Paver travel path positioning system and construction method

Abstract

This invention provides a paver travel trajectory positioning system and construction method. An array of magnetically embedded parts is arranged along the side of the paver's travel trajectory. Multiple reference beams are detachably attached to the top of the magnetically embedded parts. A flexible guide arm extending vertically upwards is located at the rear end of each reference beam. A contact arm extending laterally outwards is located at the rear end of the paver near the trajectory side. When the contact arm contacts the flexible guide arm, a circuit is activated, releasing the magnetic attraction between the reference beam and the magnetically embedded parts. A transfer mechanism is located on the same side as the contact arm, which transfers the released reference beam, which has passed through the paved section, to the corresponding magnetically embedded part in the section to be paved ahead. During the paver's movement, a sensing unit detects and corrects the orientation deviation in real time. This solves the problems of low construction efficiency and poor positioning accuracy caused by frequent disassembly and reassembly of travel references in traditional paving construction.

Description

Technical Field

[0001] This invention relates to the field of road construction technology, and in particular to a paver travel trajectory positioning system and construction method. Background Technology

[0002] In road base paving operations, precise control of the paving width is a crucial aspect of ensuring construction quality. Current technology often employs a contact-based reference control method, which involves placing square steel beams on one or both sides of the paver as a reference for its travel trajectory. Positioning sensors are installed on the paver; these sensors contact or sense the sidewalls of the square steel beams, and by detecting the relative position with the beams, the extension of the screed is adjusted in real time, thereby ensuring the accuracy and straightness of the paving width.

[0003] However, in actual construction, due to the continuous forward movement of the paver, the length of the square steel used as a fixed reference is limited. To continuously provide this reference, traditional construction methods require manual labor to constantly dismantle and move the square steel from the rear to the front for reinstallation. This method has the following drawbacks: First, frequent manual movement of the square steel greatly increases the labor intensity of workers, and the process of moving and repositioning leads to construction interruptions, affecting the continuity of paving operations and overall construction efficiency. Second, when manually installing the square steel, it is difficult to ensure that each joint is absolutely straight and aligned, easily resulting in slight deviations at the joints, thus affecting the smoothness and consistency of the paving width and reducing the quality of road construction. Summary of the Invention

[0004] The main objective of this invention is to provide a paver travel trajectory positioning system and construction method, which solves the problems of low construction efficiency and poor positioning accuracy caused by frequent disassembly and assembly of traditional paving reference points.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a paver travel trajectory positioning system, wherein a magnetic pre-embedded component array is arranged along the side of the paver travel trajectory, multiple reference beams are detachably adsorbed on the top of the magnetic pre-embedded component, and a flexible guide arm extending vertically upward is provided at the rear end of the reference beam. The paver has a contact arm that extends laterally outward near the track at the rear end. When the contact arm contacts the flexible guide arm, it conducts a circuit to release the magnetic attraction between the reference beam and the magnetic pre-embedded part. A transfer mechanism is provided on the same side of the contact arm. The transfer mechanism is used to transfer the reference beam that has passed through the paved section to the corresponding magnetic pre-embedded part of the section to be paved ahead. The paver is equipped with a sensing unit on the side facing the reference beam. The sensing unit is used to detect the orientation deviation of the paver relative to the reference beam.

[0006] In the preferred embodiment, the main body of the reference beam adopts an insulating structure, and an embedded groove is provided in the middle of its lower surface. Several first magnetic blocks corresponding to the magnetic pre-embedded parts are provided in the embedded groove. Several first magnetic blocks are connected in series by wires. The end of the first magnetic block near the rear end of the reference beam passes vertically through the upper surface of the reference beam and extends upward to form a flexible guide arm. The extension height is not less than the height of the contact arm. The number of first magnetic blocks on the lower surface of each reference beam is at least two.

[0007] In the preferred embodiment, the magnetic pre-embedded part is set outside the road paving area, and the lateral extension length of the contact arm and the lateral extension length of the transfer mechanism are adapted to the layout position of the magnetic pre-embedded part. The main body of the contact arm is an insulated first extension rod connected to the paver. The end of the first extension rod is equipped with a conductive component, and the width range of the conductive component is adapted to the travel deviation range of the paver.

[0008] In the preferred embodiment, the transfer mechanism includes a longitudinal moving component, a vertical moving component, and a gripping unit; The longitudinal guide rail and longitudinal screw are fixed on the side of the paver facing the reference beam, and are set parallel to the central axis of the paver. Their length is adapted to the moving distance of the reference beam. The longitudinal slider is connected to the longitudinal screw thread through the screw nut part in the middle, and the lower end is slidably connected to the longitudinal guide rail, forming a two-way constrained linear guide rail mechanism. The output end of the first motor is connected to one end of the longitudinal screw, driving the longitudinal slider to move linearly along the central axis of the paver, forming a longitudinal moving component. The slider is provided with a second extension rod on the side facing the reference beam. One end of the second extension rod is fixedly connected to the slider, and the other end is fixedly connected to at least two longitudinally spaced hydraulic cylinders. The hydraulic cylinders are set perpendicular to the ground, and their moving ends point to the ground and are connected to the gripping unit, forming a vertical moving component.

