Unmanned paving speed cooperative control system and method driven by properties of asphalt mixture

Abstract

The invention discloses an unmanned paving speed cooperative control system and method driven by properties of an asphalt mixture, and relates to the technical field of engineering machinery, the unmanned paving speed cooperative control system comprises a frame, crawler belt moving structures are symmetrically mounted at the lower end of the frame, and two side plates are symmetrically mounted at the edges of the two sides of the upper end of the frame; a conveying bin is installed on the front portion of the upper end of the vehicle frame, a fixing plate is installed on the rear portion of the upper end of the vehicle frame, rotating structures are installed at the front end of the conveying bin and the rear end of the fixing plate, and a feeding bin is installed at the front end of the rotating structure at the front end of the conveying bin. A series of structures are arranged, actions of all the components are precisely linked through the control unit, the problems of uneven thickness, aggregate segregation and the like caused by asynchronous material conveying, paving and compacting are avoided, compared with traditional single-machine independent operation, the paving flatness and compactness are greatly improved, meanwhile, the operation period is shortened, and the working efficiency is improved. The paving requirements of different widths and thicknesses are met, and the operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically to an unmanned paving speed collaborative control system and method driven by the properties of asphalt mixtures. Background Technology

[0002] Asphalt paving is a core process in road construction and maintenance, and its construction quality directly determines the service life and traffic safety of the road. Traditional asphalt paving operations rely heavily on manual operation. Operators must simultaneously control the paver's feeding speed, paving posture, and roller's follow-up rhythm in harsh environments with high temperatures and asphalt fume pollution. This is not only labor-intensive but also prone to quality defects such as uneven paving thickness and aggregate segregation due to human error. Furthermore, the accuracy of manual real-time control over the mixture temperature and paving uniformity is limited.

[0003] With the development of intelligent technology, although some unmanned paving equipment has emerged, the existing technology still has significant shortcomings: On the one hand, the coordination of multiple devices is poor, and the feeding, paving, and compaction processes are mostly controlled independently, lacking a unified central scheduling, which easily leads to problems such as mismatch between material supply and paving speed, and lagging rolling. On the other hand, the existing equipment is not sensitive enough to the key properties of asphalt mixtures such as temperature and gradation, which can easily cause the mixture to solidify and block the conveying pipeline due to temperature loss. At the same time, the supporting air purification devices are mostly set up independently, and cannot dynamically adjust the purification power according to the amount of asphalt fume emissions, resulting in an imbalance between purification efficiency and energy utilization.

[0004] In addition, existing unmanned paving control systems mostly focus on equipment movement control, and have weak capabilities for monitoring and dynamically adjusting the status of the entire paving process. They are difficult to adapt to the needs of different paving thicknesses and widths, and have poor equipment adaptability and ease of maintenance. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned paving speed collaborative control system and method driven by the properties of asphalt mixtures, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an unmanned paving speed collaborative control system and method driven by the properties of asphalt mixture, comprising a vehicle frame, a tracked moving structure symmetrically mounted on the lower end of the vehicle frame, two side plates symmetrically mounted on the two sides of the upper end of the vehicle frame, a conveying bin mounted on the front of the upper end of the vehicle frame, a fixing plate mounted on the rear of the upper end of the vehicle frame, a rotating structure mounted on the front end of the conveying bin and the rear end of the fixing plate, a feeding bin mounted on the front end of the rotating structure of the conveying bin, a laying pipe mounted on the lower end of the feeding bin, a second conveying auger mounted inside the laying pipe, a transition bin mounted on the center of the upper end of the vehicle frame, an insulation bin mounted on the rear end of the transition bin, the insulation bin being filled with asphalt, and a first conveying auger positioned between the insulation bin, the transition bin, the conveying bin, and the feeding bin.

[0007] Preferably, two air purifiers are symmetrically installed at the lower front of the vehicle frame. A negative pressure air pump is provided at the lower end of each air purifier. A filter screen is provided inside each air purifier. An activated carbon layer is provided at the upper end of the filter screen. An air outlet is provided at the front end of each air purifier. A particle concentration sensor is provided inside the air outlet.

