibrating wheel is referred to as the vibrating wheel energy.

[0053] Existing technologies do not consider the energy of deep fillers and the energy feedback indicators, resulting in inaccurate compaction index calculations. This invention fully restores the energy transfer and feedback process, making it more accurate than previous calculation methods and solving the problem of insufficient accuracy in compaction index calculations in existing technologies.

[0054] S22: Based on the total output energy of the vibrating wheel, the energy of the surface packing, the energy of the deep packing, and the energy of the vibrating wheel, the energy feedback index is calculated.

[0055] In this step, the expression for the energy feedback index is:

[0056] (5);

[0057] In the above formula (5), Indicates the energy feedback index. Indicates the radius of vibration wave propagation. Indicates time, This represents the total energy output by the road roller through the vibrating drum. Indicates the energy of the surface filler. This represents the energy of the deep packing material as the vibration wave propagates downwards. This represents the energy fed back to the vibrating wheel. This represents the energy received by the vibrating wheel from the vibration system.

[0058] S23: Based on the energy feedback index, evaluate the quality of the compaction points in the rolling area and output the quality results of the compaction points.

[0059] In this step, the compaction points in the rolling area are evaluated based on the energy feedback index to determine whether they have reached the preset target compaction degree, and the compaction point quality results are output.

[0060] S3: Based on Mie scattering theory, the particle size distribution of the filler is inverted through the millimeter-wave radar data, and the voids in the compacted area are detected by combining the echo time difference in the millimeter-wave radar data, thus obtaining the millimeter-wave radar detection results;

[0061] To clarify the specific method for acquiring millimeter-wave radar detection results, step S3 includes S31 to S35, specifically:

[0062] S31: Based on Mie scattering theory, the total echo power spectral density is obtained by calculating the echo signal and the radar scattering cross section of the particles in the millimeter-wave radar data.

[0063] In this step, the echo signal expression in the millimeter-wave radar data is:

[0064] (6);

[0065] In the above formula (6), Indicates the echo signal. Indicates the radius of vibration wave propagation. Indicates time, Indicates the echo amplitude. The base of the natural logarithm. Represents the imaginary unit. Represents pi (π). This indicates the center frequency of the millimeter waves emitted by the radar. Indicates frequency, Indicates time, Indicates the phase of the signal.

[0066] The expression for the radar cross section of the particle is:

[0067] (7);

[0068] In the above formula (7), Indicates the radar cross section. Indicates the wavelength of millimeter waves. Represents pi (π). Indicates from Summation up to infinity This indicates the number of terms in the summation. and It is the Mie coefficient.

[0069] Among them, the Mie scattering theory is used to describe the scattering characteristics when electromagnetic waves interact with spherical particles.

[0070] The expression for the total echo power spectral density is:

[0071] (8);

[0072] In the above formula (8), This represents the total echo power spectral density. Indicates frequency, Represents system constants. This represents the integral from 0 to infinity. Indicates radar cross section, Indicates particle diameter, Indicates the preset particle size distribution. Represents the Fourier transform of the echo signal. Indicates the echo signal. Indicates the radius of vibration wave propagation. Indicates time.

[0073] In this invention, the total echo power spectral density is calculated using Mie scattering theory, which enables the correlation between the echo signal of millimeter-wave radar and the characteristics of the filler particles.

[0074] S32: The total echo power spectral density is inverted by particle size distribution according to the inversion algorithm to obtain the inverted particle size distribution;

[0075] In this step, the error between the total echo power spectral density and the actual total echo power spectral density is calculated. The particle size distribution is adjusted by an optimization algorithm to minimize the error, and finally the inverted particle size distribution is obtained.

[0076] S33: Based on the echo time difference and the preset echo time difference threshold, a judgment is made. When the echo time difference meets the preset echo time difference threshold, the depth of the cavity center is calculated to obtain the depth of the cavity center position.

[0077] In this step, when the echo time difference meets the preset echo time difference threshold, the depth of the cavity center is further calculated to obtain the depth of the cavity center location.

[0078] The expression for the echo time difference is:

[0079] (9);

[0080] In the above formula (9), Indicates the echo time difference. Indicates time, This indicates the relative permittivity of the packing material. Indicates the radius of vibration wave propagation. Indicates the regulating factor. Represents the speed of light. Indicates the depth being measured.

