Intelligent monitoring system for pavement paving of airport

Abstract

The invention relates to an intelligent monitoring system for airport pavement paving, which belongs to the technical field of airport pavement paving, and comprises a GNSS positioning and orientation module used for measuring the current orientation of a paver during construction; the laser leveling module is used for measuring the height difference between the reference laser surface and the leveling surface; the infrared temperature monitoring module is used for measuring the temperature of the airfield pavement; and the main control module is in communication connection with the GNSS positioning and orientation module, the laser leveling module and the paver and is used for controlling the paver to complete operation according to the current orientation of the paver during construction, the height difference between the reference laser surface and the leveling surface and the temperature of the airfield pavement. Millimeter-level or submillimeter-level vertical and horizontal elevation control can be achieved through closed-loop control between the laser leveling model and the main control module, waves, steps and unevenness are remarkably reduced, and the road surface flatness index is improved; the scraping plate can be correctly aligned with the design axis and the cross slope in a directional mode through GNSS positioning, and the phenomena of transverse errors and edge non-uniformity are reduced.

Description

Technical Field

[0001] This invention relates to the field of airport pavement paving technology, and in particular to an intelligent monitoring system for airport pavement paving. Background Technology

[0002] Runways, taxiways, and other pavements are the main infrastructure of an airport. Airport pavement construction is a complex process that integrates materials, equipment, personnel, and technology. Pavers are important construction equipment. In engineering applications, they are required to spread the mixed concrete, asphalt, and other materials evenly and stably on the pavement base layer according to the pavement shape and thickness required by the design. Therefore, airport pavement paving plays an important role in the entire airport project, and its quality has a direct impact on the safety of airport operations in the later stages.

[0003] As can be seen from the above, airport pavement paving requires strict control over construction indicators. Currently, in the early and late stages of traditional paving construction, manual benchmarks need to be set up and heavy measurement work is required for leveling, which is time-consuming, labor-intensive, and has low accuracy. For temperature control, electronic insertion thermometers or infrared thermometers are mostly used to measure the paving temperature, which also relies on manual labor and is prone to errors. In addition, the amount of manual recording is huge. The traditional quality inspection method is to make Marshall specimens according to the mix proportion before construction and test their density through compaction tests. Then, after construction, core samples are taken for surface quality inspection and compaction testing. This method is a destructive test, which is time-consuming and labor-intensive. Moreover, when defects appear in the asphalt pavement later and need to be repaired, it cannot help in the analysis of the causes of quality defects.

[0004] Therefore, traditional airport pavement construction and quality control are characterized by a wide variety of data, rapid data generation, huge data volume, and difficulty in controlling process quality. There is an urgent need to achieve process control of the quality of key aspects of paver construction. Summary of the Invention

[0005] To address the aforementioned problems, the purpose of this invention is to provide an intelligent monitoring system for airport pavement paving.

[0006] An intelligent monitoring system for airport pavement paving includes: GNSS positioning and orientation module is used to measure the current location of the paver during construction; The laser leveling module is used to measure the height difference between the reference laser surface and the leveling plane; Infrared temperature monitoring module, used to measure the temperature of airport pavement; The main control module communicates with the GNSS positioning and orientation module, the laser leveling module, and the paver, respectively. It is used to control the paver to complete the operation based on the current location of the paver during construction, the height difference between the reference laser surface and the leveling surface, and the temperature of the airport pavement.

[0007] Preferably, the GNSS positioning and orientation module includes: Step 1: Extract the raw observation distance of the paver from the satellite signal; Step 2: Determine the threshold based on the observed noise; Step 3: When the difference between the satellite signal transmission time and the satellite signal reception time is greater than the threshold, the original observation distance is filtered using the first filtering model to obtain the filtered observation distance. Step 4: When the difference between the satellite signal transmission time and the satellite signal reception time is less than the threshold, the original observation distance is filtered using the second filtering model to obtain the filtered observation distance. Step 5: Obtain the current location of the paver during construction based on the filtered observation distance.

[0008] Preferably, step 2: determining the threshold based on the observed noise includes: Formula used:

[0009] Determine the threshold; where, , Indicates the threshold. Indicates observation noise. This represents the ionospheric delay error.

[0010] Preferably, in step 3, the first filtering model is:

[0011] in, k This represents the difference between the time the satellite signal is transmitted and the time it is received. c Represents the speed of light. This represents the filtered observation distance. This represents the original observed distance. This indicates the amount of carrier wave variation.

[0012] Preferably, in step 4, the second filtering model is:

[0013] in, k This represents the difference between the time the satellite signal is transmitted and the time it is received. c Represents the speed of light. This represents the filtered observation distance. This represents the original observed distance. This indicates the amount of carrier wave variation.