[0008] Preferably, a feed inlet is provided at the center of the upper end of the laying pipe, and the feed inlet is connected to the feeding bin. Multiple discharge outlets are provided at equal intervals at the lower end of the laying pipe. A scraper is installed at the lower end of the rotating structure near the laying pipe, and the scraper is used in conjunction with the laying pipe.

[0009] Preferably, the rotating structure includes a support plate, a lower rotating shaft, a hydraulic rod, an upper rotating plate, a positioning plate, and an edge plate. The support plate is installed at the center of the rear end of the fixed plate. Lower rotating shafts are installed on both sides of the support plate. An edge plate is rotatably connected to the outer side of the lower rotating shaft. An upper rotating plate is rotatably connected to the inner side of the edge plate above the lower rotating shaft. One end of the upper rotating plate is fixedly connected to the fixed plate via a hydraulic rod. A positioning plate is rotatably connected between the two upper rotating plates.

[0010] Preferably, two rotating plates are symmetrically installed at the outer end of the positioning plate, and a first track conveyor structure is installed between the two rotating plates.

[0011] Preferably, the upper end of the fixed plate is provided with a guide groove, a slider is installed inside the guide groove, a movable plate is installed at the upper end of the slider, a linkage plate is rotatably connected to the front end of the movable plate, a fixed mounting plate is rotatably connected to the front end of the linkage plate, and the fixed mounting plate is fixedly connected to the positioning plate.

[0012] Preferably, two second track conveyor structures are symmetrically installed on the inner walls of the two upper side plates of the vehicle frame, and the two second track conveyor structures are used in conjunction with the insulated compartment.

[0013] Preferably, the upper end of the frame is equipped with a control processing unit, infrared temperature sensors are installed at the connection between the insulation chamber and the transition chamber and at the side of the discharge port of the laying pipe, a vision sensor is installed at the discharge port at the lower end of the laying pipe, and resistance heating devices are installed on the outside of the pipes of the first conveying auger and the second auger.

[0014] Preferably, the outer wall of the transition chamber is provided with a drive device connected to the first conveying auger, the inside of the laying pipe is provided with a drive device connected to the second conveying auger, the two hydraulic rods inside the rotating structure are both connected to the same hydraulic chamber, the inner sides of the two rotating plates are provided with a drive device connected to the first tracked conveying structure, the inner sides of the two side plates are provided with a drive device connected to the second tracked conveying structure, the inside of the mounting frame is provided with a drive device connected to the rolling roller, and the control processing unit is connected to the infrared temperature sensor, the resistance heating device, the vision sensor, and the multiple drive devices via signals.

[0015] A collaborative control method for unmanned paving speed driven by asphalt mixture properties includes the following steps: S1 Material preheating and supply: The control and processing unit starts the resistance heating device on the outside of the first and second conveying spiral auger pipes to preheat the pipes to the preset temperature; at the same time, it controls the operation of the second crawler conveyor structure to transport the asphalt mixture in the heat preservation bin to the transition bin, completing the material preparation before paving. S2 paving posture adjustment: The control and processing unit sends instructions to the hydraulic chamber to drive the rotating structure so that the height of the laying pipe and scraper matches the target paving thickness, thus completing the paving posture calibration. S3 Material Conveying and Temperature Control: The first conveying auger transports the asphalt inside the insulated silo towards the feeding silo and the laying pipe, while the second conveying auger drives the asphalt out of the discharge port. During the conveying process, the temperature is kept stable by a resistance heating device and a temperature sensor. S4 unmanned paving and compaction: after the asphalt is delivered to the ground from the discharge port, it is initially scraped by a scraper and then compacted a second time by a roller. The S5 Air Evolution Linkage system adjusts the negative pressure pump power of the air purifier based on temperature data from the infrared temperature sensor; it also receives feedback data from the particulate matter concentration sensor. The S6 features unmanned control and early warning. The control processing unit continuously receives data from various sensors. If the vision sensor detects segregation of the mixture or the infrared temperature sensor detects abnormal temperature, it automatically adjusts the auger speed, heating power, or paving speed.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This unmanned paving speed collaborative control system and method driven by the properties of asphalt mixtures realizes the collaborative operation of multiple devices in the whole process of auger feeding, crawler conveying, scraper leveling, and roller compaction. The actions of each component are precisely linked through the control unit, avoiding problems such as uneven thickness and aggregate segregation caused by asynchronous material conveying, paving and compaction. Compared with traditional single machine independent operation, it significantly improves the paving smoothness and density, while shortening the operation cycle, adapting to the paving requirements of different widths and thicknesses, and improving operation efficiency.

