CN111088742A - Non-navigation-stop asphalt multi-machine continuous paving method applying 3D automatic paving system - Google Patents
Non-navigation-stop asphalt multi-machine continuous paving method applying 3D automatic paving system Download PDFInfo
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- E—FIXED CONSTRUCTIONS
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- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
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Abstract
The invention provides a non-navigation-stop asphalt multi-machine continuous paving method applying a 3D automatic paving system, which comprises the following steps of: step 1, data preparation is carried out: acquiring paper and CAD design data from a design unit, extracting control point and level point information in the paper and CAD design data, converting the control point and level point information into a data format which can be identified, selecting a laser erection position according to the layout condition and the construction direction of a construction site, and acquiring accurate position information; step 2, designing data, taking the recognizable data format obtained in the step 1 as a construction reference basis, and converting the data into construction results by a GNSS RTK, a domain laser, a radio station communication and a hydraulic control method; and 3, performing multi-machine continuous paving operation on the asphalt without stopping the navigation. The butt joint of the MMGPS 3D paving automation and control technology from theory to practice is completed, and the application of the MMGPS 3D paving automation and control technology in the actual engineering paving process is perfected.
Description
Technical Field
The invention relates to the technical field of building construction, in particular to a non-navigation-stop asphalt multi-machine continuous paving method applying a 3D automatic paving system.
Background
In the prior asphalt construction mode, a 2D automatic control leveling system is generally adopted, and the mode is realized by erecting a balance beam or a skid shoe and taking a metal beam, a steel wire rope or the original ground as a reference datum. In the paving process, a metal beam or a datum line erected by measuring personnel of a sliding shoe sensor and a sonar sensor tracker is usually adopted for field construction, so that the control on the paving thickness and the paving smoothness is realized. During construction, a lot of field personnel are needed to carry out the erection of the benchmark and the early and later stage measurement of the pavement, and a lot of workers are needed to assist in the measurement
The mmGPS 3D automatic control system for paving is a light-machine-electro-hydraulic integrated 3D automatic control system specially used for carrying out high-precision leveling on a construction working face, is an important means specially matched with related construction machinery and improving the automation level of the construction machinery, and is an advanced leveling operation technology in the world at present.
However, as the MMGPS 3D paving automation and control technology is not perfect at present and cannot be combined with the actual paving process of the project, the grounding of any project is not available.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a non-navigation-stop asphalt multi-machine continuous paving method applying a 3D automatic paving system, which comprises the following steps:
and 3, performing multi-machine continuous paving operation on the asphalt without stopping the navigation.
Preferably, the step 1 of converting the control point and level point information into data formats which can be identified is control point data GC3 and surface layer data TN 3.
Preferably, the step 3 comprises:
and step 34, checking data, wherein an area laser receiver is additionally arranged on the integrated GNSS mobile station on the basis of the conventional GPS mobile station, an elevation precision control point file which is the same as the airborne laser receiving equipment is arranged in the integrated GNSS mobile station, and a measurer utilizes the integrated GNSS mobile station to detect the paving operation effect in real time, so that a basis is provided for adjustment of the paver.
Preferably, the step 33 includes:
331, using a laser beam reference surface as a control means to replace an operator insertion depth judgment method in conventional mechanical equipment, and automatically controlling the lifting height of a screed plate of the paver so as to achieve the effect of accurate leveling;
step 332, the laser receiver receives the optical signal containing the elevation information from the laser transmitter, converts the optical signal into a changed electrical signal according to the height change relative to the reference plane and transmits the changed electrical signal to the controller;
and 333, converting the potential signal transmitted by the laser receiver into a control signal after data analysis and processing by the controller, and controlling the electromagnetic proportional directional valve to lead to the ironing plate to lift or reduce the oil quantity and direction of the hydraulic cylinder so as to realize automatic lifting of the ironing plate.
Preferably, the forming of the reference surface of the laser beam in step 331 includes: the laser beam emitted by the laser emitter forms a laser plane on the working surface, the plane is used as a reference surface for leveling operation, and the reference surface is a stable plane with a certain space height and is not interfered by cluster operation and other factors.