[0009] In the preferred embodiment, the upper surface of the reference beam is provided with at least two second magnetic blocks arranged longitudinally at intervals. The hydraulic cylinder corresponds to each of the second magnetic blocks, and the gripping unit at its end is an electromagnetic coil adapted to the second magnetic blocks, which is used to grip the reference beam by electromagnetically attracting the second magnetic blocks.

[0010] In the preferred embodiment, the sensing unit is located at the front end of the paver, near the reference beam. The sensing unit is one or more of the following: sliding arm sensor, displacement sensor, contact ultrasonic slipper, ultrasonic sensor, laser rangefinder, infrared rangefinder, millimeter-wave radar sensor, and GNSS-assisted rangefinder.

[0011] In the preferred embodiment, the paver is equipped with a control center, and the sensing unit, contact arm, and transfer mechanism are electrically connected to the control center. The control center reads the detection data from the sensing unit and controls the traveling mechanism on the paver to correct the traveling trajectory in real time.

[0012] A construction method for a paver travel trajectory positioning system, the method comprising: S1. Level and compact the ground of the pre-set travel section of the paver, plan the precise travel trajectory line according to the construction drawings, and embed magnetic pre-attached parts at equal intervals along the non-paving area outside the trajectory line to form a complete pre-embedded positioning array. S2. Place the initial multiple reference beams sequentially on the top of the magnetic pre-embedded parts. Relying on the magnetic attraction force between the first magnetic block and the magnetic pre-embedded parts, fix the reference beams and make the multiple reference beams form a continuous linear guide reference along the walking trajectory. S3. Start the paver and control the paver to move forward along the guide reference formed by the reference beam, and carry out road paving construction simultaneously. The sensing unit at the front of the paver detects the relative orientation deviation with the reference beam in real time. The control center receives the data and adjusts the walking mechanism to correct the trajectory. S4. The paver continues to move forward until the conductive component of the rear contact arm contacts the flexible guide arm of the reference beam corresponding to the paved section behind, thus activating the demagnetization circuit. S5. The control center synchronously starts the transfer mechanism. The hydraulic cylinder drives the electromagnetic coil to move down and fit the second magnetic block. The longitudinal moving component drives the whole to move forward, and the reference beam is transferred to the empty magnetic pre-embedded part of the road section to be paved in front. S6. The hydraulic cylinder drives the reference beam to be lowered, closes the positioning magnetic attraction circuit, and makes the reference beam accurately attract the empty magnetic pre-embedded part to complete a single transfer cycle. S7. Continue repeating steps S3 to S6 until the paving of the entire road section is completed.

[0013] In the preferred scheme, during step S5, when multiple reference beams move forward alternately, synchronous timing calculations are performed by combining the real-time walking speed of the paver and the conveying speed of the conveying mechanism. A dynamic operation mode of moving and conveying simultaneously is adopted to ensure that the normal paving construction of the paver is not interrupted. When the reference beam is moved and repositioned, ensure that the adjacent reference beams are tightly connected end to end without gaps or misalignment, and always maintain a complete and continuous reference beam covering the front of the paver's travel path to ensure that the positioning accuracy of the entire trajectory is not affected by the moving action.

[0014] In the preferred embodiment, after the contact arm contacts the flexible guide arm, the demagnetization circuit corresponding to the first magnetic block adopts the instantaneous pulse energizing mode, which is only briefly energized before the reference beam is grasped and transferred, and then immediately de-energized after the magnetic attraction is quickly released. The electromagnetic coil and the second magnetic block are continuously energized until the reference beam is moved to the position and below the empty magnetic pre-embedded part. Then the corresponding magnetic circuit is disconnected to ensure the overall stability of the transfer process and the positioning state.

[0015] This invention provides a paver travel trajectory positioning system and construction method, effectively solving a series of problems caused by the manual disassembly and handling of reference components in traditional paving construction. It automates the paver travel trajectory positioning operation, eliminating the need for frequent manual disassembly, handling, and reassembly of reference beams, significantly reducing labor intensity, and preventing construction interruptions caused by manual operation. This ensures the continuity of paving operations and significantly improves overall construction efficiency. The system relies on the combination of magnetic positioning and automated transfer, eliminating the need for manual intervention in the relocation of reference beams, fundamentally eliminating the problem of construction rhythm interruptions caused by manual operation, and adapting to the continuous operation requirements of road construction.