[0081] S34: Calculate the relationship between the echo time difference and the depth of the cavity center to obtain the cavity location;

[0082] In this step, the three-dimensional location of the cavities is calculated to gain a comprehensive understanding of their distribution within the compacted area, thus solving the problem that traditional methods can only detect the depth of cavities but cannot determine their three-dimensional location.

[0083] S35: Based on the cavity location and the inverted particle size distribution, the millimeter-wave radar detection result is obtained by fusing the data.

[0084] In this step, by fusing the information on the location of the voids and the inverted particle size distribution, a comprehensive millimeter-wave radar detection result is obtained, which solves the problem that traditional methods cannot detect voids and particle size distribution at the same time.

[0085] S4: Evaluate the compaction degree of the filler based on the compaction point quality results and the millimeter-wave radar detection results, and determine the under-compacted area;

[0086] In this step, the results of the compaction point quality and the detection of defects such as voids in the compaction area are used to promptly identify and address areas with insufficient compaction, thereby improving the compaction quality of the highway subgrade and enhancing its stability and bearing capacity.

[0087] To clarify the specific method for obtaining the undervoltage area, step S4 includes S41 to S45, specifically:

[0088] S41: Based on the compaction point quality results and the millimeter-wave radar detection results, the compaction point of the filler is calculated to obtain the compaction degree value of each compaction point;

[0089] S42: Based on the compaction value of each compaction point and the preset compaction threshold, a judgment is made. When the compaction value of the compaction point does not meet the compaction threshold, the substandard compaction point is output.

[0090] S43: Based on the compaction degree value of the substandard compaction point and the energy feedback index, a regression analysis is performed to construct a compaction quality relationship model;

[0091] In this step, a regression model is selected, the least squares method is used to fit the model, the regression coefficients are calculated, and the compaction quality relationship model is obtained.

[0092] In this step, the regression coefficients are:

[0093] (11);

[0094] In the above formula (11), Expressing the request The minimum value, Indicates linear regression, and Represents the coefficients in the regression model. This indicates that for all samples Summation, Indicates the first Energy feedback index value for each sample.

[0095] S44: Compensation calculations are performed on the substandard compaction points according to the compaction quality relationship model to obtain the compensation energy difference;

[0096] In this step, the target energy and the current energy are calculated based on the compaction quality relationship model. The energy difference that needs to be compensated for each substandard compaction point is calculated using the target energy and the current energy to obtain the compensation energy difference.

[0097] The target energy is the energy required for the compaction point to reach the target compaction value, and the current energy is the energy value of the compaction point in its current state.

[0098] S45: Based on the compensation energy difference, perform neighborhood analysis on all compaction points that do not meet the compaction standard, and merge adjacent compaction points according to the preset neighborhood distance threshold to obtain the under-compacted area.

[0099] In this step, based on the compensation energy difference, the distance to other non-compliant compaction points is calculated for each non-compliant compaction point. When the distance between compaction points is greater than or equal to the neighborhood distance threshold, the non-compliant compaction points are considered to be adjacent to other non-compliant compaction points. A clustering algorithm is then used to merge adjacent compaction points into an under-compacted region.

[0100] Preferably, the clustering algorithm is the DBSCAN algorithm.

[0101] S5: Calculate the energy difference between the energy index of the under-pressure region and the preset energy index, and optimize the pressure replenishment parameters by combining the packing particle size distribution to obtain the pressure replenishment strategy;

[0102] In this step, the energy difference and filler particle size distribution are used to avoid insufficient or excessive pressure replenishment, thereby improving the efficiency and quality of pressure replenishment.

[0103] To clarify the specific method for obtaining the pressure compensation strategy, step S5 includes S51 to S53, specifically:

[0104] S51: Compare and calculate the energy index of the undervoltage region with the preset energy index to obtain the spatial energy difference;

[0105] In this step, the spatial energy difference is calculated to quantify the energy difference between the under-pressured area and the preset compaction standard.

[0106] S52: Based on the particle size distribution curve, Gaussian fitting optimization is performed on the inverted particle size distribution to obtain the optimized particle size distribution parameters;

[0107] In this step, the Gaussian fitting optimization makes the particle size distribution parameters more consistent with the actual compaction requirements, improves the uniformity and stability of the compaction effect, solves the problem of uneven compaction quality caused by inaccurate particle size distribution parameters of the filler, and improves the compaction quality.

[0108] S53: Based on the spatial energy difference and the optimized particle size distribution parameters, a three-dimensional compensation model is constructed to obtain the pressure compensation strategy.

