Coiled material paving device and paving method for ecological restoration of side slope

Abstract

The invention discloses a coiled material paving device and method for ecological restoration of a side slope, and the device comprises a telescopic cantilever assembly which is connected with a construction machine and is used for achieving the position movement and angle adjustment of the far end of the telescopic cantilever assembly; the modular mounting frame is connected to the far end of the telescopic cantilever assembly; the paving main machine is used for paving and compacting the ecological restoration coiled materials on the slope surface, and an unwinding and conveying assembly used for storing and conveying the coiled materials is arranged on the paving main machine; the anchoring assembly is used for compacting the coiled material and anchoring the coiled material on the slope surface in the paving process; the detection assembly is used for detecting slope topography and soil information in real time; and the control unit is electrically connected to the telescopic cantilever assembly, the paving host, the anchoring assembly and the detection assembly, and the control unit generates a paving strategy based on the slope surface data information detected by the detection assembly and adjusts the paving mode in real time. The technical problems that in the current slope ecological restoration process, coiled materials are inconvenient to lay, and intelligent and integrated efficient construction is difficult to achieve can be effectively solved.

Description

Technical Field

[0001] This application relates to the field of slope ecological restoration technology, and in particular to a roll material spreading device and spreading method for slope ecological restoration. Background Technology

[0002] In the ecological restoration of slopes in highways, railways, mines, and other engineering projects, prefabricated ecological membrane rolls are often used for rapid covering and soil stabilization. Currently, the laying of these rolls mainly relies on manual labor or simple machinery. Manual laying is labor-intensive, inefficient, and unsafe, and the laying quality is greatly affected by the worker's experience, easily leading to problems such as hollow areas and wrinkles. Some existing semi-mechanized laying devices are mostly based on simple modifications of excavators or cranes, only capable of lifting and placing the membrane rolls, lacking terrain adaptability, and separating the laying and anchoring processes, thus failing to achieve intelligent, integrated, and efficient construction. Summary of the Invention

[0003] The purpose of this disclosure is to provide a roll material spreading device and spreading method for slope ecological restoration, which can solve the above-mentioned problems existing in the prior art.

[0004] To achieve the above objectives, this application adopts the following technical solution: On the one hand, a roll material spreading device for slope ecological restoration is provided, which includes: A telescopic cantilever assembly that connects to construction machinery and is used to enable the remote position movement and angle adjustment of its own end; A modular mounting bracket is attached to the distal end of the retractable cantilever assembly; The paving host, installed on the modular mounting frame, is used to spread and compact the ecological restoration roll material on the slope, and the paving host is equipped with an unwinding conveyor assembly for storing and conveying the roll material. An anchoring assembly, mounted on the modular mounting frame, is used to compact and anchor the roll material to the slope during the paving process; The detection component, installed at the front end of the modular mounting frame, is used to detect slope topography and soil information in real time; The control unit is electrically connected to the telescopic cantilever assembly, the paving host, the anchoring assembly, and the detection assembly. The control unit generates a paving strategy based on the slope data information detected by the detection assembly and adjusts the paving method in real time.

[0005] Preferably, the telescopic cantilever assembly is a multi-stage hydraulic telescopic arm structure, with a rotatable rotary joint at its end, and the modular mounting bracket is connected to the end of the telescopic cantilever assembly through the rotary joint.

[0006] Preferably, the paving machine includes: The frame is detachably connected to the modular mounting frame, and the unwinding conveyor assembly is disposed on the frame, including an unwinding shaft and a tension control mechanism; A compaction roller, rotatably mounted at the front of the modular mounting frame, is used to press the roll material against the slope; and A drive module is used to drive the unwinding conveyor assembly to unwind.

[0007] Preferably, the anchoring assembly is an integrated anchoring unit, which is symmetrically arranged behind the compaction roller; The integrated anchoring unit includes a nail storage compartment and a nail gun; The nail gun head is pointed at the compaction area of ​​the compaction roller, so that the roll material can be anchored immediately after being compacted.

[0008] Preferably, the anchoring component is slidably connected to the modular mounting frame via a slide rail; the modular mounting frame is also provided with a lateral adjustment mechanism for driving the anchoring component to move in a direction perpendicular to the paving direction.

[0009] Preferably, the detection component includes: LiDAR is used to acquire 3D point cloud data of slopes to calculate slope and undulation; and A multispectral imager is used to acquire multispectral image data of a slope; the control unit is configured to analyze slope vegetation and soil moisture based on the multispectral image data. The detection direction of the detection component is consistent with the paving forward direction of the paving host.

[0010] Preferably, the control unit includes: The strategy planning module is used to identify slope characteristics based on detection data and plan the paving path, compaction pressure, paving speed, and anchor point sequence; and The motion control module is used to coordinate the extension and pitch of the telescopic cantilever assembly, the travel and compaction of the paving host, and the movement and firing of the anchoring assembly, based on the output of the strategy planning module.

[0011] Preferably, it also includes an environmental interaction component, which is controlled and connected to the control unit, and includes a spraying system and / or a spreading mechanism; The spraying system is used to wet the roll material or slope, and the spreading mechanism is used to spread seeds or fertilizer onto the surface of the roll material.