Preferably, the non-navigation-stop asphalt multi-machine continuous paving method applying the 3D automatic paving system is implemented by adopting a 3D MMGPS paving automatic control system, wherein the 3D MMGPS paving automatic control system consists of a reference station device, a P63 airborne device and a flow detection device, and the reference station device comprises a GNSS reference station receiver and an LZ-T5 laser transmitter; the P36 airborne equipment comprises 2 domain laser receivers, 1 controller, 1 GNSS receiver, a cable assembly for connection, a data assembly module and a data link receiving module; the mobile detection equipment comprises 1 integrated GNSS mobile station and a laser mobile station system, wherein the laser mobile station system comprises a laser receiver, a control handbook and Pocket-3D software, and the P63 airborne equipment and the mobile detection equipment comprise operation software for realizing corresponding functions, so that an operator can conveniently control the mobile detection equipment through a graphical interface.
Preferably, the GNSS reference station receiver is used for providing a centimeter-level high-precision plane positioning reference for airborne equipment and detection equipment, and is provided with an external or internal transmitting radio station for communicating with the rover station and the airborne equipment, erecting the rover station on a control point, and broadcasting RTK correction data in a certain data format; the laser transmitter is used for controlling elevation in the vertical direction, the laser emitted by the squirrel laser transmitter outwards emits three laser beams with 10-degree included angles with the horizontal direction on the basis of automatic leveling to form a laser wall with the vertical range of 10 meters, and laser information can be effectively received in the range of the laser wall, so that elevation accuracy is obtained.
Preferably, the domain laser receiver combines a GNSS receiving antenna and a laser receiver with 360-degree laser receiving capability, is used for simultaneously receiving GNSS satellite signals and laser signals, and respectively transmits the two signals to the GNSS receiver through a cable, the domain laser receiver is mounted at the top end of a support rod on a traction arm of the paver, and the fixed deviation of the domain laser receiver to the bottom of the screed plate can be measured and calibrated during system mounting; the GNSS receiver is used for GNSS equipment on construction machinery, is internally provided with a receiver mainboard and also comprises a control unit, and is used for converting and processing GNSS signals and laser signals acquired by a domain laser sensor, sending the result to a system controller and then sending an operation command fed back by the controller to an ironing plate angle oil cylinder in the form of an electric signal to enable the ironing plate angle oil cylinder to generate lifting action; the controller is a man-machine interaction interface of the MMGPS automatic paver system, design data uploading, parameter setting, actual measurement data display, operation data storage and downloading are carried out through pre-installed 3D-MC software, the whole operation condition is monitored, and deviation calculated by comparison with the design data is monitored, so that control of a user on the system is completed.
Preferably, the detection device is used for on-site checking of the paving result in the construction process, the control handbook stores data which are the same as those in the controller and comprise design data, control point data and laser correction data, the difference between the actual paving result and the design data is automatically calculated through GNSS RTK plane position information obtained through actual measurement at the rear of the paver and precision elevation information measured by the laser receiver, and the detection result is stored in the control handbook and is filed and searched as construction data.
The invention has the beneficial effects that:
the butt joint of the MMGPS 3D paving automation and control technology from theory to practice is completed, and the application of the MMGPS 3D paving automation and control technology in the actual engineering paving process is perfected.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. The objects and features of the present invention will become more apparent in view of the following description taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a non-cruising asphalt multi-machine continuous paving method using a 3D automatic paving system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a comparison between GPS and Lazerzone elevation accuracies according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a 3D-MC software interface according to an embodiment of the invention;
FIG. 4 is a schematic diagram of an exemplary control pad software interface in a test apparatus according to an embodiment of the present invention;
FIG. 5 is a Vena field data diagram according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a runway grade adjustment design according to an embodiment of the invention;
FIG. 7 is a schematic diagram of details of a transition piece design according to an embodiment of the present invention;
FIG. 8 is a schematic representation of a track surface relief using contour lines according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of the amount of construction plans for a construction area for the day according to an embodiment of the invention;
FIG. 10 is a schematic illustration of a paving operation according to an embodiment of the present invention;
FIG. 11 is a schematic flow chart illustrating a process for real-time paving quality detection according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention adopts the laying engineering power of a Vira-Boerfield International Airport, the Vira-Boerfield International Airport (Bauerfield International Airport) is positioned in the Vira harbor of the republic of Vanuatu and the national Thymen province, is the Airport with the largest Vanuatu and is also the main transportation mode for personnel communication with the outside, and the Airport comprises a runway with the length of 2600m and the width of 45m and an apron. The runway is composed of two turning and turning aprons positioned at the tail end of a No. 11 runway and the tail end of a No. 29 runway, and an airplane turning area is arranged in the middle of the runway at 1950 m. It has a taxiway connecting the runway to the apron. A recent revision was an international airport infrastructure that was invested jointly by the knudau government and world banks to improve knudau, and established was the knudau airtime project (VAIP), which was combined with the sanger airport revision, the tana airport revision as part of the pacific regional airtime program, with the aim of designing and building infrastructure restoration projects directly related to this continued investment, thereby extending the life of existing airport assets.