[0109] To clarify the further construction steps of the pressure compensation strategy, step S43 includes S431 to S436, specifically:

[0110] S531: Obtain the number of compaction cycles and compaction speed;

[0111] S532: Adjust the number of compaction cycles based on the energy difference to obtain the number of additional compaction cycles;

[0112] In this step, the number of compaction cycles is adjusted according to the energy difference to make the number of additional compaction cycles more reasonable and avoid insufficient or excessive compaction.

[0113] S533: Adjust the compaction speed according to the optimized particle size distribution parameters to obtain the additional compaction speed;

[0114] In this step, the compaction speed is adjusted according to the optimized particle size distribution parameters to better adapt to the compaction requirements under different particle size distribution conditions and improve the compaction effect.

[0115] S534: Determine the forward direction of the road roller based on the coordinates of the vibrating wheel to obtain the forward direction;

[0116] In this step, the expression for the coordinates of the vibrating wheel is:

[0117] (12);

[0118] In the above formula (12), Indicates the center position of the vibrating wheel. and Indicates the positioning devices on both sides of the vibrating wheel coordinate, This represents the energy received by the vibrating wheel from the vibrating system. and Indicates the positioning devices on both sides of the vibrating wheel coordinate, Indicates time;

[0119] Wherein, the center position of the vibrating wheel represents the coordinates of the vibrating wheel;

[0120] The expression for the direction of travel is:

[0121] (13);

[0122] In the above formula (13), This indicates the coordinate difference in the direction of travel of the road roller. and Indicates the positioning devices on both sides of the vibrating wheel coordinate, This represents the energy received by the vibrating wheel from the vibrating system. and Indicates the positioning devices on both sides of the vibrating wheel coordinate, and Indicates the top positioning device of the road roller and coordinate, Indicates time;

[0123] In this step, the expression for the forward direction angle of the road roller is:

[0124] (14);

[0125] In the above formula (14), This indicates the angle of the road roller's forward direction. and Indicates the positioning devices on both sides of the vibrating wheel coordinate, This represents the energy received by the vibrating wheel from the vibrating system. and Indicates the positioning devices on both sides of the vibrating wheel coordinate, and Indicates the top positioning device of the road roller and coordinate, Indicates time.

[0126] S535: Draw the compaction path based on the forward direction, the coordinates of the undercompacted area and the coordinates of the vibrating wheel to obtain the compaction path;

[0127] In this step, based on the center position of the vibratory roller and the forward direction angle of the roller, a compaction path is drawn by the difference between the coordinates of the under-compacted area and the coordinates of the roller's forward direction. By accurately drawing the compaction path, the under-compacted area is precisely compacted, avoiding missed compaction or repeated compaction, thus solving the problem of uneven compaction caused by inaccurate compaction paths in traditional compaction methods.

[0128] The expression for the compression path is:

[0129] (15);

[0130] In the above formula (15), Indicates the undervoltage area coordinate, Indicates undervoltage area coordinate, Indicates the center of the vibrating wheel is at Position on the axis Indicates the center of the vibrating wheel is at Position on the axis Indicates time.

[0131] S536: A pressure replenishment strategy is constructed based on the number of pressure replenishment cycles, the pressure replenishment speed, and the pressure replenishment path.

[0132] S6: Based on the aforementioned compaction strategy, guide the road roller to the under-compacted area for compaction.

[0133] Example 2:

[0134] This embodiment provides a precise compensation compaction device for highway subgrade compaction, the device comprising:

[0135] The acquisition module is used to acquire data on the acceleration of the vibratory wheel, the positioning data of the road roller, and the millimeter-wave radar data of the filler.

[0136] The calculation module is used to calculate the vibration compaction energy system components based on the acceleration data and the positioning data, calculate the energy feedback index through the energy system components and evaluate the compaction point quality to obtain the compaction point quality result;

[0137] To clarify the specific methods for obtaining the calculation module, the following are included:

[0138] The first calculation unit is used to calculate the vibration compaction energy system components based on the acceleration data and the positioning data. The vibration compaction energy system components include the total energy output by the vibrating wheel, the surface filler energy, the deep filler energy, and the vibrating wheel energy.

[0139] The second calculation unit is used to calculate the energy feedback index based on the total output energy of the vibrating wheel, the surface packing energy, the deep packing energy, and the vibrating wheel energy.

[0140] The evaluation unit is used to evaluate the quality of compaction points in the rolling area based on the energy feedback index and output the quality results of the compaction points.