[0012] On the other hand, this disclosure also provides a method for spreading slope ecological restoration roll material using the apparatus described in any of the preceding claims, comprising: Step S1: Scan the target slope to obtain the topographic and soil information of the slope, and establish a digital model for construction. Step S2: Based on the digital model, generate a construction strategy that includes the paving path, process parameters, and anchor point distribution. Step S3: Drive the paving host to move along the planned path. During the movement of the paving host, the paving host continuously unwinds and compacts the roll material. At the same time, the anchoring component synchronously completes the anchoring operation at the set position according to the strategy.

[0013] Preferably, while performing step S3, a real-time adjustment step is also included, including: The detection component is used for tracking and detection, and the control unit dynamically adjusts the posture of the telescopic cantilever component, the paving pressure of the paving host, or the anchoring timing of the anchoring component based on the deviation between the real-time detection data and the construction strategy.

[0014] The beneficial effects of this application are as follows: Through the multi-degree-of-freedom collaboration of the telescopic cantilever assembly and the slewing joint, combined with adaptive slope adjustment from 15° to 85°, it can flexibly handle gentle slopes, steep slopes, and complex terrain with uneven surfaces. This solves the problems of limited slope adaptability and difficult construction on steep slopes caused by traditional equipment, making it suitable for various slope ecological restoration scenarios such as highways, mines, and water conservancy projects. At the same time, the anchoring components work precisely with the compaction area of ​​the paving host, and the roll material is anchored immediately after compaction, effectively eliminating the time interval between processes.

[0015] By collecting terrain and soil data in real time through detection components, the control unit generates construction strategies based on data fusion and dynamically adjusts compaction pressure, paving speed and anchoring spacing, which can effectively improve the adhesion of the roll material, the uniformity of anchoring point spacing, and avoid problems such as paving deviation, hollowness and slippage caused by manual operation, thus significantly improving the stability of construction quality. Attached Figure Description

[0016] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the structure of a roll material spreading device for slope ecological restoration according to an embodiment of this application; Figure 2 This is a structural schematic diagram from another perspective of a slope ecological restoration roll material spreading device according to an embodiment of this application; Figure 3 This is a schematic diagram of the paving host of a roll material paving device for slope ecological restoration according to an embodiment of this application; Figure 4 This is a structural schematic diagram of the paving host of a roll material paving device for slope ecological restoration according to an embodiment of this application from another perspective. Figure 5This is a structural schematic diagram of the paving host of a roll material paving device for slope ecological restoration according to an embodiment of this application; Figure 6 This is a top view of the main unit of a roll material spreading device for slope ecological restoration according to an embodiment of this application; Figure 7 for Figure 6 A schematic diagram of the structure viewed in section AA; Figure 8 This is a side view of the paving host of a roll material paving device for slope ecological restoration according to an embodiment of this application; Figure 9 This is a schematic diagram of the control unit of a roll material spreading device for slope ecological restoration according to an embodiment of this application; Figure 10 This is a schematic flowchart of a method for laying roll material for slope ecological restoration according to an embodiment of this application.

[0018] In the picture: 100. Telescopic cantilever assembly; 120. Telescopic body; 130. Rotary joint; 200. Modular mounting bracket; 300. Paver main unit; 310. Frame; 320. Compactor roller; 330. Unwinding conveyor assembly; 331. Unwinding shaft; 332. Tension sensor; 333. Spiral spring mechanism; 340. Drive module; 350. Adjustable hydraulic swing arm; 400. Anchoring assembly; 410. Integrated anchoring unit; 411. Nail storage compartment; 412. Nail gun; 420. Slide rail; 430. Lateral adjustment mechanism; 431. Position sensor; 500. Detection components; 510. LiDAR; 520. Multispectral imager; 600. Control unit; 610. Strategy planning module; 620. Motion control module; 700. Environmental interaction components; 710. Spraying system; 711. Water storage tank; 712. High-pressure water pump; 713. Atomizing nozzle; 720. Spreading mechanism; 721. Storage silo; 722. Metering and feeding device. Detailed Implementation

[0019] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by this application clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0021] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] like Figures 1 to 9 As shown in the figure, this embodiment provides a roll material laying device for slope ecological restoration, which can be used to solve the technical problems of inconvenient roll material laying and difficulty in achieving intelligent and integrated efficient construction in the current slope ecological restoration process.

[0023] Specifically, the slope ecological restoration roll material spreading device provided in this disclosure includes a telescopic cantilever assembly 100, a modular mounting frame 200, a spreading host 300, an anchoring assembly 400, a detection assembly 500, and a control unit 600.

[0024] The telescopic cantilever assembly 100 is used to connect to the body of the construction machinery and provide telescopic and angle adjustment functions, and the modular mounting bracket 200 is connected to the end of the telescopic cantilever assembly 100 away from the body of the construction machinery.

[0025] For example, the telescopic cantilever assembly 100 can utilize the cantilever of an existing hydraulic excavator. By modifying the cantilever of an existing excavator, costs can be reduced, and the practicality of the device can be improved. The construction machinery can be a 20-30 ton general-purpose hydraulic excavator, or other construction machinery with telescopic cantilever arms can be selected according to actual operational needs. Through the telescopic movement of the telescopic cantilever assembly 100 and by adjusting the angle of its end relative to the slope, the working unit can be positioned and adapted to slopes of different gradients.

[0026] Understandably, the telescopic cantilever assembly 100 allows for adjustment of both the position of the device relative to the slope during actual use and the angle of the roll material relative to the slope during installation. Adjusting the installation angle improves the fit between the roll material and the slope, thereby enhancing the slope protection effect.