The airport project comprises the following main contents: renovating the runway surface and adjusting the gradient; and (4) expanding the turning-round terrace, newly adding road shoulders on two sides of the runway, and newly building the parking apron. This project faces the following problems:
1. due to the use and sedimentation factors, the thickness of the asphalt on the surface layer of the runway is uneven, the structural strength is inconsistent, further damage to the runway can be easily caused under the high-strength impact effect in the take-off and landing process of the airplane, and meanwhile, the take-off and landing framework of the airplane can be threatened, so that the flight safety is endangered.
2. The damage is serious at the take-off and landing positions of the runway, and the small-range trimming which is once carried out is difficult to meet the standard of safe flight.
3. The semi-permeability of the top of the asphalt pavement is intensified, the asphalt pavement is porous, and the damage to the underlayer is intensified under the rainfall condition.
4. Because the settlement and the design cause the slope adjustment, the runway needs to be paved in a subsection mode, and the longitudinal slope adjustment is carried out on the slope. 5 layers of paving are needed in the place with the largest paving layer number of the whole runway, and one layer of paving is needed in the place with the smallest paving layer number.
The 3D MMGPS paving automatic control system is applied to the overhaul of the airport. The 3D MMGPS automatic paving control system is an optical-mechanical-electro-hydraulic integrated 3D automatic control system which combines a GPS RTK technology, a laser technology and a mechanical control technology and is used for carrying out high-precision control on the height of a construction working face, and is an important means for matching with related construction machinery and improving the automation level of the related construction machinery. The technical core is as follows: utilize GNSS RTK technique to carry out centimetre level real-time positioning to paver screed plane position, utilize laser to carry out the millimeter level location to the screed height simultaneously. The obtained real-time elevation data is compared with elevation information of corresponding positions in the design data, a difference value is calculated, the difference value is converted into electric signals with different strengths, the hydraulic valve is driven to move at different speeds, and finally the screed of the paver is controlled to lift or lower the hydraulic cylinder, so that leveling operation is realized.
A, system constitution
The 3D MMGPS paving automatic control system is composed of three main parts, namely a reference station device, a P63 airborne device and a flow detection device. Wherein the reference station device comprises a GNSS reference station receiver and an LZ-T5 laser transmitter; the P36 airborne equipment comprises 2 domain laser receivers, 1 controller, 1 GNSS receiver, a cable assembly for connection, a data assembly module and a data link receiving module; the flow detection equipment comprises 1 integrated GNSS rover and a laser rover system, wherein the laser rover system comprises a laser receiver, a control handbook and Pocket-3D software. The airborne equipment and the flow detection equipment part comprise operation software for realizing corresponding functions, and a graphical interface is convenient for an operator to control.
Reference station equipment
1. GNSS reference station receiver
The method supports various devices, can adopt any survey type GNSS reference station receiver, is provided with an external or internal transmitting station to communicate with a mobile station and an airborne device, is erected on a control point, and broadcasts RTK correction data in a certain data format (such as RTCM 3.x or CMR +). The function of the device is to provide centimeter-level high-precision plane positioning reference for airborne equipment and detection equipment. In the embodiment, 1 TOPCON HiperV GNSS receiver with built-in radio station and reference station configuration is adopted.
2. Laser transmitter
The GNSS RTK technology has centimeter-level accuracy in the aspect of elevation control, can not well meet normal construction requirements, and laser can control direction errors in millimeter-level accuracy within a certain range due to the characteristic of good directivity, and can well realize elevation control in the vertical direction by combining with an automatic leveling function. The laser can emit three laser beams with 10-degree included angles with the horizontal direction outwards on the basis of automatic leveling to form a laser wall with the vertical range of 10 meters, so that laser information can be effectively received in the range of the laser wall, and good elevation precision is guaranteed.
