CN103290759A - Automatic paver leveling control system and automatic paver leveling control method - Google Patents
Automatic paver leveling control system and automatic paver leveling control method Download PDFInfo
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- CN103290759A CN103290759A CN2013102307931A CN201310230793A CN103290759A CN 103290759 A CN103290759 A CN 103290759A CN 2013102307931 A CN2013102307931 A CN 2013102307931A CN 201310230793 A CN201310230793 A CN 201310230793A CN 103290759 A CN103290759 A CN 103290759A
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Abstract
The invention discloses an automatic paver leveling control system and an automatic paver leveling control method. The control system comprises a central processing unit, and a leveling system, a walking system and a screed system which are respectively connected to the central processing unit, wherein the central processing unit is also connected with a leveling solenoid valve which is controlled to ascend or descend; the leveling system, the walking system and the screed system are provided with sensors for acquiring operating condition data; the central processing unit acquires the current operating condition data provided by the sensors through a communication line, refers to the corresponding relationship between the preset operating parameters and the leveling adjustment mode and determines the leveling adjustment mode corresponding to the current operating parameters. According to the control method for the system, the leveling sensitivity parameters corresponding to operating condition data are acquired in a self-adaption manner, so that the sensitivity parameters under different paving operation conditions are effectively controlled, the pavement construction quality is improved, and the operation difficulty of a paver is lowered.
Description
Technical field
The present invention relates to road construction apparatus field technology, refer in particular to a kind of paver Automatic Levelling control system and method.
Background technology
Paver is a kind of construction equipment that is mainly used in basic unit and the various material paving operations of surface layer on the speedway.In recent years, because highway construction project is increasing, and the requirement of construction engineering units road pavement planeness is more and more higher.
According to analysis, the factor that influences the paver levelling can be generalized into the following aspects: 1, the error between roadbed and the benchmark, and namely the height of roadbed changes; 2, the velocity variations that paves; 3, the variation of material temperature; 4, the variation of controlling level in the material-dividing groove; 5, the vibrate variation of frequency.The variation of this Several Factors all can make the stress balance of screed destroy, and causes surface evenness to change.
In existing paver, comprise leveling system and operating system, operating system comprises running gear, defeated sub-material system and screed system, wherein, separate control between leveling system and the operating system, can not realize mutual communication, the factor relevant with surface evenness can't participate in the levelling control, platform controller only detects error between roadbed and the benchmark by sensor, planeness control thereby the big arm index point of simple control changes to reach the road, and the screed position that other factors causes change only could be detected by position sensor after planeness changes, thereby surface evenness has produced error.Therefore, in existing one control system, can only control in advance the error between roadbed and the benchmark, and the variation of the velocity variations that paves, the variation of the interior controlling level of material-dividing groove and the frequency of vibrating is processing afterwards.After paver work, the workman needs road pavement inspection, the out-of-flatness situation that the frequent appearance in road surface causes for above-mentioned reasons, so the workman also needs road pavement to carry out the secondary trimming, therefore, existing paver has not only reduced operating efficiency, but also the wasting manpower and material resources.
Summary of the invention
In view of this, the present invention is directed to the disappearance of prior art existence, its main purpose provides a kind of paver Automatic Levelling control system and method, it is not only so that paver improves the precision of levelling when work, effectively sensitivity adapts to automatically under the different paving operation speed of control, and then improves the pavement construction quality, reduces the difficulty of paver operation simultaneously, improved operating efficiency, used manpower and material resources sparingly.
For achieving the above object, the present invention adopts following technical scheme:
A kind of paver Automatic Levelling control system, the leveling system that comprises central processing unit and be connected to central processing unit, running gear and screed system, this central processing unit also connects controlled and electromagnetic valve rising or decline levelling, this leveling system, running gear and screed system are provided with the sensor of gathering the operation floor data, described central processing unit obtains the current operation floor data that described sensor provides by described communication line, corresponding relation with reference to preset working parameter and levelling adjustment mode, determine the levelling adjustment mode of corresponding work at present parameter, and carry out described levelling adjustment mode by described communication line transmission command adapted thereto to control described operating system.
