A mobile partition sprinkling feedback control method and system under construction process constraints

Abstract

The application discloses a mobile partition watering feedback control method and system under construction process constraints, relates to the technical field of intelligent control of engineering construction, and divides watering control units according to a construction route and a watering coverage width, obtains a current water content state of a construction unit according to a humidity monitoring node, determines water supply per unit area in combination with a construction material category, a filling thickness and a construction process allowed water content, and determines a control instruction trigger position according to a vehicle speed, a water spraying assembly installation position and a water supply response time delay. After the vehicle drives through the construction unit, the same humidity monitoring node is used to obtain a feedback water content, and a unit water quantity humidification response coefficient is corrected in combination with an actual unit area water supply, and is used for water supply control of subsequent similar construction units.

Description

Technical Field

[0001] This invention belongs to the field of intelligent control technology for engineering construction, and in particular relates to a mobile zoned sprinkler feedback control method and system under construction process constraints. Background Technology

[0002] In the construction of roadbed filling, earthwork, and site slab construction, the moisture content of construction materials directly affects the effectiveness of subsequent leveling and compaction processes. If the moisture content of the materials is too low, water must be sprayed to increase it; however, excessive water spraying can easily lead to localized water accumulation, overly wet materials, or delays in subsequent compaction operations. Therefore, the amount of water sprayed must be rationally controlled based on the actual moisture content of the construction area and the requirements of the construction procedures.

[0003] Currently, construction sites typically rely on manual experience to control the speed, spraying time, and spraying intensity of water sprinkler vehicles, or on humidity detection devices installed in the construction area to determine whether watering is necessary. Some automated sprinkler systems can adjust the water pump flow or valve opening based on the difference between the detected moisture content and the target moisture content, thereby reducing fluctuations in water volume caused by complete reliance on manual judgment.

[0004] However, construction areas are usually distributed continuously along the construction route, and water sprinkler vehicles are in a moving state. There is a spatial difference between the humidity detection location, the vehicle's current location, and the actual water spray point. There is also a certain response time for valve action, water pump supply, and water flow establishment in the pipeline. Controlling water spraying solely based on the humidity value corresponding to the vehicle's current location can easily lead to a misalignment between the actual spraying area and the construction area to be adjusted.

[0005] On the other hand, different construction materials have different dry densities, filling thicknesses, and water absorption characteristics, so the actual water replenishment requirements corresponding to the same moisture content difference are not the same. After the construction materials are watered, they still need to undergo a certain infiltration process, and the surface humidity at the end of the watering cannot directly represent the actual moisture content of the construction materials after stabilization. Existing control methods rarely utilize the actual moisture content changes and actual water supply before and after watering in the same construction area to correct subsequent watering parameters, making it difficult for control parameters to adapt to continuous changes in the state of construction materials and site conditions.

[0006] Furthermore, the moisture content control target of the construction area is directly related to subsequent construction procedures. For construction areas about to enter the compaction process, it is necessary to consider the time between the completion of watering and the start of compaction, as well as the moisture changes such as evaporation and rainfall during this time, so that the construction materials are within the corresponding allowable moisture content range when entering the compaction process. The existing method of directly controlling watering based on the current moisture content makes it difficult to establish a correspondence between watering operations and subsequent construction procedures.

[0007] Therefore, it is necessary to provide a mobile sprinkler control method that can form a sprinkler control unit according to the spatial location of the construction area and dynamically determine the water supply based on the properties of construction materials, construction procedures, vehicle movement status, and the actual humidification results after sprinkling. Summary of the Invention

[0008] In view of this, the present invention aims to propose a mobile zoned sprinkler feedback control method and system under construction process constraints, so as to at least solve one of the problems in the background art.

[0009] To achieve the above objectives, the technical solution of the present invention is implemented as follows: A mobile zoned sprinkler feedback control method under construction sequence constraints includes: Acquire the location and moisture content data of multiple humidity monitoring nodes set along the construction route, as well as the location, driving direction and driving speed of the water sprinkler vehicles; divide the construction area into continuous water sprinkler control units according to the construction route and water coverage width, and associate the construction material category and construction procedure of each water sprinkler control unit. Based on the projection of the humidity monitoring node location onto the vehicle's driving direction, the humidity monitoring node located in front of the vehicle is taken as the forward monitoring node, and the current moisture content of the corresponding sprinkler control unit is determined using the moisture content data of the forward monitoring node. Based on the target moisture content and allowable deviation of the construction material category under the construction procedure determined by the construction test, the allowable moisture content range for construction is determined, and the water supply per unit area is calculated based on the difference between the current moisture content and the allowable moisture content range for construction, as well as the humidification response coefficient per unit water volume. Based on the driving speed, the installation distance of the water spray component relative to the vehicle positioning point, and the response delay of the water supply execution link, the control command trigger position of the corresponding water spray control unit is determined, and water spraying is performed according to the water supply per unit area when the vehicle reaches the control command trigger position. After the vehicle passes the water-spraying control unit, the humidity monitoring node behind the vehicle and corresponding to the water-spraying control unit is used as the feedback monitoring node. The feedback monitoring node is the same humidity monitoring node that participated in the calculation of the current moisture content of the corresponding water-spraying control unit before watering. After reaching the infiltration observation period corresponding to the construction material category, the feedback moisture content is obtained. The unit water volume humidification response coefficient is updated by combining the moisture content before watering, the feedback moisture content, and the actual water supply per unit area. The updated result is used for subsequent water-spraying control units with the same construction material category and construction procedure.

[0010] Furthermore, the longitudinal boundary of each sprinkler control unit is determined according to the mileage direction of the construction route, and the lateral boundary of each sprinkler control unit is determined according to the effective sprinkler coverage width of the sprinkler assembly. The sprinkler control unit to which the humidity monitoring node belongs is determined based on the installation coordinates of each humidity monitoring node, and the forward monitoring state and feedback monitoring state of the same humidity monitoring node are switched according to the relationship between the projection of the humidity monitoring node position in the vehicle's driving direction and the vehicle's current position.