[0017] 2. This unmanned paving speed collaborative control system and method, driven by the properties of asphalt mixtures, relies on the signal linkage between the control processing unit and multiple sensors to complete the entire process of material preheating, attitude calibration, and dynamic parameter adjustment without human intervention. Through real-time data feedback from sensors such as temperature and vision sensors, it automatically optimizes the auger speed, heating power, and paving speed, avoiding human error, reducing reliance on operator skills, and simultaneously reducing the intensity of manual labor in high-temperature and hazardous gas environments, thus improving operational safety.

[0018] 3. The unmanned paving speed collaborative control system and method driven by the properties of this asphalt mixture features an air purification equipment with a combined and stacked design. The size and filtration intensity can be flexibly adjusted according to the paving scale to adapt to different operating scenarios. The negative pressure air pump is precisely aimed at the source of asphalt smoke generation. Combined with the graded purification of metal filter and activated carbon layer, it effectively intercepts smoke and volatile organic compounds. The purification power is dynamically adjusted with the temperature of the mixture, taking into account both purification effect and energy saving, effectively improving the working environment and protecting personnel health.

[0019] 4. The unmanned paving speed collaborative control system and method driven by the properties of asphalt mixture adopts a modular design for each component. The insulated silo conveyor, rotation angle adjustment, and purification equipment can all be independently disassembled and maintained. The tracked conveyor structure is adapted to the transfer needs of insulated silos of different specifications. The rotating structure can flexibly adjust the paving posture, reducing equipment adaptation costs. The easily damaged parts such as the air purifier filter and activated carbon layer are easy to replace. The integrated design of the control unit simplifies fault diagnosis and significantly reduces the difficulty and cost of later equipment maintenance. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the rotating structure of the present invention; Figure 3 This is a schematic diagram of the roller structure of the present invention; Figure 4 This is a schematic diagram of the first conveying spiral auger structure of the present invention; Figure 5 This is a schematic diagram of the internal structure of the laying pipe of the present invention; Figure 6 This is a schematic diagram of the air purifier structure of the present invention.

[0021] In the diagram: 1. Frame; 2. Side plate; 3. Tracked moving structure; 4. Insulated compartment; 5. Transition compartment; 6. Conveying compartment; 7. Rotating structure; 701. Support plate; 702. Lower rotating shaft; 703. Hydraulic rod; 704. Upper rotating plate; 705. Positioning plate; 706. Edge plate; 8. Feeding bin; 9. Laying pipe; 10. Scraper; 11. Air purifier; 12. Rotating plate; 13. Fixed plate; 14. Guide groove 15. Moving plate; 16. Linkage plate; 17. Fixed mounting plate; 18. First tracked conveyor structure; 19. Mounting frame; 20. Compactor roller; 21. First conveying auger; 22. Feed inlet; 23. Second conveying auger; 24. Discharge outlet; 25. Negative pressure vacuum pump; 26. Air outlet; 27. Particulate matter concentration sensor; 28. Filter screen; 29. ​​Activated carbon layer; 30. Second tracked conveyor structure. Detailed Implementation

