Paver construction area boundary acquisition system

Abstract

The utility model discloses a paver construction area boundary acquisition system, relates to the paver technology field, the paver construction area boundary acquisition system comprises a RTK positioning navigation system 1, a RTK positioning navigation system 2, a distance detection sensor and a camera, the paver comprises a screed plate and an integrated control cabinet, the RTK positioning and navigation system II, the distance detection sensor and the camera are electrically connected with a computer of the integrated control cabinet, the integrated control cabinet is electrically connected with the screed, and the RTK positioning and navigation system I is connected with an automatic driving system of each road roller through an ad hoc network. According to the utility model, through the RTK positioning navigation system I, the RTK positioning navigation system II, the distance detection sensor and the camera, the boundary information of the paved asphalt pavement is acquired in real time, and the distance between the farthest end of the telescopic part of the screed plate and the boundary of the construction area requiring the paver is detected; and the road surface paved by the paver is ensured to be consistent with the required construction width.

Description

Technical Field

[0001] The utility model relates to the technical field of pavers, in particular to a construction area boundary collection system for pavers. Background Art

[0002] With the development trend of intelligent manufacturing and Industry 5.0, autonomous driving has become the direction of development. At present, unmanned autonomous driving is mainly in the field of automobiles, while in the field of engineering machinery, especially road engineering machinery, it is still in the exploratory stage. Unmanned driving of road rollers is a new development direction.

[0003] To realize the unmanned driving of the road roller, we first need to know the working area of ​​the road roller, that is, the construction area. To know the construction area, we need to know its longitude and latitude coordinate information. At this stage, we can know the coordinate information of the construction area through two methods:

[0004] 1. Input coordinate information, curvature and other data into the system through the construction design drawings, and the construction area can be obtained through these data;

[0005] 2. Use measuring equipment to measure the boundary coordinate information of the construction area in advance, and then import all data into the system to generate the corresponding construction area;

[0006] These two methods of obtaining coordinates require professional personnel or specially trained personnel to operate, and are difficult for non-professionals to operate.

[0007] In road construction projects, rollers and pavers, as construction machinery and equipment, work together efficiently. When the paver is working, the paved road surface must be consistent with the width required for construction. Therefore, the ironing plate must be controlled to extend or retract to ensure that the paved width is consistent with the design requirements.

[0008] For this purpose, we provide a paver construction area boundary acquisition system. Utility Model Content

[0009] The utility model aims to provide a system for collecting the boundary of a paver construction area, which solves the problem of collecting the boundary coordinate information of the paver construction area.

[0010] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a construction area boundary acquisition system for a paver, comprising an RTK positioning and navigation system 1, an RTK positioning and navigation system 2, a distance detection sensor and a camera, the RTK positioning and navigation system 1 comprising a base station 1 which is externally arranged at the construction site and does not move and a mobile station 1 which is arranged on the paver, the paver comprises an ironing plate and an integrated control cabinet, the two mobile stations 1 of the RTK positioning and navigation system 1 are installed at the leftmost and rightmost ends of a retractable part of the ironing plate, the RTK positioning and navigation system 2 comprises a base station 2 which is externally arranged at the construction site and does not move and a mobile station 2 which is arranged on the paver, and the two mobile stations 2, the distance detection sensor and the camera are all installed at the leftmost and rightmost ends of the retractable part of the ironing plate, the RTK positioning and navigation system 2, the distance detection sensor and the camera are all electrically connected to the computer of the integrated control cabinet, the integrated control cabinet is electrically connected to the ironing plate, and the RTK positioning and navigation system 1 is connected to the automatic driving systems of each roller through an ad hoc network.

[0011] Preferably, an L-shaped bracket is fixedly connected to the leftmost and rightmost baffles of the retractable part of the ironing plate, an iron plate is welded to the other end of the L-shaped bracket, and the iron plate is kept horizontal, and the mobile station is connected to the iron plate through a magnetic base.

[0012] Preferably, the installation height and left-right spacing of the two mobile stations on the ironing plate are the same.