[0011] Furthermore, when determining the current water content, forward monitoring nodes are selected from the corresponding sprinkler control unit and adjacent sprinkler control units. The calculation weight of each forward monitoring node is determined based on the spatial distance between the forward monitoring node and the center position of the corresponding sprinkler control unit and the quality of the wireless communication signal. The current water content of the corresponding sprinkler control unit is obtained based on the water content data and calculation weight of each forward monitoring node. When the wireless communication of a forward monitoring node is interrupted, the current moisture content of the corresponding sprinkler control unit is calculated using a humidity monitoring node adjacent to the forward monitoring node and belonging to the same construction material category.

[0012] Furthermore, the allowable moisture content range for construction is determined by the results of on-site construction tests of the corresponding construction materials. The on-site construction test results include at least the compaction test results obtained under different moisture content conditions and the corresponding construction procedures. When the next construction process for the corresponding sprinkler control unit is the compaction process, the planned entry time of the next construction process is obtained, and the water supply per unit area is limited based on the change in moisture content between the end of the current construction process and the start of the next construction process, so that the expected moisture content of the corresponding sprinkler control unit when it enters the compaction process is within the allowable moisture content range for the construction of the compaction process.

[0013] Furthermore, the unit water volume humidification response coefficient is used to characterize the change in moisture content of construction materials caused by the unit area water supply. For a combination of construction material categories and construction procedures, when watering is performed for the first time, the humidification response coefficient per unit water volume is determined by the correspondence between the change in moisture content obtained from the on-site watering test of the corresponding construction material and the test water supply per unit area. After completing the water spraying feedback, the humidification response value corresponding to this water spraying is obtained based on the difference between the feedback moisture content and the moisture content before water spraying and the actual water supply per unit area. The humidification response value is then used to correct the humidification response coefficient per unit water volume corresponding to the same type of construction material and construction procedure.

[0014] Furthermore, the infiltration observation period is determined by on-site water spraying test of the corresponding construction material. In the on-site water spraying test, the moisture content of the construction material is continuously collected from the moment the water supply stops. When the change in moisture content between adjacent sampling moments enters the measurement error range of the humidity monitoring node, the time between the moment the water supply stops and the current sampling moment is taken as the infiltration observation period of the corresponding construction material. The moisture content collected by the feedback monitoring node after the infiltration observation period is used as the feedback moisture content.

[0015] Furthermore, the response delay of the water supply execution link includes the valve response time from when the solenoid valve receives the opening command to when it reaches the working opening degree, and the pipeline response time from when the water flow from when the solenoid valve is activated to when the outlet flow of the water spray component reaches the corresponding water supply flow. The control advance distance is determined based on the longitudinal distance from the vehicle positioning point to the center of the water spray point along the vehicle's driving direction and the product of the driving speed and the response delay. The control command trigger position is determined based on the position of the corresponding water spray control unit and the control advance distance.

[0016] Furthermore, the rainfall, evaporation, and ambient temperature are obtained from the time the corresponding sprinkler control unit completes sprinkling until the start of the next construction procedure. The change in moisture content is determined based on the increase in moisture content caused by rainfall and the decrease in moisture content caused by evaporation. If the calculated water supply per unit area would cause the corresponding sprinkler control unit to exceed the upper limit of the allowable moisture content range at the start of the next construction process, the water supply per unit area would be reduced; if the increase in moisture content caused by rainfall is sufficient to compensate for the insufficient moisture content of the corresponding sprinkler control unit, the sprinkler control unit would be stopped from sprinkling.

[0017] Furthermore, this solution discloses a mobile zoned sprinkler feedback control system under construction procedure constraints, including a humidity monitoring node, a vehicle positioning unit, a vehicle operation information acquisition unit, a water supply flow detection unit, a sprinkler assembly, and an edge control unit; Multiple humidity monitoring nodes are distributed along the construction route to collect moisture content data of the construction area and send the location and moisture content data of the humidity monitoring nodes. The vehicle positioning unit is used to obtain the location of the water sprinkler vehicle, the vehicle operation information acquisition unit is used to obtain the driving direction and driving speed of the water sprinkler vehicle, and the water supply flow detection unit is used to detect the actual water supply flow of the water spraying assembly. The edge control unit is used to form a continuous water spraying control unit according to the construction route and the width of the water spraying coverage. Based on the positional relationship between the humidity monitoring node and the water spraying vehicle, the same humidity monitoring node participates in the calculation of the current water content of the corresponding water spraying control unit before the vehicle arrives, and participates in the water spraying effect feedback of the corresponding water spraying control unit after the vehicle has passed. The edge control unit is also used to calculate the water supply per unit area based on the construction material type and the allowable moisture content range corresponding to the construction process and the unit water volume humidification response coefficient, determine the control command trigger position based on the vehicle driving speed, the installation position of the water spray component and the response delay of the water supply execution link, and update the unit water volume humidification response coefficient based on the moisture content before watering, the feedback moisture content and the actual unit water volume.

[0018] Furthermore, the water spray assembly includes multiple water spray branches arranged laterally along the vehicle, and each water spray branch is equipped with a flow control valve. The edge control unit determines the unit area water supply of each spray branch according to the spatial correspondence between the coverage area of ​​each spray branch and the sprinkler control unit, and determines the actual unit area water supply of the corresponding sprinkler control unit according to the actual water supply of each spray branch recorded by the water supply flow detection unit. The edge control unit will establish a correspondence between the feedback-corrected unit water volume humidification response coefficient and the construction material category and construction procedure, and call the corresponding unit water volume humidification response coefficient when the vehicle enters the subsequent water spraying control unit with the same construction material category and construction procedure.