[0027] Furthermore, the modular mounting frame 200, serving as the core load-bearing platform, is rigidly connected to the far end of the telescopic cantilever assembly 100, providing an installation foundation for the paver 300, anchoring assembly 400, and detection assembly 500. Specifically, the modular mounting frame 200 is rigidly connected to the swivel joint 130 via a flange, which not only facilitates easy assembly and disassembly but also ensures the stability of the paver 300's posture during operation, adapting to multi-angle operation requirements on slopes ranging from 15° to 85°.

[0028] Furthermore, the paving host 300 is mounted on the modular mounting frame 200 for spreading and compacting the ecological restoration roll material onto the slope. The paving host 300 is equipped with an unwinding conveyor assembly 330 for storing and transporting the roll material. Understandably, the paving host 300, as the execution unit of this device, is responsible for conveying and compacting the roll material. The unwinding conveyor assembly 330 ensures that the roll material remains under appropriate tension throughout the laying process, preventing stretching deformation or loosening and wrinkling.

[0029] Furthermore, the anchoring component 400 is also mounted on the modular mounting frame 200. The anchoring component 400 is positioned in conjunction with the compaction area of ​​the paving host 300 to immediately anchor the roll material to the slope during or after the roll material is compacted by the paving host 300, thereby achieving a connection between the paving and anchoring actions.

[0030] Furthermore, the detection component 500 is installed at the front end of the modular mounting frame 200 for real-time detection of slope topography and soil information. Understandably, the detection component 500 can scan and detect the slope topography and soil condition in real time during paving operations, and send the detected data out in real time, facilitating adaptive adjustments to subsequent paving actions.

[0031] Furthermore, the control unit 600 is electrically connected to the telescopic cantilever assembly 100, the paving host 300, the anchoring assembly 400, and the detection assembly 500. The control unit 600 generates a paving strategy based on the slope data information detected by the detection assembly 500 and adjusts the paving method in real time.

[0032] Specifically, the control unit 600 receives real-time slope data from the detection component 500 and automatically generates a paving strategy based on this data, including parameters such as path, speed, and pressure. Therefore, during actual operation, the control commands to each execution component are dynamically adjusted according to the real-time working conditions, achieving real-time and adaptive adjustment of the paving method.

[0033] Understandably, this disclosure eliminates downtime and improves operational continuity by coordinating paving and anchoring actions. Simultaneously, adaptive adjustments based on real-time detection data ensure good compaction and adhesion of the roll material under various terrain conditions, significantly improving uniformity and reliability, and fully guaranteeing construction quality. Furthermore, the telescopic cantilever assembly 100 provides flexible spatial positioning capabilities, and combined with the control unit 600's real-time adjustment of paving posture and parameters based on terrain data, the device can effectively handle complex slopes with varying gradients and undulations, expanding the equipment's application range.

[0034] In one embodiment, the telescopic cantilever assembly 100 is a multi-stage hydraulic telescopic boom structure, with a rotatable swivel joint 130 at its end, and the modular mounting bracket 200 is connected to the end of the telescopic boom via the swivel joint 130. The swivel joint 130 rotates 360 degrees along the axial direction of the end of the telescopic cantilever assembly 100 to adapt to different paving processes.

[0035] Specifically, the telescopic cantilever assembly 100 includes a base and a telescopic body 120. The base is used to connect to the construction equipment, and the telescopic body 120 adopts a multi-stage sleeve-type hydraulic telescopic arm structure. It should be noted that the telescopic body 120 includes at least two stages of telescopic joints driven by hydraulic cylinders. This configuration effectively increases the telescopic length of the telescopic cantilever assembly 100, thereby increasing the stroke of the device and the paving coverage radius.

[0036] A rotary joint 130 is connected to the end of the telescopic body 120, providing a 360-degree rotational freedom. Therefore, when the modular mounting frame 200 is connected to the rotary joint 130, the orientation of the modular mounting frame 200 and the paving device mounted on it can be adjusted according to different paving methods. For example, when paving from top to bottom or from bottom to top, the detection component 500 can be positioned at the front end of the travel path.

[0037] For the rotary joint 130, it is permissible to be driven by a single hydraulic motor. The hydraulic drive motors used in the telescopic body 120 and the rotary joint 130 can have their hydraulic power source directly drawn from the existing hydraulic system of the construction machinery, and can be diverted and controlled through a set of control valve groups.

[0038] Understandably, the combination of the telescopic cantilever assembly 100 and the swivel joint 130 enables flexible positioning and orientation in three-dimensional space. This allows the device to handle various slopes, from gentle to steep (15°-85°), solving the problem of traditional equipment being unable to operate in complex or steep terrain due to limitations in its range of motion or angle. Simultaneously, it ensures that the paving material is compacted positively and uniformly regardless of slope direction, greatly improving the positioning accuracy and construction quality of the paving.

[0039] For example, for a slope with multiple inclines, the telescopic cantilever assembly 100 can be adjusted so that the rotary joint 130 and the paving host 300 mounted on the rotary joint 130 can move at an equal distance from the slope. At the same time, for paving methods from top to bottom or from bottom to top, the direction of the paving host 300 can be adjusted by rotating the rotary joint 130.

[0040] In one embodiment, the paving machine 300 includes a frame 310, a compaction roller 320, and a drive module 340. The frame 310 is detachably connected to a modular mounting frame 200, and an unwinding conveyor assembly 330 is mounted on the frame 310, including an unwinding shaft 331 and a tension control mechanism. The compaction roller 320 is rotatably mounted on the modular mounting frame 200 for pressing the roll material onto the slope. The drive module 340 drives the unwinding conveyor assembly 330 to unwind the material.