[0016] The system's positioning accuracy is effectively guaranteed. The relative orientation deviation between the paver and the reference beam is detected in real time by the sensing unit. The control center synchronously adjusts the traveling mechanism to correct the trajectory. When the reference beam moves forward alternately, seamless connection between the beginning and end is achieved, avoiding joint deviations caused by manual installation of the reference beam. This ensures the straightness of the paver's trajectory, thereby guaranteeing the flatness and consistency of the paving width and improving the overall road construction quality. The precise adhesion between the magnetically embedded parts and the reference beam, along with the high-precision linear transfer of the conveying mechanism, further ensures the positioning accuracy of the reference beam, making the control of the paving trajectory even more precise.

[0017] The system boasts a rational overall structural design, perfectly suited to the actual needs of construction sites. Magnetic pre-embedded components are located outside the paving area, allowing for recycling and reuse after construction, effectively reducing material costs. Its anchoring structure ensures both installation stability and flush surface with the ground, without affecting the positioning of the reference beam. The reference beam employs an insulated main structure with concealed conductive components; the contact arm only has conductive components at its ends, effectively mitigating the risk of electric shock. The transfer mechanism's structural design combines high precision with strong load-bearing capacity, adapting to harsh on-site conditions. Furthermore, the system requires no modification to the paver's original main structure, making it compatible with various conventional paver models. Electromagnetic control utilizes differentiated on / off modes, ensuring operational stability while reducing energy consumption. All components achieve closed-loop linkage through the control center, with precise timing matching, enabling a dynamic operation mode of simultaneous movement and transfer, perfectly suited to the on-site construction conditions of road paving. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall layout of the positioning system of the present invention; Figure 2 This is a structural diagram of the reference beam of the present invention; Figure 3 This is a side view of the structure when the reference beam of the present invention is adsorbed onto the magnetically embedded part; Figure 4 This is a diagram showing the contact and conduction structure between the contact arm and the flexible guide arm of the present invention; Figure 5 This is a structural diagram of the moving mechanism of the present invention.

[0019] In the diagram: 1. Paver; 2. Magnetic embedded part; 3. Reference beam; 301. Embedded groove; 4. Flexible guide arm; 5. Contact arm; 501. First extension rod; 502. Conductive component; 6. Transfer mechanism; 601. Longitudinal guide rail; 602. Longitudinal lead screw; 603. Longitudinal slider; 604. First motor; 605. Second extension rod; 606. Hydraulic cylinder; 607. Electromagnetic coil; 7. Sensing unit; 8. First magnetic block; 9. Wire; 10. Second magnetic block; 888. Control center. Detailed Implementation

[0020] Example 1 like Figure 1-5 As shown, a paver travel trajectory positioning system is provided, with an array of magnetic pre-embedded parts 2 arranged along the side of the paver 1 travel trajectory. Multiple reference beams 3 are detachably attached to the top of the magnetic pre-embedded parts 2, and a flexible guide arm 4 extending vertically upward is provided at the rear end of the reference beam 3. The paver 1 has a contact arm 5 extending laterally outward near the track side at the rear end. When the contact arm 5 contacts the flexible guide arm 4, the circuit is connected to release the magnetic attraction between the reference beam 3 and the magnetic pre-embedded part 2. A transfer mechanism 6 is provided on the same side of the contact arm 5. The transfer mechanism 6 is used to transfer the reference beam 3 that has passed through the paved section to the corresponding magnetic pre-embedded part 2 of the section to be paved ahead. A sensing unit 7 is provided on the side of the paver 1 facing the reference beam 3. The sensing unit 7 is used to detect the orientation deviation of the paver 1 relative to the reference beam 3.

[0021] This application discloses a paver travel trajectory positioning system. The overall system is suitable for paving operations of water-stabilized base courses and asphalt surface courses. It relies on pre-embedded magnetic positioning and automated transfer to replace the traditional construction mode of repeatedly disassembling and moving reference components manually. The system mainly consists of magnetic pre-embedded parts 2, reference beams 3, contact arms 5, transfer mechanisms 6, sensing units 7, and control centers 888. The magnetic pre-embedded parts 2 are pre-embedded at equal intervals along the non-paving area outside the travel trajectory of the paver 1. In this embodiment, three reference beams 3 are preferably used as linear guide carriers, which alternately move forward to achieve continuous and uninterrupted guidance.