[0019] Compared with existing technologies, the mobile zoned sprinkler feedback control method and system under construction process constraints described in this invention has the following advantages: (1) The present invention divides the water spraying control unit according to the construction route and the water spraying coverage area. The same humidity monitoring node is used to obtain the water content of the corresponding water spraying control unit before and after water spraying. The unit water volume humidification response coefficient is corrected by combining the actual unit area water supply. The actual water spraying result of the previous construction unit can be used to calculate the water supply of the subsequent construction unit with the same construction materials and construction procedures, thereby improving the matching degree between the water supply and the actual humidification requirements of the construction materials during the mobile water spraying process. (2) The present invention determines the water replenishment requirement based on the dry density of the construction materials, the thickness of the filling layer and the difference in moisture content, and controls the water supply in combination with the allowable moisture content range of the next construction process and the entry time of the construction process; at the same time, it determines the trigger position of the control command based on the vehicle speed, the installation position of the water spraying component and the response delay of the water supply execution link, so that the water spraying volume and the water spraying position correspond to the actual water replenishment requirement of the construction materials and the target water spraying control unit, respectively, reducing the possibility of local over-wetting, insufficient water supply or water spraying position deviation during the mobile water spraying process. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1This is a schematic diagram of the method described in an embodiment of the present invention. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0022] The following detailed embodiments further illustrate a mobile zoned sprinkler feedback control method and system under construction process constraints according to the present invention. These embodiments are used to illustrate the technical solution of the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0023] This embodiment is applied to earthwork filling, roadbed construction, site slab construction, or other construction areas that require watering adjustments based on the moisture content of construction materials. The construction area sequentially undergoes paving, leveling, moisture content adjustment, and compaction along the construction route. Watering vehicles move along the construction route, acquiring the moisture content of the area ahead of the vehicle during movement. The water supply is determined based on the type of construction material, the current construction step, and the moisture content requirements of the next step. After the vehicle passes the construction area, the post-watering moisture content is again acquired using humidity monitoring nodes within the area to adjust the water supply for subsequent construction areas.

[0024] The system in this embodiment includes multiple humidity monitoring nodes, a vehicle positioning unit, a vehicle operation information acquisition unit, an edge control unit, a water supply component, a water supply flow detection unit, and a construction information acquisition unit. Multiple humidity monitoring nodes are distributed along the construction route. Each humidity monitoring node records its node number and installation coordinates, and periodically collects the humidity of the surface or shallow construction materials at its location. For humidity sensors that output volumetric moisture content, the volumetric moisture content is converted to mass moisture content based on the on-site sampling and calibration results of the corresponding construction materials. All subsequent moisture content measurements refer to mass moisture content used for evaluating the construction moisture state.

[0025] A vehicle positioning unit is installed on the sprinkler truck to obtain the current position of the vehicle's positioning reference point along the construction route. A vehicle operation information acquisition unit is used to obtain the vehicle's driving direction and speed. The water supply assembly includes a water tank, water pump, main water supply pipe, and spray assembly. The spray assembly has one or more spray branches arranged laterally along the vehicle, and each spray branch is equipped with a flow control valve. A water supply flow detection unit is installed on the main water supply pipe or each spray branch to record the actual water supply flow during a single sprinkler task. An edge control unit is installed on the sprinkler truck to perform tasks such as construction unit division, moisture content calculation, water supply determination, control command position correction, sprinkler execution, feedback moisture content calculation, and humidification response correction.

[0026] The edge control unit acquires the centerline of the construction route, construction width, type of construction materials, thickness of the fill layer, current construction procedure, and next construction procedure for the current construction section. The type of construction materials is determined based on the fill material actually used in the construction section. Different construction materials are identified separately, and the same material identification is associated with data on dry density, target moisture content, allowable moisture content range, and infiltration characteristics obtained from on-site construction tests.

[0027] The construction area is divided into multiple sequentially arranged water sprinkler control units along the construction route. Each water sprinkler control unit records its unit number, starting mileage, ending mileage, lateral range, type of construction material, thickness of the fill layer, and construction sequence. The longitudinal length of the water sprinkler control unit is determined based on the vehicle control cycle and the minimum duration for which the spray assembly can stably adjust the water supply, ensuring that at least one effective water supply control process is completed while the vehicle is passing through a water sprinkler control unit.

[0028] When the water spray system is configured with multiple independently adjustable spray branches along the vehicle's transverse direction, the water spray control unit is further divided into multiple transverse sub-units according to the effective coverage area of ​​each spray branch. Each transverse sub-unit determines its water supply per unit area. Thus, each construction location corresponds to a specific water spray control unit or transverse sub-unit, and humidity data, water supply data, and construction information are all stored and associated with the corresponding water spray control unit.

[0029] Based on the installation coordinates of each humidity monitoring node, the humidity monitoring nodes are mapped to their corresponding sprinkler control units. During vehicle movement, with the vehicle's current direction of travel as the positive direction of the route, the coordinates of the humidity monitoring nodes are projected onto the centerline of the construction route to obtain the route mileage position corresponding to each humidity monitoring node.

[0030] For a humidity monitoring node, when the corresponding route mileage position is ahead of the vehicle positioning reference point, the humidity monitoring node is marked as a forward monitoring state; after the vehicle passes the corresponding position of the humidity monitoring node, the same humidity monitoring node switches to a feedback monitoring state. Each humidity monitoring node maintains a unique node number, and the data collected by the same humidity monitoring node before and after watering are associated with the same watering control unit through the node number. Thus, the same fixed humidity monitoring node sequentially performs pre-watering moisture content detection and post-watering moisture content detection as the watering vehicle moves, eliminating the need to set up separate pre-watering and post-watering sensors for the same construction location.

[0031] As the vehicle moves forward, the edge control unit identifies the target sprinkler control unit located in front of the vehicle and about to enter the coverage area of ​​the sprinkler assembly. It then selects humidity monitoring nodes in forward monitoring mode from within the target sprinkler control unit and from the adjacent construction area. For the i-th forward monitoring node, the moisture content is obtained. Node location, wireless communication quality and the distance between the node and the center of the target sprinkler control unit. .