[0041] For example, the frame 310 may employ a high-strength welded steel or aluminum alloy frame structure. The unwinding conveyor assembly 330 is integrated onto the frame 310, and the unwinding shaft 331 is horizontally mounted to support the rolled ecological restoration material. The tension control mechanism includes spiral spring mechanisms 333 at both ends of the unwinding shaft 331, which can provide a basic resistance torque opposite to the unwinding direction to prevent the material from freely unwinding due to inertia. It should be noted that tension sensors 332 may be installed along the material conveying path to monitor the tension value of the material in real time.

[0042] Furthermore, the hydraulic or servo motor used to drive the rotation of the unwinding shaft 331 is controlled by the control unit 600. The control unit 600 receives signals from the tension sensor 332 and can dynamically adjust the speed or torque of the motor through an algorithm (such as PID control) to maintain the tension of the roll material within a preset, optimal range, ensuring that the roll material remains moderately taut throughout the paving process and effectively preventing deformation caused by stretching or wrinkles caused by slack.

[0043] Furthermore, the compaction roller 320 is a core actuator at the front end of the paver 300, and is mounted on the modular mounting frame 200 via an adjustable hydraulic swing arm 350. The compaction roller 320 improves the adhesion between the roll material and the slope.

[0044] In one embodiment, the anchoring assembly 400 includes an integrated anchoring unit 410, which is the core execution unit of the anchoring assembly 400 and is symmetrically arranged behind the compaction roller 320. The integrated anchoring unit 410 includes a nail storage chamber 411 and a nail gun 412. The tip of the nail gun 412 points towards the compaction area of ​​the compaction roller 320, enabling the roll material to be immediately anchored after compaction.

[0045] Specifically, the integrated anchoring unit 410 is a fully functional independent box. Its nail storage compartment 411 can typically hold 30-50 special anchor nails, and the nail gun 412 can be pneumatic with a striking force of over 800N to ensure that it can penetrate the roll material and reach deep into the slope matrix.

[0046] It is important to note that since the anchor points are applied immediately after the roll material is compacted and in its best fit, the slight displacement caused by gravity, wind, or its own stress rebound is avoided, ensuring that the anchors provide optimal fixation for the roll material.

[0047] In one embodiment, the anchoring assembly 400 is slidably connected to the modular mounting frame 200 via a slide rail 420; the modular mounting frame 200 is also provided with a lateral adjustment mechanism 430 for driving the anchoring assembly 400 to move in a direction perpendicular to the paving direction.

[0048] Specifically, the slide rail 420 typically employs a high-rigidity linear guide or T-slot guide, fixedly mounted on the modular mounting bracket 200. The extension direction of the slide rail 420 is parallel to the axis of the compaction roller 320 of the paving host 300, i.e., perpendicular to the paving forward direction. Each integrated anchoring unit 410 is equipped with a slider or saddle at its bottom that precisely matches the slide rail 420. This ensures that the integrated anchoring unit 410 can slide smoothly and with low friction along a predetermined trajectory, while also withstanding the reaction force and impact generated during nailing.

[0049] Furthermore, the lateral adjustment mechanism 430 is driven by a servo motor or stepper motor, which converts the rotational motion of the motor into the linear movement of the anchoring unit through a ball screw, synchronous belt, or rack and pinion mechanism. This mechanism is directly connected to the slider of the anchoring unit.

[0050] It should be noted that the lateral adjustment mechanism 430 has a built-in position sensor 431 for detecting the position of the slider. The position sensor 431 is used to provide real-time feedback on the absolute position of the anchoring unit. The control unit 600 receives the position feedback and achieves closed-loop control of the anchoring unit's position through precise control of the drive motor.

[0051] In one embodiment, the detection component 500 includes a lidar 510 and a multispectral imager 520. The lidar 510 is used to acquire three-dimensional point cloud data of the slope to calculate the slope and undulation; the multispectral imager 520 is used to acquire multispectral image data of the slope. The control unit 600 is configured to analyze the slope vegetation and soil moisture based on the multispectral image data. The detection direction of the detection component 500 is consistent with the paving forward direction of the paving host 300.

[0052] Specifically, the detection component 500 is connected to the upper front end of the modular mounting frame 200, and the lidar 510 and multispectral imager 520 are arranged side by side on the modular mounting frame 200. At the same time, the main optical axes of the lidar 510 and the multispectral imager 520 are calibrated to be parallel to each other, and the overall detection direction is strictly consistent with the paving forward direction of the paving host 300.

[0053] Furthermore, during the actual detection process, the lidar 510 uses the forward slope as the scanning target, emitting thousands to tens of thousands of laser points per second to form a dense three-dimensional point cloud. On the one hand, the detection data can be used to calculate the local slope in real time, providing a direct basis for controlling the cantilever attitude; on the other hand, the detection data can be used to accurately identify micro-topographical undulations, for early warning and to guide the dynamic adjustment of compaction pressure. Additionally, by comparing consecutive frame point clouds, the real-time travel speed and position of the paving machine 300 can also be estimated.