[0022] The paver 1 is equipped with a sensing unit 7 at the front end to detect orientation deviation in real time, and a contact arm 5 and a transfer mechanism 6 are integrated on the same side at the rear. The machine body is equipped with a control center 888 to achieve closed-loop control of the entire process. During travel, the sensing unit 7 synchronously transmits deviation data to correct the trajectory. After the rear contact arm 5 contacts the reference beam 3 and the flexible guide arm 4, it automatically triggers demagnetization, and the transfer mechanism 6 then completes the forward movement and reset of the reference beam 3. No manual intervention is required throughout the process. This system does not require modification to the original main structure of the paver, is compatible with various conventional paver models, and can be adapted to double-sided reference installation. Magnetic positioning combined with automatic transfer ensures the accuracy of the paving trajectory, eliminates errors caused by manual handling and construction interruptions, and significantly improves the efficiency of continuous construction.

[0023] In the preferred embodiment, the main body of the reference beam 3 adopts an insulating structure, and an embedded groove 301 is provided in the middle of its lower surface. Several first magnetic blocks 8 corresponding to the magnetic pre-embedded parts 2 are provided in the embedded groove 301. The wires 9 are connected in series to several first magnetic blocks 8. The end of the wires 9 near the rear end of the reference beam 3 passes vertically through the upper surface of the reference beam 3 and extends upward to form a flexible guide arm 4. The extension height is not less than the height of the contact arm 5. The number of first magnetic blocks 8 on the lower surface of each reference beam 3 is at least two.

[0024] In this embodiment, three reference beams 3 are used. When moving a single reference beam 3, the remaining two beams can cover the travel path of the paver 1, ensuring no guide gaps and avoiding redundancy due to excessive quantity. The length of each reference beam 3 is adapted to the alternating maneuvering requirements, ensuring seamless overlap between adjacent reference beams 3 and avoiding guide gaps. The flexible guide arm 4 has basic upright performance and can withstand the tilting deformation caused by the contact arm 5. After the contact arm 5 is detached, it can autonomously rebound to restore its vertical state without affecting subsequent cycle triggering.

[0025] In the preferred embodiment, the magnetic pre-embedded part 2 is set outside the road paving area, and the lateral extension length of the contact arm 5 and the lateral extension length of the transfer mechanism 6 are adapted to the layout position of the magnetic pre-embedded part 2. The main body of the contact arm 5 is an insulated first extension rod 501 connected to the paver 1. The end of the first extension rod 501 is provided with a conductive component 502. The width range of the conductive component 502 is adapted to the travel deviation range of the paver 1.

[0026] The magnetic pre-embedded part 2 is installed on the outside of the road paving area. It will not be covered by asphalt or water-stabilized mixture during the entire paving process. After the construction is completed, it can be completely excavated and recycled, realizing repeated use and effectively reducing the cost of construction materials. The magnetic pre-embedded part 2 has its own independent anchoring structure. The top surface is flush with the construction ground without any protrusions or depressions, ensuring that the bottom of the reference beam 3 is stably attached and does not affect the positioning and installation accuracy. The anchoring structure avoids the magnetic attraction force from affecting the anchoring stability and prevents the pre-embedded part from shifting or loosening.

[0027] The insulation body of the reference beam 3 is made of fiberglass insulating profiles, rigid engineering plastics, or epoxy composite insulating boards. All three materials have excellent insulation performance and meet the requirements of road construction for pressure resistance, wear resistance, and deformation resistance. The depth of the embedded groove 301 must ensure that the lower surface of the first magnetic block 8 is completely suspended from the ground without any direct contact, thus avoiding the risk of electric shock caused by current conduction to the ground after energization. Three first magnetic blocks 8 are set on the lower surface of a single reference beam 3. The three first magnetic blocks 8 are arranged at intervals along the longitudinal direction of the reference beam 3 to ensure that the magnetic force on the reference beam 3 is uniform, and that the positioning is not offset or warped. The conductor 9 connects the three first magnetic blocks 8 in series to form a complete demagnetization circuit, and the end extends to form a flexible guide arm 4. The overall conductive path is concealed and there is no risk of exposure.

[0028] The magnetic pre-embedded parts 2 are evenly spaced along the travel trajectory. The spacing parameters are perfectly matched with the length of the reference beam 3 and the spacing of the first magnetic block 8, ensuring that the reference beam 3 can be accurately aligned and attracted after alternating forward movement, with no gaps between the beginning and end. The conductive component 502 at the end of the contact arm 5 is only set in a small area at the end, without full-length conductive design, reducing the live contact range and avoiding the risk of electric shock due to an excessively large conductive range; the width of the conductive component 502 is adapted to the normal travel deviation range of the paver 1, ensuring that the contact arm 5 can still accurately contact and trigger the flexible guide arm 4 when the paver deviates slightly.