Preferably, described leveling system is connected with the levelling sensor.
Preferably, described running gear is connected with the velocity sensor for detection of paver speed.
Preferably, described screed system is connected with temperature pick up, thickness transducer and the width sensor of the temperature of gathering material spreader, paving thickness, paving width.
Preferably, described central processing unit comprises left side adaptive controller and right side adaptive controller.
Preferably, described electromagnetic valve comprises left side levelling rising electromagnetic valve, the left side levelling decline electromagnetic valve that is connected in the left side adaptive controller, is connected in right side levelling rising electromagnetic valve, the right side levelling decline electromagnetic valve of right side adaptive controller.
A kind of paver Automatic Levelling control method,, comprise the steps:
Step 1, image data: determine the operation floor data of paver, determine the levelling signal of sensor corresponding with this operation floor data simultaneously;
Preferably, described operation floor data comprises: the temperature of paver travel speed, material spreader, paving thickness, paving width and material spreader coefficient.
Preferably, described presetting rule is that self adaptation is obtained the levelling sensitivity parameter of floor data correspondence in the following way:
m?＝?φ×K×D
n?＝?Φ×K×D′
Wherein, m is the interval size in dead band, and n is size between the proportional band, and φ is sensor dead band coefficient, and Φ is sensor proportional band coefficient, and K is the levelling sensitivity coefficient, and D is for setting the levelling control interval.
Preferably, described levelling instrument sensitivity coefficient K determines in the following way:
Wherein,
τ is the actual radius of gyration of sensor position, and unit is rice;
α is the travel speed weight, and value is 0.7;
β is the material temperature weight, and value is 0.2;
δ is paving thickness and paving width weight, and value is 0.1;
V is the paver travel speed, and unit is meter/minute;
T is the temperature of paver material, and unit is degree centigrade;
H is paving thickness, and unit is millimeter;
L is paving width, and unit is rice;
M is the material spreader coefficient.
The present invention compared with prior art has tangible advantage and beneficial effect, particularly, and as shown from the above technical solution:
From system architecture: Automatic Levelling control system of the present invention is by central processing unit and the leveling system that links to each other by communication line, running gear and screed system constitute, this leveling system, be provided with the sensor for the collecting work parameter in running gear and the screed system, utilize described central processing unit obtain described sensor by described communication line provide current under make parameter, with reference to the default following corresponding relation of making parameter and levelling adjustment mode, determine the levelling adjustment mode of corresponding work at present parameter, and carry out described levelling adjustment mode by described communication line transmission command adapted thereto to control described operating system.The present invention has adopted integrated control with central processing unit and leveling system, running gear, screed system, to influence the foundation of levelling various factors and leveling system contacts, fellowship levelling control, make leveling system work be in optimum state, realize Based Intelligent Control with this, after paver work, the workman does not need road pavement once to rebuild substantially, therefore, paver has not only improved operating efficiency, but also has saved manpower and materials.
Control method from system: 1) self adaptation is obtained the levelling sensitivity parameter of operation floor data correspondence, effectively realized the control of sensitivity parameter under the different paving operation operating modes, and then improve the pavement construction quality, reduce the difficulty of paver operation simultaneously.2) self adaptation is obtained the operation floor data, makes the paver leveling work more simple, convenient.3) when enforcement is of the present invention, self-adaptation control method can be integrated in the control system of paver, therefore, only need a cover levelling sensor can realize levelling control, the levelling operating system is more succinct, cost is low, has good economic benefits.To sum up, the self-adaptation control method of paver levelling has controlled effectively that sensitivity adapts to automatically under the different paving operation speed, and then improves the pavement construction quality, reduces the difficulty of paver operation simultaneously.