[0054] Furthermore, the multispectral imager 520 can capture slope images in multiple bands, including visible and near-infrared. The control unit 600, by analyzing the reflectance characteristics of different bands, can quantitatively analyze soil moisture and extract moisture information from the images, converting it into percentage data (0%-100%), thus providing a basis for decision-making regarding whether to initiate spray wetting. Secondly, the control unit 600 can also analyze and identify the existing vegetation cover and health status of the slope based on the image data acquired by the multispectral imager 520, and assess the initial ecological condition of the slope, providing background information for ecological restoration plans.

[0055] In one embodiment, the control unit 600 includes a strategy planning module 610 and a motion control module 620. The strategy planning module 610 is used to identify slope characteristics based on detection data and plan the paving path, compaction pressure, paving speed, and anchor point sequence. The motion control module 620 is used to coordinate the extension and pitch of the telescopic cantilever assembly 100, the travel and compaction of the paving host 300, and the movement and firing of the anchoring assembly 400 based on the output of the strategy planning module 610.

[0056] Specifically, after acquiring the detection data, the control unit 600's strategy planning module 610 runs a dedicated algorithm. First, it filters, registers, and reconstructs the surface of the LiDAR 510 point cloud to generate a digital terrain model of the current working surface. Simultaneously, it interprets the multispectral image to extract humidity and vegetation index layers. Finally, it spatially fuses the terrain model and the status layer at the pixel level to form a comprehensive environmental map containing geometry and attributes.

[0057] It is important to note that the comprehensive environmental map forms the basis for subsequent intelligent decision-making. For example, if the algorithm detects a 10-centimeter-deep depression 0.5 meters ahead, it will immediately generate an instruction: when the paving machine 300 reaches that location, temporarily increase the pressure of the compaction roller 320 and possibly fine-tune the cantilever pitch angle to ensure that the roofing material fills the depression and maintains a close fit. Similarly, if abnormally dry soil is detected, the sprinkler system 710 can be triggered in advance for pre-wetting.

[0058] Furthermore, the strategy planning module 610 is used to perform in-depth processing on the raw detection data, specifically including: First, the point cloud data from the LiDAR 510 is filtered, segmented, and fitted to a surface to construct a real-time 3D digital elevation model of the work surface. Simultaneously, data acquired by the multispectral imager 520 is analyzed to extract a soil moisture distribution map. Next, the algorithm integrates this information to identify and classify slope features (such as flat areas, depressions, ridges, and dry areas).

[0059] Based on this, the strategy planning module 610 can automatically generate corresponding strategies, including: Generate paving paths to ensure complete coverage and maximum efficiency; Assign appropriate compaction pressure and paving speed to different characteristic areas along the path; and Based on engineering specifications and the characteristics of the rolled material, an accurate sequence of spatial coordinates for the anchoring points was calculated.

[0060] Furthermore, the motion control module 620 receives the output from the strategy planning module 610 and converts it into a series of precise and synchronized mechanical action commands. For example, while driving the paving host 300 to move along the slope at a specific speed, the hydraulic cylinders of the telescopic cantilever assembly 100 are simultaneously controlled to extend, retract, and pitch to maintain the constant posture and pressure of the compaction roller 320; at the same time, the lateral adjustment mechanism 430 of the anchoring assembly 400 is also directed to move to a designated position and trigger firing.

[0061] Understandably, control strategies based on control modules can synchronize paving, compaction, and anchoring actions in both time and space. This enables integrated and efficient construction, and avoids interference between different processes.

[0062] In one embodiment, an environmental interaction component 700 is also included, which is controlled and connected to the control unit 600, and includes a spraying system 710 and / or a spreading mechanism 720; the spraying system 710 is used to wet the roll material or slope, and the spreading mechanism 720 is used to spread seeds or fertilizer onto the surface of the roll material.

[0063] Both the sprinkler system 710 and the seeding mechanism 720 are automatically controlled by the control unit 600 based on soil moisture data from the detection component 500. For example, when the soil moisture is <40%, the control unit 600 triggers the sprinkler system 710 to wet the slope at a flow rate of 3-5 L / min. Furthermore, the seeding rate of the seeding mechanism 720 can be adjusted to 0.1-0.5 kg / m² based on vegetation cover data.

[0064] Specifically, the spraying system 710 includes a water tank 711, a high-pressure water pump 712, and atomizing nozzles 713. Multiple atomizing nozzles 713 are arranged laterally along the modular mounting frame 200, located in front of or behind the compaction roller 320, ensuring that the water mist can evenly cover the surface of the freshly laid roll material or the slope area to be laid. The spreading mechanism 720 allows for the use of a centrifugal disc or pneumatic spreader, which includes a seed / fertilizer storage bin 721, a metering and dispensing device 722, and a spreading actuator. The spreader is mounted above the rear of the paving machine 300, with the spreading nozzle facing the surface of the laid roll material.

[0065] Understandably, the control unit 600 can drive the sprinkler system 710 to perform precise spraying based on real-time soil data, ensuring that the roll material bonds with the slope under optimal humidity conditions, enhancing adhesion and water retention. Simultaneous sowing / fertilization after spreading allows seeds and nutrients to immediately contact the remediation substrate, preventing water loss, nutrient evaporation, or wind blowing away due to excessive intervals. This buys valuable time for rapid vegetation establishment, improving germination rate and initial survival rate.

[0066] Please see Figure 10 On the other hand, based on the slope ecological restoration roll material spreading device provided in the above embodiments, this disclosure also provides a slope ecological restoration roll material spreading method, which may include the following steps: Step S1: Scan the target slope to obtain topographic and soil information of the slope, and build a digital model for construction.