[0029] In the preferred embodiment, the transfer mechanism 6 includes a longitudinal moving component, a vertical moving component, and a gripping unit; The longitudinal guide rail 601 and the longitudinal screw 602 are fixed on the side of the paver 1 facing the reference beam 3, and are set parallel to the central axis of the paver 1. Their length is adapted to the moving distance of the reference beam 3. The longitudinal slider 603 is threadedly connected to the longitudinal screw 602 through the screw nut part in its middle, and its lower end is slidably connected to the longitudinal guide rail 601, forming a bidirectional constrained linear guide rail mechanism. The output end of the first motor 604 is connected to one end of the longitudinal screw 602, driving the longitudinal slider 603 to move linearly along the central axis of the paver 1, forming a longitudinal moving component. The slider 603 is provided with a second extension rod 605 on the side facing the reference beam 3. One end of the second extension rod 605 is fixedly connected to the slider 603, and the other end is fixedly connected to at least two longitudinally spaced hydraulic cylinders 606. The hydraulic cylinders 606 are set perpendicular to the ground, and their moving ends point to the ground and are connected to the gripping unit to form a vertical moving component.

[0030] The transfer mechanism 6 adopts a ball screw guide rail structure, which features high linear transfer accuracy, smooth operation without jamming, and strong load-bearing capacity, stably supporting the self-weight of the reference beam 3 and adapting to harsh working conditions on construction sites. The longitudinal guide rail 601 and the longitudinal screw 602 are arranged parallel to the central axis of the paver 1, and their length is adapted to the single transfer distance of a single reference beam 3, meeting the travel requirements of alternating movement of three reference beams. The longitudinal slider 603 adopts a bidirectional constraint design, with no lateral displacement during the sliding process. The lateral extension length of the second extension rod 605 is adapted to the placement position of the magnetic pre-embedded part 2. The two hydraulic cylinders 606 are arranged longitudinally at intervals to ensure balanced force during vertical lifting and lowering, preventing tilting and swaying of the reference beam 3.

[0031] In the preferred embodiment, the upper surface of the reference beam 3 is provided with at least two second magnetic blocks 10 arranged longitudinally at intervals. The hydraulic cylinder 606 corresponds one-to-one with the second magnetic blocks 10, and the gripping unit at its end is an electromagnetic coil 607 adapted to the second magnetic blocks 10, which is used to grip the reference beam 3 by electromagnetically attracting the second magnetic blocks 10.

[0032] Two second magnetic blocks 10 are fixedly arranged on the upper surface of the reference beam 3, spaced apart longitudinally, corresponding one-to-one with the electromagnetic coils 607 at the ends of the two hydraulic cylinders 606. This two-point adsorption ensures that the reference beam 3 remains straight during transport, eliminating the risk of twisting or falling off. While ensuring gripping stability, this reduces the number of magnetic blocks, lowering costs and reducing magnetic field interference. The first magnetic block 8 and the second magnetic block 10 are staggered vertically, with no overlap in their vertical projections, avoiding mutual interference of the magnetic fields of the magnetic blocks.

[0033] In the preferred embodiment, the sensing unit 7 is located at the front end of the paver 1 near the reference beam 3. The sensing unit 7 is one or more of the following: sliding arm sensor, displacement sensor, contact ultrasonic slipper, ultrasonic sensor, laser rangefinder, infrared rangefinder, millimeter-wave radar sensor, and GNSS-assisted rangefinder.

[0034] In the preferred embodiment, the paver 1 is equipped with a control center 888. The sensing unit 7, the contact arm 5, and the transfer mechanism 6 are electrically connected to the control center 888. The control center 888 reads the detection data from the sensing unit 7 and controls the walking mechanism on the paver 1 to correct the walking trajectory in real time.

[0035] The sensing unit 7 is installed at the front end of the paver 1, near the reference beam 3, close to the guide reference, resulting in a shorter detection distance and higher accuracy. The control center 888 adopts an integrated PLC control module with built-in timing control logic and trajectory deviation correction algorithm. It receives deviation data transmitted by the sensing unit 7 in real time, compares it with the preset travel trajectory parameters, and sends a trajectory correction command to the travel mechanism of the paver 1 to achieve real-time correction. At the same time, it synchronously links the conductive on / off of the contact arm 5, the start / stop of the transfer mechanism 6, and the energization / disconnection of the electromagnetic coil 607 to complete the fully automated timing control of demagnetization, gripping, transfer, and reset. The actions of each component are without delay, enabling the paving operation and the transfer of the reference beam to proceed synchronously without interrupting construction.