[0022] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for 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. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] like Figures 1 to 6As shown, the unmanned paving speed collaborative control system driven by the properties of asphalt mixture in this embodiment includes a frame 1, which is the core support structure. A tracked moving structure 3 is symmetrically installed on the lower end of the frame 1. The tracked moving structure 3 is a conventional open technology that can drive the frame 1 to move on the road and rotate at different angles. Two side plates 2 are symmetrically installed on the upper edges of the frame 1, providing protection. A conveying bin 6 is installed at the front of the upper end of the frame 1, and a fixing plate 13 is installed at the rear of the upper end of the frame 1. A rotating structure 7 is installed at the front end of the conveying bin 6 and the rear end of the fixing plate 13. The rotating structure 7 can rotate at a certain angle. A feeding bin 8 is installed at the front end of the rotating structure 7 at the front end of the conveying bin 6, and a laying pipe 9 is installed at the lower end of the feeding bin 8. The rotating structure 7 at the front can drive the angle of the feeding bin 8 and the laying pipe 9, thereby adjusting the laying angle. The second conveying screw 23 is installed inside the laying pipe 9. The second conveying screw 23 can drive the asphalt to rotate, preventing the asphalt from solidifying while completing the asphalt conveying. A transition bin 5 is installed at the center of the upper end of the frame 1. An insulation bin 4 is installed at the rear end of the transition bin 5. The insulation bin 4 is detachably connected. The insulation bin 4 contains pre-prepared asphalt. The insulation bin 4 is filled with asphalt. A first conveying screw 21 is set between the insulation bin 4, the transition bin 5, the conveying bin 6, and the feeding bin 8. The first conveying screw 21 can send the asphalt inside the insulation bin 4 from the transition bin 5 and the conveying bin 6 to the inside of the feeding bin 8, and finally send it out from the laying pipe 9.

[0025] Specifically, two air purifiers 11 are symmetrically installed at the lower front of the frame 1. A negative pressure suction pump 25 is installed at the lower end of each air purifier 11. An activated carbon layer 29 is installed on the upper end of the filter screen 28 inside each air purifier 11. An air outlet 26 is opened at the front of each air purifier 11, and a particle concentration sensor is installed inside the air outlet 26. The two air purifiers 11 are symmetrically embedded in the mounting groove at the lower front of the frame 1. The negative pressure suction pump 25 at its lower end is fixed to the bottom of the frame 1 by a bracket, and the suction port faces the outlet 24 area of ​​the laying pipe 9. The internal filter 28 is a metal anti-clogging filter, arranged in an upper and lower layer with the activated carbon layer 29 (the filter 28 is located in the lower layer to intercept large particles of smoke and dust, and the activated carbon layer 29 is located in the upper layer to adsorb volatile organic compounds); the air outlet 26 is located on the inclined surface at the front of the air purifier 11, and the internal particulate matter concentration sensor 27 collects the particulate matter content of the purified gas in real time. Its detection data can be directly fed back to the subsequent control unit to realize dynamic adjustment of purification power. It should be noted that the air purifiers 11 can be combined and stacked to form purification effects of different sizes and filtration intensities.

[0026] Furthermore, an inlet 22 is provided at the center of the upper end of the laying pipe 9, which is connected to the feeding bin 8. Multiple outlets 24 are provided at equal intervals at the lower end of the laying pipe 9. A scraper 10 is installed at the lower end of the rotating structure 7 near the laying pipe 9. The scraper 10 is used in conjunction with the laying pipe 9. The inlet 22 at the upper end of the laying pipe 9 is connected to the lower outlet of the feeding bin 8 through a sealing flange to prevent leakage of the mixture during the conveying process. The multiple outlets 24 at the lower end of the laying pipe 9 are distributed at equal intervals along its length. The scraper 10 at the lower end of the rotating structure 7 near the laying pipe 9 is an arc-shaped wear-resistant scraper 10. The distance between its bottom edge and the ground is adapted to the target paving thickness. The scraper 10 moves synchronously with the rotating structure 7 and the laying pipe 9, which can initially level the mixture discharged from the outlets 24, forming a continuous "discharge-leveling" operation with the laying pipe 9.