[0032] Wireless communication quality The weight of the humidity monitoring node is determined based on its data reception success rate and wireless signal strength over recent communication cycles. When a humidity monitoring node experiences continuous data loss or abnormal wireless signal fluctuations, the weight of the corresponding humidity data in the current moisture content calculation is reduced. The overall weight of the i-th forward monitoring node is... Determined according to the following formula: In the formula, Let be the comprehensive weight of the i-th forward monitoring node; Here are the wireless communication quality parameters for the i-th forward monitoring node; is the distance between the i-th forward monitoring node and the center of the target sprinkler control unit; This is a distance correction amount used to avoid... When the value is zero, division by zero occurs, and Smaller than the standard spacing for humidity monitoring nodes.

[0033] The comprehensive weights of each forward monitoring node are normalized, and the current moisture content of the target sprinkler control unit is determined. Determined according to the following formula: In the formula, Let be the current moisture content of the j-th sprinkler control unit. When there is an effective humidity monitoring node inside the target sprinkler control unit, the humidity data inside the target sprinkler control unit shall be used first; when the communication of the humidity monitoring node inside the target sprinkler control unit is interrupted, the effective humidity monitoring node of the same construction material category in the adjacent sprinkler control unit shall be used for supplementary calculation, and the data source of this moisture content calculation shall be recorded.

[0034] For each type of construction material, a correlation between the material's moisture content and construction quality is established through on-site construction tests before formal construction. Taking compaction as an example, multiple test zones with different initial moisture contents are set up for the same construction material. Compaction is carried out using the same paving thickness, compaction machinery, and number of compaction passes as in formal construction, and the compaction degree of each test zone is measured. Based on the moisture content range corresponding to the test zones that meet the construction quality requirements, the allowable moisture content range for the construction material under the compaction process is determined. , ],in To the lower limit of permissible moisture content, The upper limit of the allowable moisture content; within the allowable moisture content range for construction, the target moisture content is determined based on the results of on-site construction tests. .

[0035] Save the corresponding data for each type of construction material. , and When the type of construction material changes, the on-site construction test results for the corresponding material are retrieved, and a single fixed moisture content value is not used to control different types of construction materials. For the water spraying control unit currently in the paving, leveling, or moisture content adjustment process, the edge control unit further obtains the next construction process and its planned entry time. When the next construction process is compaction, the water supply control objective is to ensure that the expected moisture content of the construction material entering the compaction process is within the corresponding allowable moisture content range for construction.

[0036] When the current moisture content of the target sprinkler control unit Lower than the target moisture content for the corresponding construction process When calculating the amount of insufficient moisture content : when When the moisture content is less than or equal to zero, the target sprinkler control unit does not require additional water due to insufficient moisture content; when When the value is greater than zero, the theoretical water replenishment requirement is determined based on the dry density of the construction materials, the thickness of the filling layer, and the amount of insufficient moisture content.

[0037] Let the dry density of the construction material corresponding to the target sprinkler control unit be... The current fill layer thickness is The additional mass of water required per unit area of ​​construction material to compensate for the difference in moisture content is... Determined according to the following formula: In the formula, The unit is kg / m 2 ; The unit is kg / m 3 ; The unit is m; Use the smaller value of the mass moisture content.

[0038] Let the density of water be... The theoretical water replenishment volume per unit area Determined according to the following formula: In the formula, The unit is m 3 / m 2 To facilitate on-site water supply control, Multiply by 1000 and convert to L / m 2 Through the above physical conversion, the water supply is constrained by the dry density of the construction materials, the thickness of the fill layer, and the current moisture content difference. Therefore, the water supply is not determined by directly using the method of fixing the opening of the solenoid valve according to the moisture content difference.

[0039] Construction materials are affected by particle size distribution, initial compaction state, surface slope, infiltration rate, and environmental evaporation, resulting in a difference between the theoretical water replenishment and the actual moisture content increase of the construction materials. To characterize the correspondence between the actual water supply per unit area and the actual moisture content increase of the construction materials, a unit water volume humidification response coefficient was established for different types of construction materials and different construction procedures. .

[0040] During the initial construction, a field water spraying test was conducted to determine... The initial value. Select a test area with the same construction material type, filling thickness, and surface condition as the formal construction area. First, measure the moisture content of the test area before watering. Then record the actual water supply volume in the test area. and test area Actual water supply per unit area Determined according to the following formula: After the watering was completed and the corresponding infiltration observation period for the construction materials had passed, the moisture content of the test area was measured again. The humidification response value per unit volume of water corresponding to this on-site water spraying test. Determined according to the following formula: In the formula, This represents the change in moisture content per unit area of ​​construction material after receiving a unit volume of water. This serves as the initial value for the humidification response coefficient per unit volume of water under the corresponding construction material category and construction procedure.

[0041] During the formal construction process, the amount of water content can be adjusted accordingly. Humidification response coefficient per unit volume of water Determine the actual water supply demand per unit area of ​​the target sprinkler control unit. : The edge control unit also retains the theoretical water replenishment per unit area obtained from the dry density of construction materials, the thickness of the fill layer, and the difference in moisture content. and will and Perform a consistency check. When Compared to When the deviation exceeds the allowable range determined by the on-site test of the corresponding construction materials, instead of directly increasing the water supply based on the abnormal results, the validity of the humidity data, material parameters and flow data is checked.

[0042] Different construction materials require different amounts of time to stabilize from surface water exposure to a stable moisture content. Therefore, this embodiment determines the infiltration observation period for different construction materials. .