As shown in fig. 2, a schematic diagram of elevation accuracy comparison between GPS and Lazerzone is shown, and the left diagram shows an elevation positioning accuracy situation obtained by only depending on GPS positioning without laser participation. And the right side shows the elevation precision condition obtained after the LAZERZONE area laser technology participates in calculation.
In the 3D MMGPS paving automatic control system, a domain laser transmitter with the model of LZ-T5 is erected on a known elevation control point, and the height of an instrument of the laser transmitter is checked and corrected through a mobile station erected on the control point, so that a high-precision elevation calculation reference is obtained.
(II) airborne equipment
The MMGPS airborne system comprises: 2 domain laser receivers, 1 controller, 1 GNSS receiver and a cable assembly for connection.
1. Domain laser receiver
The domain laser receiver (model PZS-MC) is a design combining a GNSS receiving antenna and a laser receiver with 360 ° laser receiving capability, and can simultaneously receive GNSS satellite signals and laser signals and respectively transmit the two signals to the GNSS receiver through a cable. The field laser receiver is typically mounted on top of a support bar located on the tractor arm of the paver. The mounting offset of the field laser receiver to the bottom of the screed plate is measured and calibrated at system installation. In actual operation, due to the relatively fixed geometric relationship, the real-time 3D position and elevation of the screed can be accurately calculated by the GNSS phase center and the geometric center of the laser receiving element, so that comparison with design data can be performed, and the screed can be controlled to be lifted/lowered to reach a design surface by controlling a hydraulic system of the paver.
2. GNSS receiver
The onboard GNSS receiver (model MC-R3) is a GNSS device specially used on construction machinery and has multiple optional configurations, a receiver mainboard is arranged in the GNSS receiver, and the GNSS receiver also comprises a control unit which is used for converting and processing GNSS signals and laser signals acquired by a field laser sensor, sending the result to a system controller, and sending an operation command fed back by the controller to an ironing plate angle oil cylinder in the form of an electric signal to enable the ironing plate angle oil cylinder to generate lifting action.
3. Controller
The controller (model GX-60) is a man-machine interaction interface of the MMGPS automatic paver system, is a control center for issuing instructions to the paver system, and can realize the control of the system through the control center to complete corresponding functions. Through the pre-installed 3D-MC software, the method can upload design data, set parameters, display measured data, store and download operation data, and monitor the whole operation condition and the deviation calculated by comparing with the design data, wherein the 3D-MC software interface is shown in figure 3.
(III) detection equipment
The detection device comprises an integrated GNSS rover (model: HiperV in the embodiment), a laser receiver (model: PZS-1 in the embodiment), a control handbook (model: FC5000 in the embodiment) and Pocket-3D software. Fig. 4 shows a typical control pad software interface in the detection device used in the present embodiment.
The detection equipment is used for carrying out on-site check on the paving result in the construction process. The same data as in the control box, including design data, control point data, and laser correction data, are stored in the manual book. The difference between the actual paving result and the design data is automatically calculated through the GNSS RTK plane position information obtained by actual measurement at the rear of the paver and the precise elevation information measured by the laser receiver. The detection result can be stored in a control handbook and used as construction data for filing and future reference.
(IV) the working principle of the 3D MMGPS paving automatic control system is as follows:
the 3D MMGPS automatic paving control technology is a digital construction solution based on a GNSS technology and a laser technology. The realization of the non-navigation-stop asphalt multi-machine continuous paving method comprises the following steps: the method comprises four operation links of data preparation, data design, paving operation, data checking and the like, and the paving operation is high in quality, high in efficiency and automatic through mutual connection of all the links.
1. Data preparation
Firstly, the control point and level point information obtained from a design unit is converted into a data format which can be identified, a reasonable laser erection position is selected according to the layout condition and the construction direction of a construction site, and accurate position information is obtained.
2. Data design
The core of digital construction is the digitization of construction data and the automation of construction machine control. The embodiment is that the paper and CAD design data given by the design unit are converted into data formats (such as control point data GC3, surface layer data TN3 and the like) which can be recognized and used by a system, and then the data are converted into construction results through GNSS RTK, domain laser, radio station communication, hydraulic control and the like by taking the data as a construction reference basis.
3. Paving operation
Before the paving operation starts, a reference station and a laser transmitter are erected, data of the laser transmitter are downloaded and checked, the data precision error is ensured to be within a specified range, and then the whole project file containing control information is exported to 3D-MC software on a paver, so that the whole system uses the same data file, and the consistency of the data is ensured.