[0027] Furthermore, the rotating structure 7 includes a support plate 701, a lower rotating shaft 702, a hydraulic rod 703, an upper rotating plate 704, a positioning plate 705, and an edge plate 706. The support plate 701 is installed at the center of the rear end of the fixed plate 13. The lower rotating shaft 702 is installed on both sides of the support plate 701. The edge plate 706 is rotatably connected to the outer side of the lower rotating shaft 702. The upper rotating plate 704 is rotatably connected to the inner side of the edge plate 706 above the lower rotating shaft 702. One end of the upper rotating plate 704 is connected to the hydraulic rod 706. 03 is fixedly connected to the fixed plate 13. The two upper rotating plates 704 are rotatably connected to the positioning plate 705. When adjusting the angle, the two hydraulic rods 703 move outward synchronously. At this time, the upper rotating plate 704, the edge plate 706 and the positioning plate 705 will all flip downward synchronously, thereby changing the angle of the rotating structure 7. Similarly, when the two hydraulic rods 703 retract, the relevant structures will flip upward synchronously. It should be noted that the hydraulic rods 703 and the upper rotating plate 704 are hinged, allowing for a certain rotation error.

[0028] Furthermore, two rotating plates 12 are symmetrically installed on the outer end of the positioning plate 705, and a first track conveyor structure 18 is installed between the two rotating plates 12. The first track conveyor structure 18 is erected between the two rotating plates 12, and its conveying direction is parallel to the paving direction. The insulation chamber 4 can be placed on the first track conveyor structure 18 and then conveyed to the upper end of the frame 1 by means of the first track conveyor structure 18.

[0029] Furthermore, a guide groove 14 is provided at the upper end of the fixed plate 13. A slider is installed inside the guide groove 14. A movable plate 15 is installed at the upper end of the slider. A linkage plate 16 is rotatably connected to the front end of the movable plate 15. A fixed mounting plate 17 is rotatably connected to the front end of the linkage plate 16. The fixed mounting plate 17 is fixedly connected to the positioning plate 705. When the rotating plate 12 rotates, the fixed mounting plate 17 and the linkage plate 16 rotate. At this time, the movable plate 15 will move along the length direction of the guide groove 14. The sliding block and the guide groove 14 can limit the movement trajectory of the movable plate 15. At this time, the rotating plate 12, the fixed mounting plate 17, the linkage plate 16 and the movable plate 15 form a triangular structure. The heat preservation chamber 4 will move from the rotating plate 12 to the fixed mounting plate 17. The linkage plate 16 is inclined downward. At this time, the heat preservation chamber 4 will slide down to the surface of the movable plate 15 under the action of gravity. The surface of the movable plate 15 is inclined. At this time, the heat preservation chamber 4 will enter the surface of the frame 1 with the help of the movable plate 15.

[0030] Furthermore, two second tracked conveyor structures 30 are symmetrically installed on the inner walls of the two side plates 2 at the upper end of the frame 1. The two second tracked conveyor structures 30 are used in conjunction with the insulation chamber 4. The two second tracked conveyor structures 30 are symmetrically installed on the inner walls of the side plates 2 at the upper end of the frame 1 through brackets. Their conveying surfaces are in contact with the outer walls of both sides of the insulation chamber 4, and the running direction of the tracks is consistent with the feeding direction from the insulation chamber 4 to the transition chamber 5. When the second tracked conveyor structures 30 are running, they will move the insulation chamber 4 to the transition chamber 5, and the insulation chamber 4 and the transition chamber 5 will be connected manually.

[0031] Furthermore, a control processing unit is mounted on the upper part of the frame 1. Infrared temperature sensors are installed at the connection between the insulation chamber 4 and the transition chamber 5, and on the side of the discharge port 24 of the laying pipe 9. A vision sensor is installed at the discharge port 24 at the lower end of the laying pipe 9. Resistance heating devices are installed on the outside of the pipes of the first conveying auger 21 and the second auger 23. The control processing unit is encapsulated in a waterproof and dustproof protective box on the upper part of the frame 1, and its installation position is close to the transition chamber 5 to shorten the signal transmission distance. The infrared temperature sensor at the connection between the insulation chamber 4 and the transition chamber 5 is a non-contact sensor, and its detection range covers the entire cross section of the connection. The infrared temperature sensor on the side of the discharge port 24 of the laying pipe 9 faces the mixed material area after discharge. The vision sensor at the lower end of the laying pipe 9 is a high-definition industrial camera with a lens with anti-fouling coating, which can collect the spreading uniformity and segregation state of the mixed material in real time. The resistance heating device has a wrapped structure, which is attached to the outer wall of the pipes of the first and second conveying augers, and the outer layer is covered with insulation cotton to reduce heat loss.