[0036] Example 2 Further explanation in conjunction with Example 1, such as Figure 1-5 The structure shown illustrates a construction method for a paver travel trajectory positioning system, the method comprising: S1. Level and compact the ground of the pre-set travel section of the paver 1, plan the precise travel trajectory line according to the construction drawings, and pre-embed the magnetic pre-embedded parts 2 at equal intervals along the non-paving area outside the trajectory line to form a complete pre-embedded positioning array. S2. The initial multiple reference beams 3 are placed on the top of the magnetic pre-embedded part 2 in sequence. The reference beams 3 are fixed by the magnetic attraction force between the first magnetic block 8 and the magnetic pre-embedded part 2, so that the multiple reference beams 3 form a continuous linear guide reference along the walking trajectory. S3. Start paver 1 and control paver 1 to move forward along the guide reference formed by reference beam 3, and carry out road paving construction simultaneously. The sensing unit 7 at the front end of paver 1 detects the relative orientation deviation with reference beam 3 in real time. The control center 888 receives the data and adjusts the walking mechanism to correct the trajectory. S4. The paver 1 continues to move forward until the conductive component 502 of the tail arm 5 contacts the flexible guide arm 4 of the reference beam 3 corresponding to the paved section behind, and the demagnetization circuit is activated. S5, the control center 888 synchronously starts the transfer mechanism 6, the hydraulic cylinder 606 drives the electromagnetic coil 607 to move down and attach to the second magnetic block 10, the longitudinal moving component drives the whole to move forward, and transfers the reference beam 3 to the empty magnetic embedded part 2 of the road section to be paved in front. S6, hydraulic cylinder 606 drives the reference beam 3 to be lowered, closes the positioning magnetic attraction circuit, so that the reference beam 3 is precisely attracted to the empty magnetic pre-embedded part 2, and completes a single transfer cycle; S7. Continue repeating steps S3 to S6 until the paving of the entire road section is completed.

[0037] This embodiment discloses an automated construction method based on the above-mentioned positioning system. The overall method revolves around the core logic of continuous paving, dynamic transfer, and precise positioning. It forms a complete supporting system with the device structure of Embodiment 1. The method focuses on optimizing the construction sequence, spatial orientation layout, and differentiated electrical control logic to adapt to the continuous and uninterrupted construction needs of the paver and solve the problems of low efficiency and large error in traditional construction.

[0038] In the preferred scheme, during step S5, when multiple reference beams 3 move forward alternately, synchronous timing calculations are performed by combining the real-time walking speed of paver 1 and the conveying speed of conveying mechanism 6. A dynamic operation mode of moving and conveying simultaneously is adopted to ensure that the normal paving construction of paver 1 is not interrupted. When the reference beam 3 is moved and repositioned, ensure that the adjacent reference beams 3 are closely connected end to end without gaps or misalignment, and always maintain a complete and continuous coverage of reference beams 3 in front of the paver 1's travel path to ensure that the positioning accuracy of the entire trajectory is not affected by the moving action.

[0039] In the preferred embodiment, after the contact arm 5 contacts the flexible guide arm 4, the demagnetization circuit corresponding to the wire 9 and the first magnetic block 8 adopts the instantaneous pulse power-on mode, which is only briefly powered on before the reference beam 3 grabs and transfers, and is immediately powered off after the magnetic attraction is quickly released. The electromagnetic coil 607 and the second magnetic block 10 are held and attracted by a continuous power supply mode until the reference beam 3 is moved to the position and below it and close to the empty magnetic pre-embedded part 2. Then the corresponding magnetic circuit is disconnected to ensure the overall stability of the transfer process and the positioning state.

[0040] In the early stages of construction, rigorous ground leveling and compaction are essential. Ground flatness directly determines the positioning accuracy of the reference beam 3. Uneven ground surfaces must be avoided to prevent the reference beam 3 from tilting or causing uneven magnetic force. Subsequently, magnetic pre-embedded parts 2 are pre-embedded at equal intervals along the outer non-paving area of ​​the planned trajectory. This arrangement does not occupy the pavement paving area, does not affect the pavement structure formation, and facilitates the recycling and reuse of the magnetic pre-embedded parts 2 after construction, reducing construction costs. When initially laying out the three reference beams 3, it is necessary to ensure a tight overlap at both ends to form a continuous linear guiding reference, providing a precise reference for the initial movement of the paver 1 and eliminating initial positioning deviations. Minor transfer errors during the alternating forward movement of the reference beams 3 are automatically corrected and aligned using magnetic attraction.