When the paving operation is started, the leveling plate of the paver is adjusted to a proper height position by using the mobile station, then the system is adjusted to be in an automatic control mode, and the system can be combined with design data by taking the position as an incision point.
The reference surface of the laser beam is used as a control means to replace an operator insertion depth judgment method in conventional mechanical equipment, and the lifting height of the ironing plate of the paver is automatically controlled so as to achieve the effect of accurate leveling. The laser beam emitted by the laser emitter can form a laser plane on the working surface, and the plane is used as a reference plane for leveling work. The reference plane is a stable plane at a certain space height, so that the reference plane is not interfered by cluster operation and other factors.
The laser receiver is used for receiving the optical signals containing the elevation information sent by the laser transmitter, converting the optical signals into changed electric signals according to the height change relative to the reference surface of the reference, and transmitting the changed electric signals to the controller.
The controller converts potential signals transmitted by the laser receiver into control signals after data analysis and processing, controls the electromagnetic proportional directional valve to lead to the ironing plate to lift or reduce the oil quantity and direction of the hydraulic cylinder, and realizes the automatic lifting of the ironing plate.
4. Data checking
The rover station is additionally provided with an area laser receiver on the basis of a conventional GPS rover station, and the rover station has an elevation precision control point file which is the same as an airborne laser receiving device, so that a measurer can detect the paving operation effect in real time by using the elevation precision control point file, and a basis is provided for adjustment of a paver.
(V) application of MMGPS technology in construction of Villa project
The construction contents of the embodiment include: renovating the runway surface and adjusting the gradient; and (4) expanding the turning-round terrace, newly adding road shoulders on two sides of the runway, and newly building the parking apron. For a road surface with very poor flatness, the design needs to be adjusted at a place where the thickness of the asphalt is inconsistent with the design, and the false pavement thickness needs to be considered at a place where the thickness is inconsistent, so that the false pavement thickness is increased in the design.
Pavement paving
1. Data preparation
In the engineering preparation stage, a proper position is selected to embed a control point in the construction range of an airport. The control point is used for controlling the plane position and elevation information of the construction design data and providing the starting and checking reference of laser control. After the control points are arranged, data acquisition of the original surface is carried out, a reference basis of construction is formed through interior design, one part of the reference basis is generally intercepted, and laser is erected by utilizing the control points to detect and analyze whether the original design model is reasonable or not.
The upper part of fig. 5 is a data diagram of a veranda airport, which is the layout of a general small airport, and the construction range is a runway, a turning plateau, a communication road and an air park. The present embodiment uses cement stabilized bed paving and asphalt concrete paving with newly built airport runways, taxiways and tarmac. The method is mainly used for solving non-sailing overhauling engineering of an active airport, and the prior runway is milled and replaced (generally, equal-thickness milling and unequal-thickness covering asphalt concrete and unequal-thickness milling and equal-thickness covering asphalt concrete) to improve the prior runway and meet the flight safety of an aircraft. The lower half of fig. 5 is a diagram showing the arrangement of control networks in the flight area, wherein numbers represent roll names of control points, the roll names need to be uniformly distributed in a construction area, the distance between the control points and the construction area needs to be more than or equal to 30 meters, and the accuracy is affected when the 3D laser transmitter is too close to the receiver. A base station position needs to be selected near a construction range, and a place which is wide, free of strong electric fields and small in electronic interference needs to be near the base station.
The traditional data acquisition mode has two kinds: firstly, a GPS receiver is used independently, and an RTK operation mode is adopted for data acquisition; and secondly, acquiring data by combining a level gauge with RTK. And thirdly, the MMGPS technology adopts an RTK mode to determine plane coordinates, adopts laser to measure elevation, and combines the advantages of the two modes to realize the purpose of acquiring data quickly and accurately. The operation modes and the advantages and the disadvantages of the three modes are shown in the following table 1:
TABLE 1
The viar airport needs to adjust the gradient, and the number of layers covered at different places is different, so that the measurement work runs through the whole construction process. The daily data of the previous day is collected after the work is finished, and new operation data is generated according to the collected data. Because data needs to be acquired every day, a third method is selected for acquisition by using the MMGPS, and the second method is adopted in the past construction, GPS lofting is adopted, and then a leveling instrument is used for measurement, so that two dedicated measuring personnel and two workers are required to perform auxiliary measurement every day to acquire data after paving, which is very critical to data and quantity of next paving, but is time-consuming and labor-consuming.