[0013] Preferably, the information collected by the two mobile stations is the boundary coordinates of the paved asphalt road surface.

[0014] Preferably, the information collected by the two mobile stations 2 is the latitude and longitude coordinates of the leftmost point on the left side and the rightmost point on the right side of the telescopic part of the ironing plate.

[0015] Preferably, the distance detection sensor is a laser distance sensor or an ultrasonic distance sensor;

[0016] The fixed reference object of the distance detection sensor is a railing, a separation belt or a curbstone.

[0017] Preferably, the fixed boundary reference object detected by the camera is a railing, a dividing strip, a curbstone, or a white line drawn before construction.

[0018] The utility model has the following beneficial effects:

[0019] The utility model applies RTK technology to the automatic driving system of the paver and the roller through the RTK positioning and navigation system 1, the RTK positioning and navigation system 2, the distance detection sensor and the camera. The mobile station 1 uses the positioning information obtained by the current antenna and the differential information provided by the reference station 1 to solve and realize centimeter-level positioning, collects the boundary information (latitude and longitude, elevation, heading angle, etc.) of the paved asphalt road surface in real time and converts it into coordinates under the UTM coordinate system, and then sends it to the automatic driving system of each roller through the self-organizing network, so that the coordinate information of the longitude and latitude of the working area of ​​the roller can be known; the detection device RTK positioning and navigation system 2, the distance detection sensor and the camera are respectively installed on the leftmost side of the left side and the rightmost side of the right side of the telescopic part of the screed plate of the paver, so as to detect the distance between the farthest end of the telescopic part of the screed plate and the boundary of the construction area required by the paver, and controls the screed plate of the paver to perform the action of extending or retracting according to the detected data, so as to ensure that the road surface paved by the paver is consistent with the width required for construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the installation structure of the mobile station 1, the mobile station 2, the distance detection sensor and the camera with the paver of the utility model;

[0021] Figure 2 This is a system diagram of the RTK positioning and navigation system and the automatic driving system of the utility model;

[0022] Figure 3 This is the system diagram of the integrated control cabinet and RTK positioning and navigation system of the utility model. 2. Distance detection sensor and camera system.

[0023] In the figure: 1. RTK positioning and navigation system 1; 11. Base station 1; 12. Mobile station 1; 2. Paver; 21. Screed plate; 22. Integrated control cabinet; 3. L-shaped bracket; 4. Iron plate; 5. RTK positioning and navigation system 2; 51. Base station 2; 52. Mobile station 2; 6. Distance detection sensor; 7. Camera; 8. Automatic driving system. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] like Figure 1-3As shown, the utility model provides a technical solution: a construction area boundary acquisition system for a paver, including an RTK positioning and navigation system 1, an RTK positioning and navigation system 2 5, a distance detection sensor 6 and a camera 7, the RTK positioning and navigation system 1 is connected to the automatic driving system 8 of each roller through an ad hoc network, the paver 2 includes an ironing plate 21 and an integrated control cabinet 22, the RTK positioning and navigation system 2 5, the distance detection sensor 6 and the camera 7 are all electrically connected to the computer of the integrated control cabinet 22, and the integrated control cabinet 22 is electrically connected to the ironing plate 21;

[0026] When collecting the boundary coordinate information of the construction area, the RTK positioning and navigation system 1 includes a base station 11 which is externally installed at the construction site and does not move, and a mobile station 12 which is installed on the paver 2. The two mobile stations 12 of the RTK positioning and navigation system 1 are installed at the leftmost and rightmost ends of the retractable part of the ironing plate 21, and the leftmost and rightmost baffles of the retractable part of the ironing plate 21 are fixedly connected with an L-shaped bracket 3 (not limited to the L-shaped bracket 3). An iron plate 4 is welded at the other end of the L-shaped bracket 3, and the iron plate 4 is kept horizontal. The size of the iron plate 4 is about the same as the magnetic base of the mobile station 12. The mobile station 12 is connected to the iron plate 4 through a magnetic base, and the position of the antenna can be basically kept consistent each time it is used. The installation height and left-right spacing of the two mobile stations 12 on the ironing plate 21 are the same. The information collected by the two mobile stations 12 is the boundary coordinates of the paved asphalt road surface. The mobile station 12 is not installed on the left and right baffles of the ironing plate 21 of the paver 2, and can also be installed in other parts, as long as the mobile station 12 bracket can move with the ironing plate 21 when it is extended and retracted, and the mobile station 12 bracket and the corresponding baffle remain relatively still.