[0043] In the on-site water spraying test, the moisture content of the test area was continuously collected at a fixed sampling cycle starting from the moment the water supply was stopped. Humidity monitoring nodes have corresponding measurement error ranges. When adjacent sample values ​​from three consecutive sampling periods all satisfy the following formula, the rapid infiltration change caused by this watering is considered to have entered a stable phase: In the formula, This refers to the k-th sampling time. This refers to the moisture content measurement error range corresponding to the humidity monitoring node. The duration from the moment the water supply was stopped to the moment when the stability condition of three consecutive sampling cycles was first met is used as the infiltration observation period for the current construction materials. Different material identifiers are stored separately. During the formal construction process, only watering and subsequent steps were completed. The feedback moisture content calculation is used to determine the actual humidification response, reducing the impact of short-term surface water accumulation or unstable local infiltration on the feedback results.

[0044] When the target sprinkler control unit does not immediately proceed to the next construction procedure after completing the sprinkler operation, the edge control unit obtains the time length between the current moment and the planned start time of the next construction procedure, and obtains the rainfall, ambient temperature, wind speed, and evaporation data used to characterize water loss in the construction area within this time range.

[0045] Assume the target sprinkler control unit completes water supply and the expected moisture content after infiltration is [missing information]. The increase in moisture content due to rainfall before the start of the next construction procedure is The decrease in water content due to evaporation is The expected moisture content at the start of the next construction procedure is... Determined according to the following formula: when Moisture content higher than the upper limit of allowable moisture content for construction When the water supply per unit area of ​​the current sprinkler control unit is reduced; when the increase in moisture content due to rainfall is sufficient to... This watering will not be carried out when the area enters the allowable moisture content range for construction; when Below the lower limit of allowable moisture content for construction At that time, based on the target moisture content and The difference between these values ​​is used to redetermine the water supply demand per unit area. Therefore, the current watering volume corresponds to the moisture content required for the construction materials to enter the next construction stage.

[0046] Since the sprinkler truck is in continuous motion, there is a response time in both the flow control valve and the water supply pipeline after the edge control unit issues a water supply control command. If the water supply control command is issued only after the spray assembly has reached the starting position of the target sprinkler control unit, the actual water drop point will deviate along the vehicle's travel direction. Therefore, it is necessary to establish a spatial relationship between the vehicle's positioning reference point and the center of the water drop point.

[0047] Let the time required for the flow control valve to reach the target operating opening degree after receiving the opening command be . The pipeline response time required for the water flow from the action of the flow control valve to the point where the outlet flow of the spray assembly reaches the target flow rate is 1. The water supply execution link response delay Determined according to the following formula: The direction of vehicle travel is defined as the direction in which the construction route mileage increases. The target sprinkler control unit is required to be located at the route position. Effective water spray begins; the longitudinal installation distance of the water spray center relative to the vehicle positioning reference point along the vehicle's direction of travel is... The vehicle's current speed is The location of the vehicle positioning reference point corresponding to the start command is then sent. Determined according to the following formula: When the center of the water spray point is in front of the vehicle positioning reference point Take a positive value when located behind the vehicle positioning reference point. Take the negative value. Vehicle arrives. At that time, the edge control unit issues a water supply control command corresponding to the target sprinkler control unit. After the water supply execution link response delay, the position where the spray assembly forms an effective spray corresponds to the starting position of the target sprinkler control unit. The same method is used to determine the trigger position for stopping water supply or switching water supply volume for the ending position of the target sprinkler control unit. When the vehicle speed changes, the edge control unit recalculates the trigger position of the control command for the subsequent sprinkler control unit using the latest vehicle speed.

[0048] After the vehicle reaches the control command trigger position corresponding to the target sprinkler control unit, it supplies water according to the water demand per unit area. Effective coverage width of corresponding water spray branch and vehicle speed Determine the target water supply flow rate : when Using L / m 2 , Using m, When using m / s, The unit is L / s. When the sprinkler assembly has multiple independent sprinkler branches, each sprinkler branch determines its target water supply flow rate based on the water supply demand per unit area of ​​the corresponding transverse subunit and the effective coverage width of the branch. The edge control unit controls the water pump and flow control valve so that the actual flow rate of the sprinkler assembly follows the corresponding target water supply flow rate.

[0049] The water supply flow detection unit continuously records the actual water supply flow during the water spraying process. For the j-th sprinkler control unit, the actual water supply volume is... Determined according to the following formula: In the formula, The moment when the j-th sprinkler control unit actually starts supplying water. This refers to the actual time when water supply ends. The amount of water supplied is based on the area actually irrigated by the sprinkler control unit. Calculate the actual water supply per unit area : Subsequent humidification response corrections are based on actual water supply per unit area. Instead of using the theoretical target water supply issued by the edge control unit, the actual water supply deviation caused by pump flow error, valve action error, and vehicle speed change is incorporated into the feedback calculation.

[0050] Before the target sprinkler control unit starts sprinkling, it will take into account the current moisture content. The calculated humidity monitoring node number is recorded in the data log of the target sprinkler control unit. After the vehicle completes the water spraying by the target sprinkler control unit and continues to move forward, the humidity monitoring node, which was originally located in front of the vehicle, moves to the rear of the vehicle. The edge control unit keeps the humidity monitoring node number unchanged and changes the corresponding node's working status from forward monitoring to feedback monitoring.

[0051] Observation period of infiltration of corresponding construction materials Subsequently, the edge control unit reads the feedback moisture content data corresponding to the same node number. When the target sprinkler control unit contains multiple effective humidity monitoring nodes, the feedback moisture content is calculated according to the spatial weighting relationship corresponding to the moisture content calculation before sprinkling. Therefore, the moisture content before watering can be obtained for the same sprinkler control unit. Actual water supply per unit area And the feedback moisture content after the infiltration observation period. The three data points correspond to the same construction space object and construction material status.