For more clearly setting forth architectural feature of the present invention and effect, the present invention is described in detail below in conjunction with accompanying drawing and specific embodiment.
Description of drawings
Fig. 1 is the system block diagram sketch of the present invention's embodiment;
Fig. 2 is system block diagram detail drawing among the present invention's the embodiment;
Fig. 3 is systems approach flow chart among the present invention's the embodiment.
The accompanying drawing identifier declaration:
1, central processing unit 2, leveling system
3, running gear 4, screed system
5, electromagnetic valve 6, left side adaptive controller
7, right side adaptive controller 8, left side levelling sensor
9, right side levelling sensor 10, temperature pick up
11, thickness transducer 12, width sensor
13, left side levelling rising electromagnetic valve 14, left side levelling decline electromagnetic valve
15, right side levelling rising electromagnetic valve 16, right side levelling decline electromagnetic valve
17, paver left driving tachogenerator
18, tachogenerator travels on the paver right side.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
A kind of paver Automatic Levelling control system, the leveling system 2, running gear 3 and the screed system 4 that comprise central processing unit 1 and be connected to central processing unit 1.
Link to each other with central processing unit 1 by communication line between described leveling system 2, running gear 3 and the screed system 4, so can realize data sharing in mutual asking.In the present embodiment, described communication line is the CAN bus, but the present invention do not limit to and plant mode therewith, all belongs to protection scope of the present invention as long as can realize central processing unit 1 and the intercommunication mutually of other operating system.
Described central processing unit 1 comprises left side adaptive controller 6, right side adaptive controller 7, be used for the running parameter that analyte sensors transmits, and the power same form is adjusted in definite corresponding levelling, carry out this levelling with the control operating system and adjust mode, in the present embodiment, described central processing unit 1 is the PLC controller, and is same, kind mode that the present invention is not limited thereto can as long as have the similar devices of functional processor.
Be provided with the sensor for the collecting work parameter in this leveling system 2, running gear 3 and the screed system 4; Central processing unit 1 obtains the work at present parameter that sensor provides by communication line, corresponding relation with reference to preset working parameter and levelling adjustment mode, determine the levelling adjustment mode of corresponding work at present parameter, and carry out described levelling adjustment mode by communication line transmission command adapted thereto to control described operating system.Therefore, the situation that processor can be different according to the scene is given and corresponding work measure, is in a kind of duty of the best to guarantee paver screed, thereby improves surface evenness, increases work efficiency, and uses manpower and material resources sparingly.
Particularly, this leveling system 2 is provided with left side levelling sensor 8, right side levelling sensor 9, for detection of the levelling parameter.Left side levelling sensor 8 is connected in left side adaptive controller 6, and right side levelling sensor 9 is connected in right side adaptive controller 7.
This running gear 3 is provided with the velocity sensor for the picking rate signal, this velocity sensor comprises paver left driving tachogenerator 17 and the paver right side tachogenerator 18 that travels, this paver left driving tachogenerator 17 is connected in left side adaptive controller 6, and this paver right side tachogenerator 18 that travels is connected in right side adaptive controller 7.The velocity sensor 17 of this running gear 3,18 is sent to the rate signal that collects in the central processing unit 1 by communication line, after centre is buried device 1 and is got access to this rate signal, with reference to adjusting mode with the corresponding levelling of this rate signal, if it is excessive or too small that the judged result of central processing unit 1 is the numerical value of this rate signal, then select corresponding levelling and adjust the power same form, the proper speed signal is sent to running gear 3 by communication line, and control running gear 3 is come execution work according to this proper speed signal.