2. Data design
Compared with the original pavement data, the construction scheme of analyzing feasibility by using the design model is different from the single-layer renovation project, the renovation of the veranda airport runway involves multilayer transition, and the adjustment of the gradient needs to be considered in the design besides the down slope of the joint part of the daily work joint. Because the base surface of the veranda airport runway is poor, the thickness of the asphalt layer on the original ground is uneven and has large fluctuation, variable milling is difficult to realize, if milling is carried out according to the requirement with equal thickness, then equal-thickness paving is carried out, the ground data after compaction is still poor, therefore, the additional virtual paving thickness is added to the place with large difference between the elevation and the design before paving, so as to make up the ground pothole and avoid water accumulation and plane sliding jolt. Fig. 6 and 7 are schematic views of design adjustment of a step-by-step stage of a runway construction stage, wherein fig. 6 is a schematic view of design adjustment of a runway slope, and details of design of a transition section are shown in fig. 7.
Through 3D-Office software, the original ground and design data can be compared, and the elevation difference condition can be checked. In 3D-Office, contour line intervals can be set according to actual conditions, and the fluctuation condition of the road surface is displayed as shown in FIG. 8, and FIG. 8 is a schematic diagram of the fluctuation condition of the road surface displayed by adopting contour lines.
3. Paving operation
(1) Work plan
Paving operation is the core content of the whole project, a viar airport overhaul project is non-stop construction, an operation window at each night is determined according to flight plans, the operation time is relatively urgent, milling, paving, compacting, cleaning, scribing and other work need to be finished within the specified time, and all the work needs to be finished one hour before the first flight takes off in the next morning. However, daily flights cannot always be performed according to a plan, so that construction time is affected, and the arrangement of a construction plan is particularly affected. The discharge amount of asphalt needs to be planned in advance before entering a field every day, preparation is carried out in advance, cost waste is caused when the supply amount exceeds the actual use amount, material supplement is required when the supply amount is less than the actual use amount, and larger pressure is inevitably formed on the originally tense time, so that how to ensure the supply amount of asphalt is a very critical problem, and as shown in fig. 9, the planned construction amount of the construction area on the day is shown.
(2) Implement linkage berth
The viar airport runway is 45m wide, and in order to ensure the completeness and smoothness of asphalt thermal joints among all the roads during paving construction, an operation mode of jointly paving by a plurality of pavers is adopted. Firstly, a construction operation area is defined according to an operation plan of the same day, a milling line is defined for a place needing milling according to a design elevation in the area, and an operator of a milling machine is informed to adjust milling thickness according to the design. And after milling, cleaning the road surface, spreading emulsified asphalt, and spreading a spreading line on the basis of the emulsified asphalt for spreading.
(3) The specific implementation method shown in fig. 10 is as follows: five spreading machines are arranged in an arrow shape for spreading, No. 1, No. 3 and No. 5 spreading machines are additionally provided with MMGPS spreading control systems, No. 2 and No. 4 spreading machines are additionally provided with MMGPS systems, and a traditional beam erecting operation mode is used. The laser is erected at the positions 30 meters on the two sides of the runway, the distance between the lasers in the runway direction is 150 meters, and after the paving operation starts, all the pavers keep certain distance and formation.
4. Monitoring the operation quality in the whole course
According to the traditional construction mode, after the pavement is milled, cleaned and spread with emulsified asphalt, a measurer can measure ground data at regular intervals according to design data, and after the height of the erected beam is calculated, the metal beam is erected. The method is simple and stable only by processing data in advance, but the workload is large, the data can be completed by cooperation of a plurality of measuring personnel and workers, and the night work has complex field environment, is easy to cause errors and needs high responsibility and attention of related personnel. If errors occur in the intermediate link, the errors are difficult to find, and the condition of unqualified construction is easily caused.
As shown in fig. 11, a worker who mounts a girder in the TOPCON 3D control system can release the girder, and the worker only needs to follow behind the paver to detect the virtual paving thickness of the paved road surface in real time, so that the paving quality can be controlled in real time.