[0032] Furthermore, the outer wall of the transition chamber 5 is equipped with a drive device connected to the first conveying auger 21, the interior of the laying pipe 9 is equipped with a drive device connected to the second conveying auger, the two hydraulic rods 703 inside the rotating structure 7 are both connected to the same hydraulic chamber, the inner sides of the two rotating plates 12 are equipped with drive devices connected to the first tracked conveyor structure 18, the inner sides of the two side plates 2 are equipped with drive devices connected to the second tracked conveyor structure 30, the interior of the mounting frame 19 is equipped with a drive device connected to the rolling roller 20, and the control processing unit is equipped with an infrared temperature sensor, a resistance heating device, a vision sensor, and multiple other devices. All drive units are connected by signals. The drive unit on the outer wall of the transition chamber 5 is a servo motor, whose output shaft is connected to the rotating shaft of the first conveying auger 21 via a coupling. The drive unit inside the laying pipe 9 is a micro geared motor, which is coaxially fixed with the rotating shaft of the second conveying auger. The two hydraulic rods 703 inside the rotating structure 7 are connected to the same hydraulic chamber via synchronous oil pipes to ensure that the extension and retraction of the two hydraulic rods 703 are consistent. The drive units of the first tracked conveyor structure 18 and the second tracked conveyor structure 30 are both hydraulic motors, and the drive unit of the rolling roller 20 is a vibrating motor. The signal connection between the control processing unit and each component adopts a dual method of "wired + wireless". The wired connection is used for the command transmission of the drive unit, and the wireless connection is used for the data feedback of the sensor to ensure the stability of the signal transmission.

[0033] A collaborative control method for unmanned paving speed driven by asphalt mixture properties includes the following steps: S1: Material preheating and supply. The control and processing unit starts the resistance heating device on the outside of the first and second conveying spiral auger pipes to preheat the pipes to the preset temperature; at the same time, it controls the operation of the second crawler conveyor structure 30 to transport the asphalt mixture in the insulation bin 4 to the transition bin 5, completing the material preparation before paving.

[0034] S2: Paving posture adjustment. The control and processing unit sends a command to the hydraulic chamber to drive the rotating structure 7 so that the height of the laying pipe 9 and the scraper 10 matches the target paving thickness, thus completing the paving posture calibration.

[0035] S3: Material conveying and temperature control. The first conveying screw 21 conveys the asphalt inside the insulation silo 4 to the feeding silo 8 and the laying pipe 9. The second conveying screw 21 drives the asphalt to be discharged from the discharge port 24. During the conveying process, the temperature is kept stable by the resistance heating device and the temperature sensor.

[0036] S4: Unmanned paving and compaction. After the asphalt is delivered to the ground from the discharge port 24, it is initially scraped flat by the scraper 10 and then compacted a second time by the roller 20.

[0037] S5: Air purification linkage, the control and processing unit adjusts the power of the negative pressure suction pump 25 of the air purifier 11 according to the temperature data of the infrared temperature sensor; at the same time, it receives feedback data from the particulate matter concentration sensor 27.

[0038] S6: Unmanned control and early warning. The control processing unit continuously receives data from various sensors. If the vision sensor detects segregation of the mixture or the infrared temperature sensor detects abnormal temperature, it automatically adjusts the auger speed, heating power, or paving speed to achieve unmanned automatic control.