[0041] The construction process adopts a dynamic synchronous operation mode. Spatially, the contact arm 5 and the transfer mechanism 6 are both located on the same side of the rear of the paver 1, close to the reference beam 3. This shortens the component movement stroke and improves the response speed, while effectively avoiding core operating components such as the paver's auger spreader and screed, thus preventing construction interference. In terms of timing, the entire process of the transfer mechanism 6's grabbing, lifting, transferring, and resetting is calculated in advance based on the real-time travel speed of the paver 1. The timing parameters are matched by the control center 888, enabling the paver 1 to move and transfer simultaneously without stopping to wait for the reference beam to move, ensuring the continuity of paving operations. When the three reference beams 3 are alternately moved, the transfer rhythm is strictly controlled, always maintaining two reference beams covering the paver 1's travel path. Adjacent reference beams are seamlessly connected after transfer, with no guide gaps or misalignments, ensuring that the trajectory positioning accuracy is not affected by the transfer action throughout the entire process.

[0042] The electromagnetic control system employs differentiated on / off logic to meet the requirements of construction safety and operational stability. After the contact arm 5 contacts the flexible guide arm 4, the demagnetization circuit adopts an instantaneous pulse energization mode, which is only briefly energized before the reference beam 3 is grasped and moved. The first magnetic block 8 and the magnetic pre-embedded part 2 are quickly released from magnetic attraction, and the power is immediately cut off. There is no need for continuous energization, resulting in extremely low energy consumption and reduced energization time, thus improving construction safety. The electromagnetic coil 607 adopts a continuous energization mode, starting from the grasping of the reference beam 3 until the reference beam 3 is moved into place and lowered close to the magnetic pre-embedded part 2 before being de-energized. The grasping force is maintained throughout the process to prevent the reference beam 3 from falling off or shifting during the transfer. After being lowered into place, the reference beam 3 relies on the permanent magnet force of the first magnetic block 8 and the magnetic pre-embedded part 2 to restore stable attraction. The entire electrical control timing and spatial layout are perfectly adapted to the complex working conditions of the construction site, taking into account construction efficiency, positioning accuracy, and electrical safety.

[0043] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A paver travel trajectory positioning system, characterized in that: A magnetic pre-embedded part (2) array is arranged along the side of the paver (1) travel track. Multiple reference beams (3) are detachably attached to the top of the magnetic pre-embedded part (2). The rear end of the reference beam (3) is provided with a flexible guide arm (4) extending vertically upward. The paver (1) has a horizontally extending contact arm (5) at the rear end near the track side. When the contact arm (5) contacts the flexible guide arm (4), the circuit is connected to release the magnetic attraction between the reference beam (3) and the magnetic pre-embedded part (2). The same side of the contact arm (5) is provided with a transfer mechanism (6), which is used to transfer the reference beam (3) that has passed through the paved section to the corresponding magnetic pre-embedded part (2) of the section to be paved ahead; The paver (1) is equipped with a sensing unit (7) on the side facing the reference beam (3). The sensing unit (7) is used to detect the orientation deviation of the paver (1) relative to the reference beam (3).

2. The paver travel trajectory positioning system according to claim 1, characterized in that: The main body of the reference beam (3) adopts an insulating structure. An embedded groove (301) is provided in the middle of its lower surface. Several first magnetic blocks (8) corresponding to the magnetic pre-embedded parts (2) are provided in the embedded groove (301). The wire (9) is connected in series with several first magnetic blocks (8). The end of the wire (9) near the rear end of the reference beam (3) passes vertically through the upper surface of the reference beam (3) and extends upward for a distance to form a flexible guide arm (4). The extension height is not lower than the height of the contact arm (5). The number of first magnetic blocks (8) on the lower surface of each reference beam (3) is at least two.

3. The paver travel trajectory positioning system according to claim 1, characterized in that: The magnetic pre-embedded part (2) is set outside the road paving area. The lateral extension length of the contact arm (5) and the lateral extension length of the transfer mechanism (6) are adapted to the layout position of the magnetic pre-embedded part (2). The main body of the contact arm (5) is an insulated first extension rod (501) connected to the paver (1). The end of the first extension rod (501) is provided with a conductive component (502). The width range of the conductive component (502) is adapted to the travel deviation range of the paver (1).

4. The paver travel trajectory positioning system according to claim 1, characterized in that: The transfer mechanism (6) includes a longitudinal moving component, a vertical moving component, and a gripping unit; The longitudinal guide rail (601) and the longitudinal screw (602) are fixed on the side of the paver (1) facing the reference beam (3) and are set parallel to the central axis of the paver (1). Their length is adapted to the conveying distance of the reference beam (3). The longitudinal slider (603) is threadedly connected to the longitudinal screw (602) through the screw nut part in its middle part, and its lower end is slidably connected to the longitudinal guide rail (601) to form a linear guide rail mechanism with bidirectional constraints. The output end of the first motor (604) is connected to one end of the longitudinal screw (602) to drive the longitudinal slider (603) to move linearly along the central axis of the paver (1) to form a longitudinal moving component. The slider (603) is provided with a second extension rod (605) facing the reference beam (3). One end of the second extension rod (605) is fixedly connected to the slider (603), and the other end is fixedly connected to at least two longitudinally spaced hydraulic cylinders (606). The hydraulic cylinders (606) are set perpendicular to the ground, and their moving ends point to the ground and are connected to the gripping unit to form a vertical moving component.