[0027] When the paver 2 is under construction, as long as the parameters are set, click Start to start collecting coordinates. The parameters are mainly set according to the conditions of the construction site to set the time interval for collecting coordinate points. If the construction site is basically a straight road, then the time interval for collecting coordinates can be set to be larger, such as collecting coordinates once every 1 second; if there is a part of a bend in the construction site, then the time interval for collecting coordinates can be set to be smaller, such as collecting coordinates once every 0.5 seconds. The mobile station 12 installed on the leftmost and rightmost baffles of the retractable part of the ironing plate 21 can collect the boundary information (latitude and longitude, elevation, heading angle, etc.) of the paved asphalt road in real time and convert it into coordinates in the UTM coordinate system, and then send it to the automatic driving system 8 of each device through the self-organizing network. After receiving the coordinate data, the automatic driving system 8 will first connect the two adjacent coordinate points to form an irregular continuous line segment, and the automatic driving system 8 will automatically generate the walking path of the roller according to the settings on the automatic driving software;

[0028] When detecting the distance between the leftmost left side and the rightmost right side of the telescopic part of the screed plate 21 of the paver 2 and the boundary of the construction area where the paver 2 is required, the RTK positioning navigation system 25 includes a base station 251 which is externally installed at the construction site and does not move, and a mobile station 252 which is arranged on the paver 2, and the two mobile stations 252, the distance detection sensor 6 and the camera 7 are all installed at the leftmost end and the rightmost end of the telescopic part of the screed plate 21. In order to ensure the accuracy, multiple sets of sensors can be installed on both sides of the screed plate 21 to measure at the same time and remove abnormal data, so that the measurement error can be reduced and the progress can be improved. The detection method is different in different environments;

[0029] Detection method 1:

[0030] The information collected by the two mobile stations 252 is the latitude and longitude coordinates of the leftmost and rightmost sides of the telescopic part of the screed plate 21. If the construction drawings are obtained in advance, the boundary data of the construction area of ​​the paver 2, such as the latitude and longitude coordinates, elevation, etc., can be known according to the drawings. The latitude and longitude coordinate information of the leftmost and rightmost sides of the telescopic part of the screed plate 21 of the paver 2 is detected in real time by the two installed mobile stations 252 during the construction process and transmitted to the integrated control cabinet 22. The computer calculation of the integrated control cabinet 22 is compared with the latitude and longitude coordinate information of the boundary of the construction drawings to obtain their relative positions, so that the integrated control cabinet 22 controls the corresponding extension or retraction of the screed plate 21 of the paver 2 to ensure that the paved width is consistent with the design requirements.

[0031] Detection method 2:

[0032] By installing distance detection sensors 6 at the leftmost side of the telescopic part of the screed plate 21 of the paving machine 2 and at the rightmost side of the telescopic part, the fixed reference of the distance detection sensor 6 is a guardrail, a barrier strip or a curb stone, and the distance detection sensor 6 is a laser distance measurement sensor or an ultrasonic distance measurement sensor. The distance between the leftmost side of the telescopic part of the screed plate 21 of the paving machine 2 and the rightmost side of the telescopic part is extended to the boundary of the area to be paved, and the distance between the distance and the fixed reference object such as the guardrail, the barrier strip, the curb stone, etc. is measured by the sensor, and the distance is set as a reference value; during construction, the actual measurement value data is transmitted to the computer of the integrated control cabinet 22. If the actual measurement value is greater than the reference value, the integrated control cabinet 22 controls the screed plate 21 to be extended until the actual measurement value is equal to the reference value. If the actual measurement value is less than the reference value, the integrated control cabinet 22 controls the screed plate 21 to be retracted until the actual measurement value is equal to the reference value.