[0039] The usage method of this embodiment is as follows: First, the insulated bin 4 loaded with asphalt mixture is placed on the corresponding tracked conveyor structure. The control processing unit on the frame 1 is started. This unit will automatically detect the operating status of each sensor and drive device. At the same time, the heating device outside the spiral auger pipe is started to preheat the pipe. Then, the control unit drives the tracked structure to transport the mixture in the insulated bin 4 to the transition bin 5 to complete the material preparation before paving. Simultaneously, the control unit sends a command to the hydraulic bin to drive the rotating structure 7 to adjust the angle so that the height of the laying pipe 9 and the scraper 10 matches the target paving thickness and completes the attitude calibration. The spiral auger transports the mixture to the laying pipe 9 and discharges it to the working surface in sequence. The heating device and the temperature sensor work together to maintain the temperature of the mixture. After the mixture is discharged, the scraper 10 moves with the equipment to perform preliminary leveling. The roller 20 follows synchronously to complete the compaction and shaping. During the operation, the control unit dynamically adjusts the power of the air pump of the air purifier 11 according to the temperature data, and monitors the purification effect through the concentration sensor. If the mixture segregation or abnormal temperature is detected, the auger speed, heating power and other parameters will be automatically adjusted. After the operation is completed, the control unit automatically shuts down all drive and heating components and archives the operation data. The air purifier 11's filter and other components can then be cleaned and maintained.

[0040] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An unmanned paving speed collaborative control system driven by the properties of asphalt mixture, comprising a chassis (1), wherein a tracked moving structure (3) is symmetrically mounted on the lower end of the chassis (1), characterized in that: Two side plates (2) are symmetrically installed on the upper two sides of the frame (1). A conveying chamber (6) is installed at the front of the upper end of the frame (1). A fixing plate (13) is installed at the rear of the upper end of the frame (1). A rotating structure (7) is installed at the front end of the conveying chamber (6) and the rear end of the fixing plate (13). A feeding chamber (8) is installed at the front end of the rotating structure (7) at the front end of the conveying chamber (6). A laying pipe (9) is installed at the lower end of the feeding chamber (8). A second conveying auger is installed inside the laying pipe (9). A transition chamber (5) is installed at the center of the upper end of the frame (1). A heat insulation chamber (4) is installed at the rear end of the transition chamber (5). The heat insulation chamber (4) is filled with asphalt. A first conveying auger (21) is set between the heat insulation chamber (4), the transition chamber (5), the conveying chamber (6), and the feeding chamber (8).

2. The asphalt mixture property-driven unmanned paving speed collaborative control system according to claim 1, characterized in that: Two air purifiers (11) are symmetrically installed at the lower front of the frame (1). A negative pressure air pump (25) is provided at the lower end of the air purifier (11). A filter screen (28) is provided inside the air purifier (11). An activated carbon layer (29) is provided at the upper end of the filter screen (28). An air outlet (26) is opened at the front end of the air purifier (11). A particle concentration sensor is provided inside the air outlet (26).

3. The asphalt mixture property-driven unmanned paving speed collaborative control system according to claim 2, characterized in that: The upper center of the laying pipe (9) is provided with a feed inlet (22), which is connected to the feeding bin (8). The lower end of the laying pipe (9) is provided with multiple discharge outlets (24) at equal intervals. A scraper (10) is installed at the lower end of the rotating structure (7) near the laying pipe (9). The scraper (10) is used in conjunction with the laying pipe (9).

4. The asphalt mixture property-driven unmanned paving speed collaborative control system according to claim 3, characterized in that: The rotating structure (7) includes a support plate (701), a lower rotating shaft (702), a hydraulic rod (703), an upper rotating plate (704), a positioning plate (705), and an edge plate (706). The support plate (701) is installed at the center of the rear end of the fixed plate (13). The lower rotating shaft (702) is installed on both sides of the support plate (701). The edge plate (706) is rotatably connected to the outer side of the lower rotating shaft (702). The upper rotating plate (704) is rotatably connected to the inner side of the edge plate (706) above the lower rotating shaft (702). One end of the upper rotating plate (704) is fixedly connected to the fixed plate (13) through the hydraulic rod (703). The positioning plate (705) is rotatably connected between the two upper rotating plates (704).