5. The paver travel trajectory positioning system according to claim 4, characterized in that: The upper surface of the reference beam (3) is provided with at least two second magnetic blocks (10) arranged longitudinally at intervals. The hydraulic cylinder (606) corresponds to the second magnetic blocks (10) one by one. The gripping unit at its end is an electromagnetic coil (607) adapted to the second magnetic blocks (10) for gripping the reference beam (3) by electromagnetic attraction of the second magnetic blocks (10).

6. The paver travel trajectory positioning system according to claim 1, characterized in that: The sensing unit (7) is located at the front end of the paver (1) near the reference beam (3); The sensing unit (7) is one or more of the following: sliding arm sensor, displacement sensor, contact ultrasonic slipper, ultrasonic sensor, laser rangefinder, infrared rangefinder, millimeter-wave radar sensor, and GNSS-assisted rangefinder.

7. The paver travel trajectory positioning system according to claim 1, characterized in that: The paver (1) is equipped with a control center (888). The sensing unit (7), the contact arm (5), and the transfer mechanism (6) are electrically connected to the control center (888). The control center (888) reads the detection data of the sensing unit (7) and controls the walking mechanism on the paver (1) to correct the walking trajectory in real time.

8. A construction method for a paver travel trajectory positioning system according to any one of claims 1-7, characterized in that: The method includes: S1. Level and compact the ground of the pre-set walking section of the paver (1), plan the precise walking trajectory line according to the construction drawings, and embed the fixed magnetic pre-embedded parts (2) at equal intervals along the non-paving area outside the trajectory line to form a complete pre-embedded positioning array. S2. Place the initial multiple reference beams (3) on the top of the magnetic pre-embedded part (2) in sequence. Relying on the magnetic attraction force between the first magnetic block (8) and the magnetic pre-embedded part (2), the reference beams (3) are fixed, so that the multiple reference beams (3) form a continuous linear guide reference along the walking trajectory. S3. Start the paver (1), control the paver (1) to move forward along the guide reference formed by the reference beam (3), and carry out road paving construction simultaneously. The sensing unit (7) at the front end of the paver (1) detects the relative orientation deviation with the reference beam (3) in real time. The control center (888) receives the data and adjusts the walking mechanism to correct the trajectory. S4. The paver (1) continues to move forward until the conductive component (502) of the tail arm (5) contacts the flexible guide arm (4) of the reference beam (3) corresponding to the paved section behind, and the demagnetization circuit is activated. S5. The control center (888) synchronously starts the transfer mechanism (6), the hydraulic cylinder (606) drives the electromagnetic coil (607) to move down and attach to the second magnetic block (10), the longitudinal moving component drives the whole to move forward, and the reference beam (3) is moved to the empty magnetic embedded part (2) above the road section to be paved in front; S6. The hydraulic cylinder (606) drives the reference beam (3) to be lowered, closes the positioning magnetic attraction circuit, and makes the reference beam (3) precisely attract the empty magnetic pre-embedded part (2) to complete a single transfer cycle. S7. Continue repeating steps S3 to S6 until the paving of the entire road section is completed.

9. The construction method of the paver travel trajectory positioning system according to claim 8, characterized in that: In step S5, during the alternating forward movement of multiple reference beams (3), the real-time walking speed of the paver (1) and the conveying speed of the conveying mechanism (6) are combined to perform synchronous timing calculations. A dynamic operation mode of moving and conveying at the same time is adopted to ensure that the normal paving construction of the paver (1) is not interrupted. When the reference beam (3) is moved and repositioned, ensure that the adjacent reference beams (3) are closely connected end to end, without gaps or misalignment, and always maintain a complete and continuous reference beam (3) covering the front of the paver (1) travel path, so as to ensure that the positioning accuracy of the entire trajectory is not affected by the moving action.

10. The construction method of the paver travel trajectory positioning system according to claim 8, characterized in that: After the contact arm (5) comes into contact with the flexible guide arm (4), the demagnetization circuit corresponding to the wire (9) and the first magnetic block (8) adopts the instantaneous pulse power-on mode, which is only briefly powered before the reference beam (3) grabs and transfers, and is immediately powered off after the magnetic attraction is quickly released. The electromagnetic coil (607) and the second magnetic block (10) are held and attracted by a continuous power supply mode until the reference beam (3) is moved to the position and below it is close to the empty magnetic pre-embedded part (2). Then the corresponding magnetic circuit is disconnected to ensure the overall stability of the transfer process and the positioning state.

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