[0141] The detection module is used to invert the particle size distribution of the filler through the millimeter-wave radar data based on the Mie scattering theory, and to detect voids in the compacted area by combining the echo time difference in the millimeter-wave radar data, so as to obtain the millimeter-wave radar detection results.

[0142] To clarify the specific methods for obtaining the detection module, the following are included:

[0143] The third calculation unit is used to calculate the total echo power spectral density based on Mie scattering theory, using the echo signal and the radar scattering cross section of the particles in the millimeter-wave radar data.

[0144] The inversion unit is used to perform particle size distribution inversion on the total echo power spectral density according to the inversion algorithm to obtain the inverted particle size distribution.

[0145] The judgment unit is used to make a judgment based on the echo time difference and the preset echo time difference threshold. When the echo time difference meets the preset echo time difference threshold, the depth of the cavity center is calculated to obtain the depth of the cavity center position.

[0146] The relationship calculation unit is used to calculate the relationship between the echo time difference and the depth of the cavity center position to obtain the cavity position.

[0147] The fusion unit is used to fuse the hole location and the inverted particle size distribution to obtain the millimeter-wave radar detection results.

[0148] The evaluation module is used to evaluate the compaction degree of the filler based on the compaction point quality results and the millimeter-wave radar detection results, and to determine the under-compacted area;

[0149] The optimization module is used to calculate the energy difference between the energy index of the under-pressure area and the preset energy index, and to optimize the pressure replenishment parameters by combining the packing particle size distribution to obtain the pressure replenishment strategy.

[0150] To clarify the specific methods for obtaining the optimization module, the following are included:

[0151] The comparison unit is used to compare and calculate the energy index of the undervoltage region with the preset energy index to obtain the spatial energy difference.

[0152] The optimization unit is used to perform Gaussian fitting optimization on the inverted particle size distribution based on the particle size distribution curve to obtain optimized particle size distribution parameters.

[0153] The first building unit is used to construct a three-dimensional compensation model based on the spatial energy difference and the optimized particle size distribution parameters to obtain a pressure compensation strategy.

[0154] To clarify the specific method for obtaining the first building block, the following are included:

[0155] Obtain sub-units to acquire the number of compaction cycles and compaction speed;

[0156] The first adjustment subunit is used to adjust the number of compaction cycles based on the energy difference to obtain the number of additional compaction cycles;

[0157] The second adjustment subunit is used to adjust the compaction speed according to the optimized particle size distribution parameters to obtain the additional compaction speed;

[0158] The direction determination subunit is used to determine the forward direction of the road roller based on the coordinates of the vibrating wheel, thus obtaining the forward direction;

[0159] A drawing sub-unit is used to draw the compaction path based on the forward direction, the coordinates of the undercompacted area, and the coordinates of the vibrating wheel, so as to obtain the compaction path;

[0160] The second construction subunit is used to construct a pressure compensation strategy based on the number of pressure compensations, the pressure compensation speed, and the pressure compensation path.

[0161] The pressure replenishment module is used to guide the road roller to the under-pressure area for pressure replenishment based on the pressure replenishment strategy.

[0162] It should be noted that the specific manner in which each module performs its operation in the apparatus described in the above embodiments has been described in detail in the embodiments of the method, and will not be elaborated here.

[0163] Example 3:

[0164] Corresponding to the above method embodiments, this embodiment also provides a highway subgrade compaction precision compensation rolling device. The highway subgrade compaction precision compensation rolling device described below and the highway subgrade compaction precision compensation rolling method described above can be referred to in correspondence.

[0165] Figure 2 This is a block diagram illustrating a precision compensation compaction device 800 for highway subgrade compaction, according to an exemplary embodiment. Figure 2 As shown, the highway subgrade compaction precision compensation rolling device 800 may include: a processor 801 and a memory 802. The highway subgrade compaction precision compensation rolling device 800 may also include one or more of the following: a multimedia component 803, an I / O interface 804, and a communication component 805.

[0166] The processor 801 controls the overall operation of the highway subgrade compaction precision compensation rolling device 800 to complete all or part of the steps in the aforementioned highway subgrade compaction precision compensation rolling method. The memory 802 stores various types of data to support the operation of the highway subgrade compaction precision compensation rolling device 800. This data may include, for example, instructions for any application or method operating on the highway subgrade compaction precision compensation rolling device 800, as well as application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 802 can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 802 or transmitted via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. I / O interface 804 provides an interface between processor 801 and other interface modules, such as keyboards, mice, and buttons. These buttons can be virtual or physical. Communication component 805 is used for wired or wireless communication between the highway subgrade compaction precision compensation rolling equipment 800 and other devices. Wireless communication includes, for example, Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination thereof. Therefore, the corresponding communication component 805 may include a Wi-Fi module, a Bluetooth module, or an NFC module.