5. The asphalt mixture property-driven unmanned paving speed collaborative control system according to claim 4, characterized in that: Two rotating plates (12) are symmetrically installed on the outer end of the positioning plate (705), and a first track conveyor structure (18) is installed between the two rotating plates (12).

6. The asphalt mixture property-driven unmanned paving speed collaborative control system according to claim 5, characterized in that: The upper end of the fixed plate (13) is provided with a guide groove (14), a slider is installed inside the guide groove (14), a movable plate (15) is installed on the upper end of the slider, a linkage plate (16) is rotatably connected to the front end of the movable plate (15), a fixed mounting plate (17) is rotatably connected to the front end of the linkage plate (16), and the fixed mounting plate (17) is fixedly connected to the positioning plate (705).

7. The asphalt mixture property-driven unmanned paving speed collaborative control system according to claim 6, characterized in that: Two second track conveyor structures (30) are symmetrically installed on the inner walls of the two side plates (2) at the upper end of the frame (1). The two second track conveyor structures (30) are used in conjunction with the insulated compartment (4).

8. The asphalt mixture property-driven unmanned paving speed collaborative control system according to claim 7, characterized in that: The upper end of the frame (1) is equipped with a control processing unit. Infrared temperature sensors are installed at the connection between the heat preservation chamber (4) and the transition chamber (5) and on the side of the discharge port (24) of the laying pipe (9). A vision sensor is installed at the discharge port (24) at the lower end of the laying pipe (9). Resistance heating devices are installed on the outside of the pipes of the first conveying screw auger (21) and the second screw conveying screw auger (23).

9. The asphalt mixture property-driven unmanned paving speed collaborative control system according to claim 8, characterized in that: The outer wall of the transition chamber (5) is provided with a drive device connected to the first conveying auger (21). The inside of the laying pipe (9) is provided with a drive device connected to the second conveying auger. The two hydraulic rods (703) inside the rotating structure (7) are connected to the same hydraulic chamber. The inner sides of the two rotating plates (12) are provided with a drive device connected to the first track conveying structure (18). The inner sides of the two side plates (2) are provided with a drive device connected to the second track conveying structure (30). The inside of the mounting frame (19) is provided with a drive device connected to the rolling roller (20). The control processing unit is connected to the infrared temperature sensor, the resistance heating device, the vision sensor, and multiple drive devices.

10. The method for coordinated control of unmanned paving speed driven by asphalt mixture properties according to any one of claims 1-9, characterized in that, Includes the following steps: S1 Material preheating and supply: The control and processing unit starts the resistance heating device outside the first and second conveying spiral auger pipes to preheat the pipes to the preset temperature. At the same time, it controls the operation of the second crawler conveyor structure (30) to transport the asphalt mixture in the insulation bin (4) to the transition bin (5) to complete the material preparation before paving. S2 paving posture adjustment, the control processing unit sends a command to the hydraulic chamber to drive the rotating structure (7) so that the height of the laying pipe (9) and scraper (10) matches the target paving thickness, and completes the paving posture calibration; S3 Material conveying and temperature control: The first conveying screw auger (21) conveys the asphalt inside the insulation silo (4) to the feeding silo (8) and the laying pipe (9). The second conveying screw auger drives the asphalt to be discharged from the outlet (24). During the conveying process, the temperature is kept stable by the resistance heating device and the temperature sensor. S4 unmanned paving and compaction: after the asphalt is delivered to the ground from the discharge port (24), it is initially scraped by the scraper (10) and then compacted by the roller (20). The S5 air evolution linkage control processing unit adjusts the power of the negative pressure suction pump (25) of the air purifier (11) according to the temperature data of the infrared temperature sensor; at the same time, it receives feedback data from the particulate matter concentration sensor (27). The S6 features unmanned control and early warning. The control processing unit continuously receives data from various sensors. If the vision sensor detects segregation of the mixture or the infrared temperature sensor detects abnormal temperature, it automatically adjusts the auger speed, heating power, or paving speed.

Images