The whole 3D digital construction process is a revolutionary breakthrough compared with the traditional construction method, but more digital construction is more and more required to be more professional and more responsible people do the digital construction, a plurality of auxiliary measurement workers are saved in the digital construction, but the technical level of professional measurement personnel is improved by one step, the design data is not required to be processed before paving, the design files of the current day are prepared according to the current construction, the mechanical control aspect is also known, any machine and an external control mode certainly have no original factory stability, so that the personnel checking the pavement behind the paver need to understand some mechanical principles, because in the walking process, the personnel mainly depend on the personnel checking the pavement behind the paver, if the height does not accord with the design, the operation on a 3D control box is required, so that the screed can reach the designed height, this operation is as simple as driving, but requires some time to adapt, find the sensitivity of the paver for which you are responsible, and adjust in a fast and slow manner, because each paver will not be exactly the same.
While the present invention has been described with reference to the particular illustrative embodiments, it is not to be restricted by the embodiments but only by the appended claims. It will be understood by those skilled in the art that variations and modifications of the embodiments of the present invention can be made without departing from the scope and spirit of the invention.
Claims (9)
1. A non-navigation-stop asphalt multi-machine continuous paving method applying a 3D automatic paving system is characterized by comprising the following steps:
step 1, data preparation is carried out: acquiring paper and CAD design data from a design unit, extracting control point and level point information in the paper and CAD design data, converting the control point and level point information into a data format which can be identified, selecting a laser erection position according to the layout condition and the construction direction of a construction site, and acquiring accurate position information;
step 2, designing data, taking the recognizable data format obtained in the step 1 as a construction reference basis, and converting the data into construction results by a GNSS RTK, a domain laser, a radio station communication and a hydraulic control method;
and 3, performing multi-machine continuous paving operation on the asphalt without stopping the navigation.
2. The non-navigation-stop asphalt multi-machine continuous paving method applying the 3D automatic paving system according to claim 1, which is characterized in that:
the step 1 of converting the control point and level point information into data formats which can be identified is control point data GC3 and surface layer data TN 3.
3. The non-navigation-stop asphalt multi-machine continuous paving method applying the 3D automatic paving system according to claim 1, which is characterized in that: the step 3 comprises the following steps:
step 31, before the multi-machine continuous paving operation of the asphalt is started without navigation, erecting a laser transmitter in the reference station equipment, downloading the data of the laser transmitter and checking the data to ensure that the data precision error is within a specified range;
step 32, exporting the whole project file containing the control information to 3D-MC software in the paver for implementing non-navigation asphalt multi-machine continuous paving operation, so that the whole system uses the same data file to ensure the consistency of data;
step 33, starting multi-machine continuous paving operation of asphalt without stopping the navigation, adjusting the screed of the paver to a proper height position by utilizing an integrated GNSS mobile station in the detection equipment, and then adjusting the system to an automatic control mode, wherein the system can combine the cut-in point with design data;
and step 34, checking data, wherein an area laser receiver is additionally arranged on the integrated GNSS mobile station on the basis of the conventional GPS mobile station, an elevation precision control point file which is the same as the airborne laser receiving equipment is arranged in the integrated GNSS mobile station, and a measurer utilizes the integrated GNSS mobile station to detect the paving operation effect in real time, so that a basis is provided for adjustment of the paver.
4. The non-cruising asphalt multi-machine continuous paving method using the 3D automated paving system according to claim 3, wherein the step 33 comprises:
331, using a laser beam reference surface as a control means to replace an operator insertion depth judgment method in conventional mechanical equipment, and automatically controlling the lifting height of a screed plate of the paver so as to achieve the effect of accurate leveling;
step 332, the laser receiver receives the optical signal containing the elevation information from the laser transmitter, converts the optical signal into a changed electrical signal according to the height change relative to the reference plane and transmits the changed electrical signal to the controller;
and 333, converting the potential signal transmitted by the laser receiver into a control signal after data analysis and processing by the controller, and controlling the electromagnetic proportional directional valve to lead to the ironing plate to lift or reduce the oil quantity and direction of the hydraulic cylinder so as to realize automatic lifting of the ironing plate.
5. The non-cruising asphalt multi-machine continuous paving method applying the 3D automatic paving system according to claim 4, wherein:
the step 331 of forming the reference surface of the laser beam includes: the laser beam emitted by the laser emitter forms a laser plane on the working surface, the plane is used as a reference surface for leveling operation, and the reference surface is a stable plane with a certain space height and is not interfered by cluster operation and other factors.