[0014] Preferably, in step 5, the least squares method is used to obtain the initial azimuth coordinates of the filtered observation distance, and Kalman filtering is performed on the initial azimuth coordinates to obtain the current location of the paver during construction.

[0015] Preferably, the laser leveling module includes a ZQ-01B laser transmitter and a ZC-01M receiver. The receiver is mounted symmetrically at both ends of the screed frame of the paver and is connected to the main control module via a cable. The ZQ-01B laser transmitter supports inputting the design elevation of the reference laser surface and continuously emits laser light to the ZC-01M receiver to measure the height difference between the reference laser surface and the leveling plane.

[0016] Preferably, the infrared temperature monitoring module is connected to the main control module via a cable. Two infrared temperature sensors are fixed 30 cm above the ground on both sides of the gap between the paver's cab and the screed to measure the temperature before paving. Five infrared temperature sensors are evenly installed at both ends and in the middle of the paver's screed to measure the temperature after paving.

[0017] Preferably, the system also includes a vehicle identification module, which includes an RFID reader and a tag. The RFID reader is installed in the paver's receiving hopper and connected to the main control module via a cable. The tag is affixed and fixed to the material hopper of the transport vehicle. The system uses the UWB principle to identify the license plate of the transport vehicle in order to determine the material receiving time and duration.

[0018] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: This invention relates to an intelligent monitoring system for airport pavement paving. Compared with existing technologies, this invention achieves millimeter-level or sub-millimeter-level longitudinal and transverse elevation control through closed-loop control between the laser leveling model and the main control module, significantly reducing waves, steps, and unevenness, and improving pavement smoothness indicators. Utilizing GNSS positioning can ensure that the scraper is correctly aligned with the design axis and cross slope, reducing lateral errors and edge unevenness.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1A block diagram of an intelligent monitoring system for airport pavement paving provided by the present invention; Figure 2 The flowchart of the GNSS positioning and orientation module provided by this invention. Detailed Implementation

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] Please see Figure 1-2 An intelligent monitoring system for airport pavement paving includes: GNSS positioning and orientation module is used to measure the current location of the paver during construction; The laser leveling module is used to measure the height difference between the reference laser surface and the leveling plane; Infrared temperature monitoring module, used to measure the temperature of airport pavement; The main control module communicates with the GNSS positioning and orientation module, the laser leveling module, and the paver, respectively. It is used to control the paver to complete the operation based on the current location of the paver during construction, the height difference between the reference laser surface and the leveling surface, and the temperature of the airport pavement.

[0026] Furthermore, the GNSS positioning and orientation module includes: Step 1: Extract the raw observation distance of the paver from the satellite signal; Step 2: Determine the threshold based on the observed noise; For the selection of the filtering threshold, it is usually set directly to 100, but this is not an optimal filtering threshold. Because the receiver characteristics of each positioning terminal are different, and when the smoothing constant is too large, it will increase the ionospheric error; when it is too small, it will leave a large amount of multipath error in the pseudorange observations, rendering the smoothing meaningless. This invention uses the formula:

[0027] Determine the threshold; where, , Indicates the threshold. Indicates observation noise. This represents the ionospheric delay error.

[0028] Step 3: When the difference between the satellite signal transmission time and the satellite signal reception time is greater than a threshold, the original observation distance is filtered using the first filtering model to obtain the filtered observation distance; wherein, the first filtering model is:

[0029] in, k This represents the difference between the time the satellite signal is transmitted and the time it is received. c Represents the speed of light. This represents the filtered observation distance. This represents the original observed distance. This indicates the amount of carrier wave variation.

[0030] Step 4: When the difference between the satellite signal transmission time and the satellite signal reception time is less than a threshold, the original observation distance is filtered using the second filtering model to obtain the filtered observation distance; wherein, the second filtering model is:

[0031] in, k This represents the difference between the time the satellite signal is transmitted and the time it is received. c Represents the speed of light. This represents the filtered observation distance. This represents the original observed distance. This indicates the amount of carrier wave variation.

[0032] This invention employs a piecewise function method, which ensures the stability of smooth filtering.

[0033] Step 5: Use the least squares method on the filtered observation distance to obtain the initial azimuth coordinates, and perform Kalman filtering on the initial azimuth coordinates to obtain the current position of the paver during construction. The measured elevation coordinates can help analyze the layer number of the paver (such as the lower layer / middle layer / upper layer of asphalt pavement).