[0067] In actual use, the operator positions the device at the starting point of the slope. After the system is started, the detection component 500 scans the target slope. A three-dimensional point cloud with centimeter-level precision is generated by the lidar 510, accurately outlining the macroscopic slope and microscopic undulations (such as depressions and protruding rocks) of the slope surface. Simultaneously, spectral information is captured by the multispectral imager 520, and the algorithm interprets the soil moisture distribution map for the entire area. The strategy planning module 610 in the control unit 600 receives and fuses these two types of data, creating a digital model with attribute information for construction through a spatial registration algorithm. The digital model not only includes geometric shapes but also labels the dry and wet states of different areas, serving as the sole real data source for all subsequent automated planning.

[0068] Step S2: Based on the digital model, generate a construction strategy that includes the paving path, process parameters, and anchor point distribution.

[0069] Step S3: Drive the paving host 300 to move along the planned path. During the movement of the paving host 300, the paving host 300 continuously unwinds and compacts the roll material. At the same time, the anchoring component 400 synchronously completes the anchoring operation at the set position according to the strategy.

[0070] Understandably, the paving machine 300 smoothly unwinds the roll under closed-loop tension control, and the compaction roller 320 compacts the roll material onto the slope surface using set initial parameters. At the same time, the anchoring component 400 automatically moves to the predetermined position and fires after the compaction action is completed, according to the planned coordinate sequence, thereby anchoring the roll material.

[0071] In one embodiment, while step S3 is being performed, a real-time adjustment step is also included, comprising: The detection component 500 is used for tracking and detection, and the control unit 600 dynamically adjusts the attitude of the telescopic cantilever component 100, the paving pressure of the paving host 300, or the anchoring timing of the anchoring component 400 based on the deviation between the real-time detection data and the construction strategy.

[0072] Understandably, during the actual paving process, the detection component 500 performs high-frequency tracking scans of the area ahead (e.g., 1 meter ahead). The control unit 600 continuously compares the latest detection data with the preset model generated in step S2. Once a deviation between reality and the model is detected (e.g., the scan detects a small gravel protrusion that was not captured in the initial model), the motion control module 620 of the control unit 600 responds promptly and dynamically adjusts the execution commands. For example, it immediately fine-tunes the pitch angle of the cantilever to "lift" the roller over the protrusion, or instantly increases the pressure after passing the protrusion to ensure subsequent adhesion. This adjustment is online, real-time, and seamless, without affecting the continuity of the main process, ensuring that the construction can adapt to the real and subtle changes in the slope.

[0073] For example, in one application scenario, when the slope angle is greater than 60°, the operation steps may include: First, the lidar 510 of the detection component 500 scans the 1m working area in front in real time, generates three-dimensional point cloud data, and calculates that the current slope is greater than the preset threshold, which is 60°, by fitting the point cloud. The slope data, including the slope value and the slope change rate, is then transmitted to the control unit 600 in real time.

[0074] Secondly, after receiving the slope data, the strategy planning module 610 of the control unit 600 calls the preset "slope-compaction pressure" adaptation algorithm to determine that the current condition is a steep slope, and the normal pressure of the compaction roller 320 on the slope surface needs to be increased to prevent the roll material from slipping. The specific algorithm generation instruction could be: increase the normal pressure of the compaction roller 320 from the baseline value of 0.5MPa to 0.8MPa, while simultaneously reducing the paving speed from 1.5m / min to 0.8m / min to ensure sufficient compaction.

[0075] Furthermore, the motion control module 620 converts the pressure increase command into a hydraulic control signal and outputs it to the adjustable hydraulic swing arm 350, which increases the cylinder thrust to make the compaction roller 320 fit tightly against the slope.

[0076] For example, when the lidar 510 subsequently detects that the slope gradient has dropped to less than a preset threshold, the control unit 600 automatically triggers a reset command to restore the compaction pressure to 0.5MPa and the paving speed to 1.5m / min.

[0077] Alternatively, in another use case, when the multispectral imager 520 detects soil moisture <20%, its sprinkler activation control procedure may include: First, the multispectral imager 520 simultaneously captures spectral images of the work area ahead. Through near-infrared band reflectance analysis, soil moisture data is extracted. If the data is less than a preset threshold, the current slope is determined to be in a dry condition, and the spray system 710 needs to be turned on to moisten the slope.

[0078] Secondly, the strategy planning module 610 combines the terrain data synchronously transmitted by the lidar 510. If the current area is a flat slope without obvious depressions / protrusions, a spraying strategy is generated. The spraying strategy includes: turning on the spraying system 710, setting the spraying flow rate to 4L / min, and continuing the spraying time until the soil moisture rises to 30%, in order to meet the adhesion requirements of the roll material to the dry slope.

[0079] It should be noted that if the wind speed in the working environment is detected to be ≥5m / s, the control unit 600 will first reduce the paving speed to 0.5m / min and at the same time increase the spray flow rate to 5L / min to prevent the water mist from being blown away by the wind; when the wind speed is ≥8m / s, an emergency stop will be triggered to suspend paving and spraying operations, and they will be resumed after the wind speed drops to a safe range.

[0080] As an example, in another application scenario, taking the situation of encountering protruding rocks on a slope as an example, this embodiment will further explain and illustrate the above method.