[0167] In an exemplary embodiment, the highway subgrade compaction precision compensation rolling device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the aforementioned highway subgrade compaction precision compensation rolling method.

[0168] Example 4:

[0169] Corresponding to the above method embodiments, this embodiment also provides a medium. The medium described below can be referred to in relation to the highway subgrade compaction precision compensation rolling method described above.

[0170] A medium storing a computer program, which, when executed by a processor, implements the steps of the highway subgrade compaction precision compensation rolling method described in the above method embodiments.

[0171] The medium can specifically be any medium capable of storing program code, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0172] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0173] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for precise compensation compaction of highway subgrade, characterized in that, include: Acquire data on the acceleration of the vibratory roller, the positioning data of the road roller, and the millimeter-wave radar data of the filler. The vibration compaction energy system components are calculated based on the acceleration data and the positioning data. The energy feedback index is calculated through the energy system components, and the compaction point quality is evaluated to obtain the compaction point quality result. Based on Mie scattering theory, the particle size distribution of the filler is inverted through the millimeter-wave radar data, and the voids in the compacted area are detected by combining the echo time difference in the millimeter-wave radar data, thus obtaining the millimeter-wave radar detection results. The compaction degree of the filler is evaluated based on the compaction point quality results and the millimeter-wave radar detection results to determine the under-compacted area. The energy difference between the energy index of the under-pressure region and the preset energy index is calculated, and the pressure replenishment parameters are optimized by combining the packing particle size distribution to obtain the pressure replenishment strategy; The aforementioned compaction strategy guides the road roller to the under-compacted area for compaction.

2. The method for precise compensation compaction of highway subgrade according to claim 1, characterized in that, Based on the acceleration data and the positioning data, the vibration compaction energy system components are calculated. The energy feedback index is then calculated using these energy system components, and the compaction point quality is evaluated to obtain the compaction point quality results, including: The vibration compaction energy system components are calculated based on the acceleration data and the positioning data. These components include the total energy output by the vibratory wheel, the surface filler energy, the deep filler energy, and the vibratory wheel energy. The energy feedback index is calculated based on the total output energy of the vibrating wheel, the energy of the surface packing, the energy of the deep packing, and the energy of the vibrating wheel. The quality of compaction points in the rolling area is evaluated based on the energy feedback index, and the quality results of the compaction points are output.

3. The method for precise compensation compaction of highway subgrade according to claim 1, characterized in that, Based on Mie scattering theory, the particle size distribution of the filler is inverted using the millimeter-wave radar data, and voids in the compacted area are detected using the echo time difference in the millimeter-wave radar data. The millimeter-wave radar detection results are then obtained, including: Based on Mie scattering theory, the total echo power spectral density is obtained by calculating the echo signal and the radar scattering cross section of the particles in the millimeter-wave radar data. The particle size distribution is obtained by inverting the total echo power spectral density using an inversion algorithm. Based on the echo time difference and the preset echo time difference threshold, the depth of the cavity center is calculated when the echo time difference meets the preset echo time difference threshold. The location of the cavity is obtained by calculating the relationship between the echo time difference and the depth of the cavity center. The millimeter-wave radar detection results are obtained by fusing the cavity location and the inverted particle size distribution.

4. The method for precise compensation compaction of highway subgrade according to claim 3, characterized in that, The energy difference between the energy index of the under-pressure region and the preset energy index is calculated. Combined with the optimized pressure compensation parameters based on the packing particle size distribution, a pressure compensation strategy is obtained, including: The energy index of the undervoltage region is compared with the preset energy index and calculated to obtain the spatial energy difference. The inverted particle size distribution is optimized by Gaussian fitting based on the particle size distribution curve to obtain the optimized particle size distribution parameters. A three-dimensional compensation model is constructed based on the spatial energy difference and the optimized particle size distribution parameters to obtain the pressure compensation strategy.