[0034] The laser leveling module of this invention includes a ZQ-01B laser transmitter and a ZC-01M receiver. The receiver is mounted symmetrically at both ends of the screed frame of the paver and is connected to the main control module via a cable. The ZQ-01B laser transmitter supports inputting the design elevation of the reference laser surface and continuously emits laser light to the ZC-01M receiver to measure the height difference between the reference laser surface and the leveling plane.

[0035] The infrared temperature monitoring module is connected to the main control module via a cable. Two infrared temperature sensors are fixed 30 cm above the ground on both sides of the gap between the paver's cab and the screed to measure the temperature before paving. Five infrared temperature sensors are evenly installed at both ends and in the middle of the paver's screed to measure the temperature after paving.

[0036] The vehicle identification module includes an RFID reader and a tag. The RFID reader is installed in the paver's receiving hopper and connected to the main control module via a cable. The tag is affixed and fixed to the material hopper of the transport vehicle. It is used to identify the license plate of the transport vehicle using the UWB principle to determine the material receiving time and duration.

[0037] The data communication module is fixed to the top of the cab exterior using welding, adhesive, or other methods. It sends the paver's construction data to the server in real time and is connected to the main control module via cable.

[0038] The guidance and display module is connected to the main control module via a cable through an industrial tablet installed in the paver's cab. However, the tablet must not obstruct the operator's view. It can display the real-time screen after the paver's construction data processing is completed, providing basic data for the roller behind and pavers operating in the surrounding area to facilitate collaborative operations.

[0039] The main control module, as the core data processing and encryption unit, is connected to and powered by other modules via cables. It draws power directly from the paver, enabling automatic start-up upon power-up. A key aspect of airport pavement paving is controlling the paving height and position of the mix material with millimeter-level accuracy. To achieve this, and considering the need to end work early at night based on flight arrival times during airport non-stop construction, this module reduces frequent equipment shutdowns. The paving design elevation can be input into the laser transmitter to assist the GNSS module in controlling the site elevation. Furthermore, considering aesthetics and space efficiency, the GNSS positioning and orientation module and laser leveling module are integrated and symmetrically positioned at both ends of the screed frame. The GNSS positioning and orientation module used in this invention achieves horizontal and vertical accuracy of less than 10mm for both the base station and rover, and provides 216 signal channels to meet the uninterrupted satellite signal search requirements during operation. This invention also includes two laser leveling modules to assist GNSS elevation positioning and guide the leveling of the paving surface, with a measurement radius reaching [missing information]. With a range of 300m and a continuous working time of over 50 hours, this invention utilizes multiple infrared temperature monitoring modules evenly distributed on the screed to provide real-time feedback on the temperature of the paving material. This allows operators to flexibly control the material during paving, preventing the mixture from sticking to the machinery due to overly dense paving and affecting subsequent quality. The invention also incorporates vehicle identification modules installed on the hopper and truck bed, using RFID equipment to identify the information and time parameters of the transport vehicle. It also possesses decimeter-level distance recognition capabilities, assisting in controlling the distance between vehicles before unloading and improving unloading efficiency. Furthermore, this invention displays the data from the aforementioned monitoring modules on an industrial tablet with a guidance and display module installed in the cab. This meets the operator's practical engineering needs, such as real-time control of vehicle speed and trajectory, assistance in adjusting the screed height, control of elevation flatness, and prevention of overheating. The tablet uses a Windows system, offering good adaptability. In this invention, the data collected by each monitoring module is aggregated, processed, and encrypted through the main control module. In addition to the front-end display, the system can also send all data in real-time to the back-end server and monitoring platform via the data communication module for remote display and viewing, enabling real-time control of the airport pavement paving quality.

[0040] The operation process of deploying the paver of this invention is as follows: S1: Issue construction tasks remotely via the network or directly on the industrial tablet of the guidance display module, including the name of the work surface, plan view, elevation, number of paving layers, speed threshold, temperature threshold, etc.

[0041] S2: The material truck unloads material into the paver's hopper. The RFID reader installed on the paver reads the vehicle information and automatically compares it with the vehicle information reported to the administrator in advance to ensure that the type and quantity of materials are correct.

[0042] S3: The paver begins construction within the designated work area according to the guidance display module. The GNSS rover begins to collect vehicle coordinates. After coordinate conversion through the main control module, the flat panel displays the coordinates, allowing the operator to adjust the position and trajectory at any time.

[0043] S4: During construction, the manager inputs the paving elevation information into the fixed-position transmitter in the laser leveling module and sends it to the laser receiver. The operator can use the LED lights on the receiver to determine the operating status and whether the screed is within a reasonable height range. Combined with the coordinates provided by GNSS, the paving elevation accuracy is precisely controlled to the millimeter level.