[0052] Based on the moisture content before watering of the j-th sprinkler control unit Feedback on moisture content and actual water supply per unit area Calculate the actual humidification response value. : When humidity monitoring data before and after watering is complete, actual water supply flow records are complete, and there is no effective rainfall sufficient to change the moisture content during the watering and infiltration observation period, then... This is used to correct the humidification response coefficient per unit volume of water corresponding to the current construction material category and the current construction procedure. Let the currently saved humidification response coefficient per unit volume of water be... The actual humidification response value this time is The updated humidification response coefficient per unit volume of water Determined according to the following formula: In the formula, The weights of the measured data during the update process are as follows: Greater than 0 and less than or equal to 1. Based on the quality of the feedback data, the following criteria were determined: When data was obtained from the same set of humidity monitoring nodes before and after watering, water supply flow data was complete, and there was no effective rainfall during the construction period, the quality was improved. When the number of humidity monitoring nodes involved in the calculation decreases or some flow data is temporarily missing, the efficiency is reduced. Updated It is associated with and saved based on the type of construction material, the thickness range of the fill layer, and the construction sequence. It is invoked when a vehicle enters a subsequent sprinkler control unit with the same construction material type and sequence. Determine the corresponding water supply demand per unit area.

[0053] Therefore, the actual construction results of the previous sprinkler control unit are used to determine the water supply of the next sprinkler control unit of the same type, so that the unit water volume humidification response coefficient is gradually corrected according to the actual infiltration state of the current construction materials and the site environment.

[0054] Taking a certain roadbed filling construction section as an example, the current construction material is fine-grained soil, and the filling layer thickness is... The dry density of the construction material was determined by on-site construction tests to be 0.20m. 1750kg / m 3 After conducting field tests under the same construction materials, filling thickness, and compaction machinery conditions, the allowable moisture content range for the compaction process was determined to be 7.8%–8.6%, with a target moisture content of [missing information]. It is 8.2%.

[0055] The water truck is about to enter the water control unit numbered C15. The edge control unit acquires data from three effective humidity monitoring nodes in front of the C15 water control unit, and calculates the current moisture content of the C15 water control unit based on the node locations and wireless communication quality. The moisture content is 6.7%. The corresponding insufficient moisture content is: Converting the insufficient moisture content to a decimal of 0.015, based on the dry density of the construction materials and the thickness of the fill layer, the required increase in water mass per unit area of ​​construction materials is: The density of water is taken as 1000 kg / m³ 3 At that time, the corresponding theoretical water replenishment volume per unit area is 0.00525 m³. 3 / m 2 The converted value is 5.25 L / m 2 .

[0056] The edge control unit further obtained the construction plan and determined that the C15 sprinkler control unit would enter the compaction process approximately one hour after sprinkler operation. Current environmental monitoring results indicate no effective rainfall within this one hour, and the expected moisture content reduction is 0.1 percentage points based on on-site evaporation data. To ensure that the expected moisture content of the C15 sprinkler control unit upon entering the compaction process is close to 8.2%, the edge control unit adjusted the target moisture content after infiltration to approximately 8.3%, and redefined the water supply demand per unit area based on the insufficient amount of the adjusted moisture content and the current humidification response coefficient per unit volume.

[0057] Current speed of vehicle The speed is 1.5 m / s, and the combined response time of the flow control valve and pipeline is 0.6 s. The edge control unit calculates the control command trigger position based on the longitudinal installation distance between the vehicle positioning reference point and the center of the water spray point, the vehicle speed, and the 0.6 s water supply execution link response delay. The water supply command is issued before the position where the water spray assembly forms an effective water spray reaches the starting position of the C15 sprinkler control unit.

[0058] The water supply flow detection unit records the actual flow rate of the C15 sprinkler control unit throughout the entire process, and determines the actual sprinkler area by combining it with the vehicle positioning trajectory. The actual water supply per unit area is calculated to be 5.3 L / m². 2 The humidity monitoring nodes used in the C15 sprinkler control unit's pre-spraying moisture content calculation switch from forward monitoring to feedback monitoring after the vehicle passes. Based on the infiltration observation period determined by the current field test of fine-grained soil, feedback humidity data from the same node number was read 15 minutes after spraying ended, and the calculated moisture content from the C15 sprinkler control unit was 8.15%. The actual increase in moisture content was: The edge control unit utilizes an actual moisture content increase of 1.45 percentage points and 5.3 L / m 2 The actual unit area water supply is used to calculate the actual unit water volume humidification response value, and the unit water volume humidification response coefficient corresponding to fine-grained soil, current fill thickness, and current construction procedure is corrected. When the sprinkler truck continues to enter the sprinkler control unit with the same construction material category, fill thickness range, and construction procedure as C16 and C17, the updated unit water volume humidification response coefficient is called to determine the water supply.

[0059] For wide roadbeds or site construction areas, the moisture content may vary at different locations along the lateral side of the construction area due to differences in sunlight, drainage conditions, and material paving conditions. In this case, a single sprinkler control unit is further divided into multiple lateral sub-units, such as a left sub-unit, a middle sub-unit, and a right sub-unit, and independent sprinkler branches corresponding to each lateral sub-unit are set on the sprinkler assembly.

[0060] The edge control unit calculates the current moisture content of each horizontal sub-unit based on the humidity monitoring nodes located at different horizontal positions, and determines the water supply demand per unit area for each sub-unit. For example, if the moisture content of the left sub-unit is 1.5 percentage points lower than the target moisture content, the middle sub-unit is 0.8 percentage points lower than the target moisture content, and the right sub-unit is already within the allowable moisture content range for construction, then the left sprinkler branch will supply water according to the corresponding water supply demand per unit area, the middle sprinkler branch will use a smaller target water supply flow rate, and the right sprinkler branch will remain closed.

[0061] The actual water supply of each spray branch is recorded separately and correlated with the feedback moisture content of the corresponding lateral sub-unit to calculate the actual humidification response of each lateral sub-unit. In this way, different lateral moisture contents in the construction area can correspond to different actual water supply volumes, avoiding the use of the same water output volume for the entire vehicle width.