[0081] Specifically, in this embodiment, the operating scenario can be preset as follows: a gentle slope of 35°, a paving speed of 1.5m / min, a compaction pressure of 0.4MPa, an anchoring spacing of 1.2m, and a 500-mesh detection unit that scans the operating area 1m ahead in real time.

[0082] First, perform step S100 for real-time detection and data acquisition.

[0083] Step S100 specifically includes: S101, the lidar 510 of the detection component 500 collects three-dimensional point cloud data of the area 1m in front every second, and the multispectral imager 520 simultaneously collects soil moisture data. All data are transmitted to the control unit 600 at a frequency of 0.2 seconds / frame. S102, after filtering the point cloud data of the lidar 510, it identifies a "protruding area with a diameter of 50cm and a height of 30cm" at a distance of 0.8m in front, and calculates that the center coordinates of the protrusion relative to the current paving position are X=0.8m, Y=0.3m, and the height of the protrusion is 30cm, which is greater than the preset terrain anomaly threshold of 15cm, and is determined to be a "hard terrain obstacle that needs to be avoided".

[0084] S103, the multispectral imager 520 simultaneously detected that the soil moisture in the raised area and surrounding area was 45% > 20% dryness threshold, so no spraying was required. The rocky area had no soil cover and the density was > 95%, which was determined to be a hard stratum.

[0085] Next, step S200 is executed: data fusion and operating condition identification.

[0086] Specifically, in execution step S200, the following are permitted: S201, spatially register the "protruding terrain data" from the lidar 510 with the "hard soil layer data" and "current 0.4MPa compaction pressure data" acquired by the multispectral imager 520 to generate a comprehensive working condition label. For example, the comprehensive working condition label could be "gentle slope area + hard terrain protruding rock + non-dry soil".

[0087] Based on the above label, a logical judgment is made to determine whether the protrusion exceeds the device's compatibility.

[0088] Specifically, a preset judgment threshold is set: a protrusion height ≤ 40cm can be handled by "lifting the roller + bypassing / crossing over", while a protrusion height > 40cm requires stopping the machine to avoid it. Therefore, in this embodiment, if the current protrusion height is 30cm≤40cm, it is determined that "it can be handled on-site without stopping the machine".

[0089] Secondly, it is necessary to determine whether the protrusions affect the continuity of the roll material paving. If it is determined that direct compaction will cause damage to the roll material, rock edges, or overload of the rollers, damaging the bearings. In this case, it can be defined as: the paving posture and path need to be temporarily adjusted to avoid direct compaction.

[0090] Then, step S300 is executed: strategy matching and parameter decision.

[0091] Specifically, step S300 may include: Step S301 involves calling the preset "terrain anomaly adaptation strategy library" through the strategy planning module 610, and matching the optimal solution based on the current working condition labels. For example, a specific implementation plan might include: 1. Temporarily raise the compaction roller to 320mm to avoid crushing protruding rocks; 2. Adjust the paving path to avoid the raised center area with a deviation of ≤5cm, ensuring complete overall paving coverage; 3. Immediately apply additional pressure after crossing the boundary to prevent air pockets in the roll material; 4. Anchoring points should avoid rocky areas where hard strata cannot be anchored.

[0092] Step S302, determine the specific parameters, including: 1. Roller lifting height: Based on the 30cm protrusion height, the roller needs to be lifted by 35cm with a 5cm safety clearance. The corresponding cantilever pitch angle needs to be adjusted from the current 15° to 22°. 2. Paving path offset: Laterally offset by 0.4m to avoid the center of the rock within 0.3m. After offsetting, ensure that the overlap width between the subsequent paving area and the already paved area is ≥10cm. 3. Speed ​​and pressure adjustment: During the lifting process, the paving speed is reduced to 0.8m / min to avoid unstable posture due to excessive speed. After crossing, the speed is restored to 1.5m / min. The compaction pressure during the additional compaction is increased to 0.5MPa, which is 0.4MPa higher than the benchmark, to eliminate the gap between the roll material and the slope after crossing. 4. Anchor point adjustment: One of the original planned anchor points is located in a rock area. The logic determines that "anchoring is not possible at this location". The anchor point is automatically moved back 0.5m along the paving direction to the soil area behind the rock to ensure that the anchor point spacing is still maintained at 1.2m with a deviation of ≤5cm.

[0093] Then, step S400 is executed, including: The hydraulic cylinder of the cantilever assembly receives the command and drives the telescopic body to pitch 120 degrees. The tilt sensor provides real-time feedback of angle data, and the lifting stops when it reaches 22°. The drive module 340 reduces the hydraulic flow, causing the rotational speed of the compaction roller 320 to drop from 1.5 r / s to 0.8 r / s, matching the paving speed of 0.8 m / min.

[0094] When the paving machine 300 crosses the protruding rock, the lidar 510 detects that the protruding area has been passed and the road ahead is a flat slope. Then the paving path returns from the offset state to the original planned path.

[0095] In summary, this disclosure provides a roll material paving device and method for slope ecological restoration. Through the multi-degree-of-freedom collaboration of the telescopic cantilever component 100 and the 360° rotary joint 130, combined with adaptive slope adjustment from 15° to 85°, it can flexibly handle gentle slopes, steep slopes, and complex terrain with uneven surfaces. This solves the problems of limited slope adaptability and difficult construction on steep slopes associated with traditional equipment, making it suitable for various slope ecological restoration scenarios such as highways, mines, and water conservancy projects. Simultaneously, the precise collaboration between the anchoring component 400 and the paving host 300 in the compaction area allows for immediate anchoring of the roll material after compaction, effectively eliminating intermittent processing time.