[0044] S5: During construction, the infrared temperature monitoring module collects the temperature of the paving material in real time. Based on the temperature data on the screed, the operator can fine-tune the speed or height to prevent the paving material from overheating and sticking to the screed. In addition, it can help determine the progress of subsequent compaction.

[0045] S6: In addition to processing the data from the vehicle identification module, GNSS positioning and orientation module, laser leveling module, and infrared temperature monitoring module and displaying it in the guidance and display module, the main control module can also send data to the backend server through the data communication module. Users can query the construction process data on the web platform or the corresponding mobile app.

[0046] This invention achieves millimeter-level or sub-millimeter-level longitudinal and transverse elevation control through closed-loop control between the laser leveling model and the main control module, significantly reducing waves, steps, and unevenness, and improving road surface smoothness indicators; GNSS positioning can be used to ensure that the scraper is correctly aligned with the design axis and cross slope, reducing lateral errors and edge unevenness.

[0047] 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 scope of the technology 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. An intelligent monitoring system for airport pavement paving, characterized in that, include: GNSS positioning and orientation module is used to measure the current location of the paver during construction; The laser leveling module is used to measure the height difference between the reference laser surface and the leveling plane; Infrared temperature monitoring module, used to measure the temperature of airport pavement; The main control module communicates with the GNSS positioning and orientation module, the laser leveling module, and the paver, respectively. It is used to control the paver to complete the operation based on the current location of the paver during construction, the height difference between the reference laser surface and the leveling surface, and the temperature of the airport pavement.

2. The intelligent monitoring system for airport pavement paving according to claim 1, characterized in that, The GNSS positioning and orientation module includes: Step 1: Extract the raw observation distance of the paver from the satellite signal; Step 2: Determine the threshold based on the observed noise; Step 3: When the difference between the satellite signal transmission time and the satellite signal reception time is greater than the threshold, the original observation distance is filtered using the first filtering model to obtain the filtered observation distance. Step 4: When the difference between the satellite signal transmission time and the satellite signal reception time is less than the threshold, the original observation distance is filtered using the second filtering model to obtain the filtered observation distance. Step 5: Obtain the current location of the paver during construction based on the filtered observation distance.

3. The intelligent monitoring system for airport pavement paving according to claim 2, characterized in that, Step 2: Determining the threshold based on the observed noise includes: Formula used: ； Determine the threshold; where, , Indicates the threshold. Indicates observation noise. This represents the ionospheric delay error.

4. The intelligent monitoring system for airport pavement paving according to claim 3, characterized in that, In step 3, the first filtering model is: ； in, k This represents the difference between the time the satellite signal is transmitted and the time it is received. c Represents the speed of light. This represents the filtered observation distance. This represents the original observed distance. This indicates the amount of carrier wave variation.

5. The intelligent monitoring system for airport pavement paving according to claim 4, characterized in that, In step 4, the second filtering model is: ； in, k This represents the difference between the time the satellite signal is transmitted and the time it is received. c Represents the speed of light. This represents the filtered observation distance. This represents the original observed distance. This indicates the amount of carrier wave variation.

6. The intelligent monitoring system for airport pavement paving according to claim 5, characterized in that, In step 5, the least squares method is used on the filtered observation distance to obtain the initial azimuth coordinates, and Kalman filtering is performed on the initial azimuth coordinates to obtain the current location of the paver during construction.

7. The intelligent monitoring system for airport pavement paving according to claim 1, characterized in that, The laser leveling module includes a ZQ-01B laser transmitter and a ZC-01M receiver. The receiver is mounted symmetrically at both ends of the screed frame of the paver and is connected to the main control module via a cable. The ZQ-01B laser transmitter supports inputting the design elevation of the reference laser surface and continuously emits laser light to the ZC-01M receiver to measure the height difference between the reference laser surface and the leveling plane.

8. The intelligent monitoring system for airport pavement paving according to claim 1, characterized in that, The infrared temperature monitoring module is connected to the main control module via a cable. Two infrared temperature sensors are fixed 30 cm above the ground on both sides of the gap between the paver's cab and the screed to measure the temperature before paving. Five infrared temperature sensors are evenly installed at both ends and in the middle of the paver's screed to measure the temperature after paving.

9. The intelligent monitoring system for airport pavement paving according to claim 1, characterized in that, It also includes a vehicle identification module, which includes an RFID reader and a tag. The RFID reader is installed in the paver's receiving hopper and connected to the main control module via a cable. The tag is affixed and fixed to the material hopper of the transport vehicle. It is used to identify the license plate of the transport vehicle using the UWB principle to determine the material receiving time and duration.

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