[0062] When all humidity monitoring nodes corresponding to the target sprinkler control unit cannot provide valid moisture content data, the edge control unit suspends the automatic sprinkling of the sprinkler control unit, records the location of the abnormal unit, and does not directly increase the water supply based on the historical moisture content.

[0063] When some humidity monitoring nodes cannot communicate normally, but the remaining effective humidity monitoring nodes can cover the target sprinkler control unit, the current moisture content is determined using the remaining effective humidity monitoring nodes, and the weight of the current feedback data when updating the humidification response coefficient per unit volume of water is reduced. .

[0064] When the edge control unit has issued a water supply command, but the water supply flow detection unit detects that the actual flow rate is consistently lower than the target flow rate allowable range, it records a water supply execution anomaly and does not use the data from the sprinkler control unit to update the unit water volume humidification response coefficient. When the vehicle positioning quality cannot meet the position matching requirements of the sprinkler control unit, it stops the automatic flow switching based on the construction space unit to avoid positioning deviations causing incorrect construction areas to receive water.

[0065] According to the upper limit of permissible moisture content during construction The dry density of construction materials and the thickness of the fill layer determine the maximum allowable water supply per unit area corresponding to the target sprinkler control unit. When the actual water supply per unit area reaches the maximum allowable water supply per unit area, even if the real-time feedback moisture content has not yet reached the target moisture content, the sprinkler control unit will continue to operate. They also stopped increasing the water supply to prevent the construction materials from becoming too wet due to continuous water supply.

[0066] For each completed sprinkler control unit operation, record the sprinkler control unit number, construction route mileage range, construction material type, fill layer thickness, current construction procedure, next construction procedure, humidity monitoring node number involved in the pre-sprinkling moisture content calculation, pre-sprinkling moisture content, allowable construction moisture content range, target moisture content, vehicle speed, control command trigger location, actual water supply flow rate, actual water supply per unit area, humidity monitoring node number involved in feedback calculation, infiltration observation period, feedback moisture content, actual unit water volume humidification response value, and updated unit water volume humidification response coefficient.

[0067] The above data is associated and saved by using the water sprinkler control unit number, so that the status of construction materials, the water sprinkler execution process, and the results after water sprinkler are associated with the same construction space object.

[0068] Using the above implementation method, when the water sprinkler truck moves forward, the water content of the area to be constructed is determined by the fixed humidity monitoring node in front of the vehicle. After watering, the actual humidification result of the corresponding construction area is obtained by the same humidity monitoring node. The actual humidification result and the actual water supply per unit area are used together to correct the unit water volume humidification response coefficient of subsequent similar construction areas.

[0069] Simultaneously, the theoretical water replenishment demand is formed based on the dry density of construction materials, the thickness of the fill layer, and the insufficient moisture content. The actual water supply demand is then adjusted based on the actual humidification response of the construction materials on site. The expected moisture content at the start of the next construction process is determined based on the entry time of the next construction process and the moisture changes during construction. The trigger position of the control command is determined based on the vehicle's driving speed, the installation distance of the water spray component relative to the vehicle's positioning reference point, and the response delay of the water supply execution link. Thus, the object of water spraying control is transformed from the vehicle's current location into a water spraying control unit with clearly defined spatial boundaries, material properties, and construction process attributes. Furthermore, the actual water spraying effect of the previous water spraying control unit is used to adjust the water supply of subsequent similar water spraying control units.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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. A mobile zoned sprinkler feedback control method under construction sequence constraints, characterized in that, include: Acquire the location and moisture content data of multiple humidity monitoring nodes set along the construction route, as well as the location, driving direction and driving speed of the water sprinkler vehicles; divide the construction area into continuous water sprinkler control units according to the construction route and water coverage width, and associate the construction material category and construction procedure of each water sprinkler control unit. Based on the projection of the humidity monitoring node location onto the vehicle's driving direction, the humidity monitoring node located in front of the vehicle is taken as the forward monitoring node, and the current moisture content of the corresponding sprinkler control unit is determined using the moisture content data of the forward monitoring node. Based on the target moisture content and allowable deviation of the construction material category under the construction procedure determined by the construction test, the allowable moisture content range for construction is determined, and the water supply per unit area is calculated based on the difference between the current moisture content and the allowable moisture content range for construction, as well as the humidification response coefficient per unit water volume. Based on the driving speed, the installation distance of the water spray component relative to the vehicle positioning point, and the response delay of the water supply execution link, the control command trigger position of the corresponding water spray control unit is determined, and water spraying is performed according to the water supply per unit area when the vehicle reaches the control command trigger position. After the vehicle passes the water-spraying control unit, the humidity monitoring node behind the vehicle and corresponding to the water-spraying control unit is used as the feedback monitoring node. The feedback monitoring node is the same humidity monitoring node that participated in the calculation of the current moisture content of the corresponding water-spraying control unit before watering. After reaching the infiltration observation period corresponding to the construction material category, the feedback moisture content is obtained. The unit water volume humidification response coefficient is updated by combining the moisture content before watering, the feedback moisture content, and the actual water supply per unit area. The updated result is used for subsequent water-spraying control units with the same construction material category and construction procedure.

2. The mobile zoned sprinkler feedback control method according to claim 1, characterized in that: The longitudinal boundary of each sprinkler control unit is determined according to the mileage direction of the construction route, and the lateral boundary of each sprinkler control unit is determined according to the effective sprinkler coverage width of the sprinkler assembly. The sprinkler control unit to which the humidity monitoring node belongs is determined based on the installation coordinates of each humidity monitoring node, and the forward monitoring state and feedback monitoring state of the same humidity monitoring node are switched according to the relationship between the projection of the humidity monitoring node position in the vehicle's driving direction and the vehicle's current position.