[0096] By collecting terrain and soil data in real time through the detection component 500, and generating construction strategies based on data fusion algorithms by the control unit 600, the compaction pressure, paving speed and anchoring spacing can be dynamically adjusted, which can effectively improve the adhesion of the roll material and the uniformity of the anchoring point spacing, and avoid problems such as paving deviation, hollowness and slippage caused by manual operation, thus significantly improving the stability of construction quality.

[0097] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, 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 this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0098] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0099] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0100] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A roll material spreading device for slope ecological restoration, characterized in that, include: A telescopic cantilever assembly (100) is connected to construction machinery and used to achieve positional movement and angle adjustment at its own distal end; A modular mounting bracket (200) is connected to the distal end of the telescopic cantilever assembly (100); The paving host (300) is installed on the modular mounting frame (200) for spreading and compacting the ecological restoration roll material on the slope, and the paving host (300) is provided with an unwinding conveyor assembly (330) for storing and conveying the roll material. An anchoring assembly (400), mounted on the modular mounting frame (200), is used to compact and anchor the roll material to the slope during the paving process; The detection component (500) is installed at the front end of the modular mounting frame (200) and is used to detect slope topography and soil information in real time; The control unit (600) is electrically connected to the telescopic cantilever assembly (100), the paving host (300), the anchoring assembly (400), and the detection assembly (500). The control unit (600) generates a paving strategy based on the slope data information detected by the detection assembly (500) and adjusts the paving method in real time.

2. The slope ecological restoration roll material spreading device according to claim 1, characterized in that, The telescopic cantilever assembly (100) is a multi-stage hydraulic telescopic arm structure, with a rotatable rotary joint (130) at its end, and the modular mounting bracket (200) is connected to the end of the telescopic cantilever assembly (100) through the rotary joint (130).

3. The slope ecological restoration roll material spreading device according to claim 1 or 2, characterized in that, The paving machine (300) includes: The frame (310) is detachably connected to the modular mounting frame (200), and the unwinding conveyor assembly (330) is disposed on the frame (310), including an unwinding shaft (331) and a tension control mechanism; A compaction roller (320), rotatably mounted at the front of the modular mounting frame (200), is used to press the roll material against the slope; and A drive module (340) is used to drive the unwinding conveyor assembly (330) to unwind.

4. The slope ecological restoration roll material spreading device according to claim 3, characterized in that, The anchoring assembly (400) is an integrated anchoring unit (410), which is symmetrically arranged behind the compaction roller (320); The integrated anchoring unit (410) includes a nail storage compartment (411) and a nail gun (412). The nail gun (412) is pointed at the compaction area of ​​the compaction roller (320), so that the roll material can be anchored immediately after being compacted.

5. The roll material spreading device for slope ecological restoration according to claim 1, characterized in that, The anchoring assembly (400) is slidably connected to the modular mounting frame (200) via a slide rail (420); the modular mounting frame (200) is also provided with a lateral adjustment mechanism (430) for driving the anchoring assembly (400) to move in a direction perpendicular to the paving direction.

6. The roll material spreading device for slope ecological restoration according to claim 1, characterized in that, The detection component (500) includes: LiDAR (510) is used to acquire three-dimensional point cloud data of the slope to calculate the slope and undulation; and A multispectral imager (520) is used to acquire multispectral image data of the slope; the control unit (600) is configured to analyze the slope vegetation and soil moisture based on the multispectral image data; The detection direction of the detection component (500) is consistent with the paving forward direction of the paving host (300).

7. The roll material spreading device for slope ecological restoration according to claim 1, characterized in that, The control unit (600) includes: The strategy planning module (610) is used to identify slope characteristics based on the detection data and plan the paving path, compaction pressure, paving speed, and anchor point sequence; and The motion control module (620) is used to coordinate the extension and pitch of the telescopic cantilever assembly (100), the movement and compaction of the paving host (300), and the movement and firing of the anchoring assembly (400) according to the output of the strategy planning module (610).

8. The slope ecological restoration roll material spreading device according to claim 1, characterized in that, It also includes an environmental interaction component (700), which is controlled to the control unit (600) and includes a spraying system (710) and / or a spreading mechanism (720). The spraying system (710) is used to wet the roll material or slope, and the spreading mechanism (720) is used to spread seeds or fertilizer onto the surface of the roll material.

9. A method for laying slope ecological restoration roll material using the device described in any one of claims 1-8, characterized in that, include: Step S1: Scan the target slope to obtain the topographic and soil information of the slope, and establish a digital model for construction. Step S2: Based on the digital model, generate a construction strategy that includes the paving path, process parameters, and anchor point distribution. Step S3: Drive the paving host (300) to move along the planned path. During the movement of the paving host (300), the paving host (300) continuously unwinds and compacts the roll material, while the anchoring component (400) synchronously completes the anchoring operation at the set position according to the strategy.

10. The method for laying slope ecological restoration roll material according to claim 9, characterized in that, Simultaneously with the execution of step S3, a real-time adjustment step is also included, including: The detection component (500) is used for tracking and detection, and the control unit (600) dynamically adjusts the attitude of the telescopic cantilever component (100), the paving pressure of the paving host (300), or the anchoring timing of the anchoring component (400) based on the deviation between the real-time detection data and the construction strategy.

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