5. The method for precise compensation compaction of highway subgrade according to claim 4, characterized in that, Based on the energy difference and the optimized particle size distribution parameters, a pressure compensation strategy is constructed, including: Obtain the number of compaction cycles and compaction speed; The number of compaction cycles is adjusted based on the energy difference to obtain the number of additional compaction cycles; The compaction speed is adjusted according to the optimized particle size distribution parameters to obtain the additional compaction speed; The direction of travel of the road roller is determined based on the coordinates of the vibrating wheel. The compaction path is drawn based on the forward direction, the coordinates of the undercompacted area, and the coordinates of the vibrating wheel to obtain the compaction path; A pressure replenishment strategy is constructed based on the number of pressure replenishment cycles, the pressure replenishment speed, and the pressure replenishment path.

6. A precision compensation compaction device for highway subgrade, characterized in that, include: The acquisition module is used to acquire data on the acceleration of the vibratory wheel, the positioning data of the road roller, and the millimeter-wave radar data of the filler. The calculation module is used to calculate the vibration compaction energy system components based on the acceleration data and the positioning data, calculate the energy feedback index through the energy system components and evaluate the compaction point quality to obtain the compaction point quality result; The detection module is used to invert the particle size distribution of the filler through the millimeter-wave radar data based on the Mie scattering theory, and to detect voids in the compacted area by combining the echo time difference in the millimeter-wave radar data, so as to obtain the millimeter-wave radar detection results. The evaluation module is used to evaluate the compaction degree of the filler based on the compaction point quality results and the millimeter-wave radar detection results, and to determine the under-compacted area; The optimization module is used to calculate the energy difference between the energy index of the under-pressure area and the preset energy index, and combine the optimized pressure compensation parameters with the filler particle size distribution to obtain the pressure compensation strategy. The pressure replenishment module is used to guide the road roller to the under-pressure area for pressure replenishment based on the pressure replenishment strategy.

7. A highway subgrade compaction precision compensation rolling device according to claim 6, characterized in that, The computing module includes: The first calculation unit is used to calculate the vibration compaction energy system components based on the acceleration data and the positioning data. The vibration compaction energy system components include the total energy output by the vibrating wheel, the surface filler energy, the deep filler energy, and the vibrating wheel energy. The second calculation unit is used to calculate the energy feedback index based on the total output energy of the vibrating wheel, the surface packing energy, the deep packing energy, and the vibrating wheel energy. The evaluation unit is used to evaluate the quality of compaction points in the rolling area based on the energy feedback index and output the quality results of the compaction points.

8. A highway subgrade compaction precision compensation rolling device according to claim 6, characterized in that, The detection module includes: The third calculation unit is used to calculate the total echo power spectral density based on Mie scattering theory, using the echo signal and the radar scattering cross section of the particles in the millimeter-wave radar data. The inversion unit is used to perform particle size distribution inversion on the total echo power spectral density according to the inversion algorithm to obtain the inverted particle size distribution. The judgment unit is used to make a judgment based on the echo time difference and the preset echo time difference threshold. When the echo time difference meets the preset echo time difference threshold, the depth of the cavity center is calculated to obtain the depth of the cavity center position. The relationship calculation unit is used to calculate the relationship between the echo time difference and the depth of the cavity center position to obtain the cavity position; The fusion unit is used to fuse the hole location and the inverted particle size distribution to obtain the millimeter-wave radar detection results.

9. A highway subgrade compaction precision compensation rolling device according to claim 8, characterized in that, The optimization module includes: The comparison unit is used to compare and calculate the energy index of the undervoltage region with the preset energy index to obtain the spatial energy difference. The optimization unit is used to perform Gaussian fitting optimization on the inverted particle size distribution based on the particle size distribution curve to obtain optimized particle size distribution parameters. The first construction unit is used to construct a three-dimensional compensation model based on the spatial energy difference and the optimized particle size distribution parameters to obtain a pressure compensation strategy.

10. A precision compensation compaction device for highway subgrade as described in claim 9, characterized in that, The first building unit includes: Obtain sub-units to acquire the number of compaction cycles and compaction speed; The first adjustment subunit is used to adjust the number of compaction cycles based on the energy difference to obtain the number of additional compaction cycles; The second adjustment subunit is used to adjust the compaction speed according to the optimized particle size distribution parameters to obtain the additional compaction speed; The direction determination subunit is used to determine the forward direction of the road roller based on the coordinates of the vibrating wheel, thus obtaining the forward direction; A drawing sub-unit is used to draw the compaction path based on the forward direction, the coordinates of the undercompacted area, and the coordinates of the vibrating wheel, so as to obtain the compaction path; The second construction subunit is used to construct a pressure compensation strategy based on the number of pressure compensations, the pressure compensation speed, and the pressure compensation path.

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