3. The mobile zoned sprinkler feedback control method according to claim 1, characterized in that: When determining the current water content, forward monitoring nodes are selected from the corresponding sprinkler control unit and adjacent sprinkler control units. The calculation weight of each forward monitoring node is determined based on the spatial distance between the forward monitoring node and the center position of the corresponding sprinkler control unit and the quality of the wireless communication signal. The current water content of the corresponding sprinkler control unit is obtained based on the water content data of each forward monitoring node and the calculation weight. When the wireless communication of a forward monitoring node is interrupted, the current moisture content of the corresponding sprinkler control unit is calculated using a humidity monitoring node adjacent to the forward monitoring node and belonging to the same construction material category.

4. The mobile zoned sprinkler feedback control method according to claim 1, characterized in that: The allowable moisture content range for construction is determined by the results of on-site construction tests of the corresponding construction materials. The on-site construction test results include at least the compaction test results obtained under different moisture content conditions and the corresponding construction procedures. When the next construction process for the corresponding sprinkler control unit is the compaction process, the planned entry time of the next construction process is obtained, and the water supply per unit area is limited based on the change in moisture content between the end of the current construction process and the start of the next construction process, so that the expected moisture content of the corresponding sprinkler control unit when it enters the compaction process is within the allowable moisture content range for the construction of the compaction process.

5. The mobile zoned sprinkler feedback control method according to claim 1, characterized in that: The unit water volume humidification response coefficient is used to characterize the change in moisture content of construction materials caused by the unit area water supply. For a combination of construction material categories and construction procedures, when watering is performed for the first time, the humidification response coefficient per unit water volume is determined by the correspondence between the change in moisture content obtained from the on-site watering test of the corresponding construction material and the test water supply per unit area. After completing the water spraying feedback, the humidification response value corresponding to this water spraying is obtained based on the difference between the feedback moisture content and the moisture content before water spraying and the actual water supply per unit area. The humidification response value is then used to correct the humidification response coefficient per unit water volume corresponding to the same type of construction material and construction procedure.

6. The mobile zoned sprinkler feedback control method according to claim 5, characterized in that: The infiltration observation period is determined by on-site water spraying test of the corresponding construction material. In the on-site water spraying test, the moisture content of the construction material is continuously collected from the moment the water supply stops. When the change in moisture content between adjacent sampling moments enters the measurement error range of the humidity monitoring node, the time between the moment the water supply stops and the current sampling moment is taken as the infiltration observation period of the corresponding construction material. The moisture content collected by the feedback monitoring node after the infiltration observation period is used as the feedback moisture content.

7. The mobile zoned sprinkler feedback control method according to claim 1, characterized in that: The response delay of the water supply execution link includes the valve response time from when the solenoid valve receives the opening command to when it reaches the working opening degree, and the pipeline response time from when the water flow from the action of the solenoid valve to when the outlet flow of the water spray component reaches the corresponding water supply flow. The control advance distance is determined based on the longitudinal distance from the vehicle positioning point to the center of the water spray point along the vehicle's driving direction and the product of the driving speed and the response delay. The control command trigger position is determined based on the position of the corresponding water spray control unit and the control advance distance.

8. The mobile zoned sprinkler feedback control method according to claim 1, characterized in that: The rainfall, evaporation and ambient temperature are obtained from the time the corresponding sprinkler control unit completes sprinkling until the start of the next construction procedure. The change in moisture content is determined based on the increase in moisture content caused by rainfall and the decrease in moisture content caused by evaporation. If the calculated water supply per unit area would cause the corresponding sprinkler control unit to exceed the upper limit of the allowable moisture content range at the start of the next construction process, the water supply per unit area would be reduced; if the increase in moisture content caused by rainfall is sufficient to compensate for the insufficient moisture content of the corresponding sprinkler control unit, the sprinkler control unit would be stopped from sprinkling.

9. A mobile zoned sprinkler feedback control system under construction procedure constraints, characterized in that, It includes humidity monitoring nodes, vehicle positioning units, vehicle operation information acquisition units, water supply flow detection units, water spray components, and edge control units; Multiple humidity monitoring nodes are distributed along the construction route to collect moisture content data of the construction area and send the location and moisture content data of the humidity monitoring nodes. The vehicle positioning unit is used to obtain the location of the water sprinkler vehicle, the vehicle operation information acquisition unit is used to obtain the driving direction and driving speed of the water sprinkler vehicle, and the water supply flow detection unit is used to detect the actual water supply flow of the water spraying assembly. The edge control unit is used to form a continuous water spraying control unit according to the construction route and the width of the water spraying coverage. Based on the positional relationship between the humidity monitoring node and the water spraying vehicle, the same humidity monitoring node participates in the calculation of the current water content of the corresponding water spraying control unit before the vehicle arrives, and participates in the water spraying effect feedback of the corresponding water spraying control unit after the vehicle has passed. The edge control unit is also used to calculate the water supply per unit area based on the construction material type and the allowable moisture content range corresponding to the construction process and the unit water volume humidification response coefficient, determine the control command trigger position based on the vehicle driving speed, the installation position of the water spray component and the response delay of the water supply execution link, and update the unit water volume humidification response coefficient based on the moisture content before watering, the feedback moisture content and the actual unit water volume.

10. The mobile zoned sprinkler feedback control system according to claim 9, characterized in that: The water spray assembly includes multiple water spray branches arranged laterally along the vehicle, and each water spray branch is equipped with a flow control valve. The edge control unit determines the unit area water supply of each spray branch according to the spatial correspondence between the coverage area of ​​each spray branch and the sprinkler control unit, and determines the actual unit area water supply of the corresponding sprinkler control unit according to the actual water supply of each spray branch recorded by the water supply flow detection unit. The edge control unit will establish a correspondence between the feedback-corrected unit water volume humidification response coefficient and the construction material category and construction procedure, and call the corresponding unit water volume humidification response coefficient when the vehicle enters the subsequent water spraying control unit with the same construction material category and construction procedure.

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