6. The non-navigation-stop asphalt multi-machine continuous paving method applying the 3D automatic paving system according to claim 1, which is characterized in that:
the non-navigation-stop asphalt multi-machine continuous paving method applying the 3D automatic paving system is implemented by adopting a 3D MMGPS paving automatic control system, wherein the 3D MMGPS paving automatic control system consists of reference station equipment, P63 airborne equipment and flow detection equipment, and the reference station equipment comprises a GNSS reference station receiver and an LZ-T5 laser transmitter; the P36 airborne equipment comprises 2 domain laser receivers, 1 controller, 1 GNSS receiver, a cable assembly for connection, a data assembly module and a data link receiving module; the mobile detection equipment comprises 1 integrated GNSS mobile station and a laser mobile station system, wherein the laser mobile station system comprises a laser receiver, a control handbook and Pocket-3D software, and the P63 airborne equipment and the mobile detection equipment comprise operation software for realizing corresponding functions, so that an operator can conveniently control the mobile detection equipment through a graphical interface.
7. The non-navigation-stop asphalt multi-machine continuous paving method applying the 3D automatic paving system, according to claim 6, is characterized in that:
the GNSS reference station receiver is used for providing centimeter-level high-precision plane positioning reference for airborne equipment and detection equipment, is provided with an external or internal transmitting radio station for communicating with the mobile station and the airborne equipment, is erected on a control point, and broadcasts RTK correction data in a certain data format; the laser transmitter is used for controlling elevation in the vertical direction, the laser emitted by the squirrel laser transmitter outwards emits three laser beams with 10-degree included angles with the horizontal direction on the basis of automatic leveling to form a laser wall with the vertical range of 10 meters, and laser information can be effectively received in the range of the laser wall, so that elevation accuracy is obtained.
8. The non-navigation-stop asphalt multi-machine continuous paving method applying the 3D automatic paving system, according to claim 6, is characterized in that:
the domain laser receiver combines a GNSS receiving antenna and a laser receiver with 360-degree laser receiving capacity, is used for simultaneously receiving GNSS satellite signals and laser signals and respectively transmits the two signals to the GNSS receiver through a cable, the domain laser receiver is installed at the top end of a supporting rod on a traction arm of the paver, and the fixed deviation from the domain laser receiver to the bottom of the screed plate can be measured and calibrated during system installation; the GNSS receiver is used for GNSS equipment on construction machinery, is internally provided with a receiver mainboard and also comprises a control unit, and is used for converting and processing GNSS signals and laser signals acquired by a domain laser sensor, sending the result to a system controller and then sending an operation command fed back by the controller to an ironing plate angle oil cylinder in the form of an electric signal to enable the ironing plate angle oil cylinder to generate lifting action; the controller is a man-machine interaction interface of the MMGPS automatic paver system, design data uploading, parameter setting, actual measurement data display, operation data storage and downloading are carried out through pre-installed 3D-MC software, the whole operation condition is monitored, and deviation calculated by comparison with the design data is monitored, so that control of a user on the system is completed.
9. The non-navigation-stop asphalt multi-machine continuous paving method applying the 3D automatic paving system, as recited in claim 8, wherein:
the detection device is used for carrying out on-site check on the paving result in the construction process, the same data as those in the controller, including design data, control point data and laser correction data, are stored in the control handbook, the difference between the actual paving result and the design data is automatically calculated through GNSS RTK plane position information obtained by actual measurement at the rear part of the paver and precision elevation information measured by the laser receiver, and the detection result is stored in the control handbook and is filed and searched as construction data.
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| CN112962404A (en) * | 2021-02-07 | 2021-06-15 | 中国路桥工程有限责任公司 | Single-layer and multi-layer large plane structure elevation control method |
| CN112784352A (en) * | 2021-04-13 | 2021-05-11 | 西南交通大学 | Intelligent paving guidance system based on Beidou and three-dimensional self-perception positioning technology |
| CN113529526A (en) * | 2021-07-20 | 2021-10-22 | 江苏筑港建设集团有限公司 | Energy-saving and environment-friendly construction method for concrete surface layer of wharf yard road |
| CN113529526B (en) * | 2021-07-20 | 2022-06-21 | 江苏筑港建设集团有限公司 | Energy-saving and environment-friendly construction method for concrete surface layer of wharf yard road |
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