[0033] Detection method three:

[0034] Cameras 7 are installed at the leftmost side of the telescopic part of the screed plate 21 of the paver 2 and the rightmost side of the telescopic part. The fixed boundary reference objects detected by the cameras 7 are railings, isolation belts, curbstones or white lines drawn before construction. The distances between the leftmost side of the telescopic part of the screed plate 21 and the fixed boundary reference objects of the construction area are detected by the cameras 7 in real time, and the data are transmitted to the computer of the integrated control cabinet 22, so that the integrated control cabinet 22 controls the screed plate 21 to extend or retract.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A paver construction area boundary collection system, characterized by: The invention comprises an RTK positioning and navigation system (1), an RTK positioning and navigation system (5), a distance detection sensor (6) and a camera (7), wherein the RTK positioning and navigation system (1) comprises a base station (11) which is externally installed at a construction site and does not move, and a mobile station (12) which is installed on a paving machine (2), wherein the paving machine (2) comprises an ironing plate (21) and an integrated control cabinet (22), wherein the two mobile stations (12) of the RTK positioning and navigation system (1) are installed at the leftmost and rightmost ends of a retractable part of the ironing plate (21), and the RTK positioning and navigation system (5) comprises a base station (11) which is externally installed at a construction site and does not move, and a mobile station (12) which is installed on a paving machine (2), wherein the paving machine (2) comprises an ironing plate (21) and an integrated control cabinet (22), wherein the two mobile stations (12) of the RTK positioning and navigation system (1) are installed at the leftmost and rightmost ends of a retractable part of the ironing plate (21), and wherein the RTK positioning and navigation system (5) comprises a base station (11) which is externally installed at a construction site and does not move. A second base station (51) at a construction site and not moving and a second mobile station (52) arranged on a paver (2), wherein the two second mobile stations (52), a distance detection sensor (6) and a camera (7) are all installed at the leftmost and rightmost ends of a retractable part of a screed plate (21), the second RTK positioning and navigation system (5), the distance detection sensor (6) and the camera (7) are all electrically connected to a computer of an integrated control cabinet (22), the integrated control cabinet (22) is electrically connected to the screed plate (21), and the first RTK positioning and navigation system (1) is connected to the automatic driving system (8) of each roller via an ad hoc network.

2. A paver construction area boundary acquisition system according to claim 1, characterized in that: An L-shaped bracket (3) is fixedly connected to the leftmost and rightmost baffles of the telescopic part of the ironing plate (21); an iron plate (4) is welded to the other end of the L-shaped bracket (3), and the iron plate (4) is kept horizontal; the mobile station (12) is connected to the iron plate (4) via a magnetic base.

3. The construction area boundary collection system of a paver according to claim 1, characterized in that: The installation height and left-right spacing of the two mobile stations (12) on the ironing plate (21) are the same.

4. The construction area boundary collection system of a paver according to claim 1, characterized in that: The information collected by the two mobile stations (12) is the boundary coordinates of the paved asphalt road surface.

5. The construction area boundary collection system of a paver according to claim 1, characterized in that: The information collected by the two mobile stations 2 (52) are the longitude and latitude coordinates of the leftmost left side and the rightmost right side of the telescopic part of the ironing board (21).

6. The construction area boundary collection system of a paver according to claim 1, characterized in that: The distance detection sensor (6) is a laser distance sensor or an ultrasonic distance sensor; The fixed reference object of the distance detection sensor (6) is a railing, a separation belt or a curbstone.

7. The construction area boundary acquisition system of a paver according to claim 1, characterized in that: The fixed boundary reference objects detected by the camera (7) are railings, isolation belts, curbstones or white lines drawn before construction.

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