Described screed system 4 is provided with temperature pick up 10, thickness transducer 11 and the width sensor 12 of the temperature of gathering material spreader, paving thickness, paving width.In the process of paver work, the sensor 10 of screed system 4,11,12 temperature with the material spreader that collects, paving thickness, paving width is sent in the central processing unit 1 by communication line, central processing unit 1 gets access to the temperature of this material spreader, thickness, after the width signal, with reference to the temperature of this material spreader, thickness, mode is adjusted in the corresponding levelling of width signal, if the judged result of processor is the temperature of this material spreader, thickness, the numerical value of width signal is excessive or too small, then select corresponding levelling and adjust mode, the suitable frequency signal that vibrates is sent to screed system 4 by communication line, and control screed system 4 is according to this suitable temperature that paves, thickness, width signal is come execution work.
This electromagnetic valve 5 comprises left side levelling rising electromagnetic valve 13, the left side levelling decline electromagnetic valve 14 that is connected in left side adaptive controller 6, be connected in right side levelling rising electromagnetic valve 15, the right side levelling decline electromagnetic valve 16 of right side adaptive controller 7, this levelling sensor 8,9 output signal are carried out computing, determine duty cycle signals, according to this duty cycle signals, respectively levelling rising electromagnetic valve 13, levelling decline electromagnetic valve 14 are controlled by left side adaptive controller 6, right side adaptive controller 7.
Therefore, by the factor that influences levelling is monitored in real time, and to do not meet do to require on make parameter and proofread and correct at any time, be in a kind of duty of the best to realize paver screed, to improve the planeness on road surface.
Fig. 1 comprises the steps: for the flow chart of steps that the present invention is used for the self-adaptation control method embodiment of paver levelling
Step 1, image data: determine the operation floor data of paver, determine the levelling signal of sensor corresponding with this operation floor data simultaneously.
The present invention in the specific implementation, the operation floor data can comprise: the temperature of paver travel speed, material spreader, paving thickness, paving width and material spreader coefficient.Can also increase the data of the other types that influence sensitivity according to the situation of reality.The present invention does not do restriction at this.
In step 2, according to presetting rule, self adaptation is obtained the levelling sensitivity parameter of invention floor data correspondence, the presetting rule here can be selected according to the actual needs, for example, a kind of preferable definite mode is that self adaptation is obtained the levelling sensitivity parameter of floor data correspondence in the following way:
m?＝?φ×K×D
n?＝?Φ×K×D′
Wherein, m is the interval size in dead band, and n is size between the proportional band, and φ is that sensor dead band coefficient Φ is sensor proportional band coefficient, and K is the levelling sensitivity coefficient, and D is for setting the levelling control interval.
And further, levelling instrument sensitivity coefficient K determines in the following way:
Wherein,
τ is the actual radius of gyration of sensor position, and unit is rice;
α is the travel speed weight, and value is 0.7;
β is the material temperature weight, and value is 0.2;
δ is paving thickness and paving width weight, and value is 0.1;
V is the paver travel speed, and unit is meter/minute;
T is the temperature of paver material, and unit is degree centigrade;
H is paving thickness, and unit is millimeter;
L is paving width, and unit is rice;
M is the material spreader coefficient.
With respect to prior art, the self-adaptation control method embodiment that the present invention is used for the paver levelling has following advantage:
1) self adaptation is obtained the levelling sensitivity parameter of operation floor data correspondence, has effectively realized the control of sensitivity parameter under the different paving operation operating modes, and then improves the pavement construction quality, reduces the difficulty of paver operation simultaneously.
2) self adaptation is obtained the operation floor data, makes the paver leveling work more simple, convenient.
3) when enforcement is of the present invention, self-adaptation control method can be integrated in the control system of paver, therefore, only need a cover levelling sensor can realize levelling control, the levelling operating system is more succinct, cost is low, has good economic benefits.
4) self adaptation that can carry out levelling sensitivity on left side and the right side of paver respectively in the specific implementation.
Here, what need highlight is that above-described embodiment only is a preferred embodiment of presetting rule.Obviously, for a person skilled in the art, can also set other operation floor data or obtain flat sensitivity parameter m and n by other formula.In like manner, levelling sensitivity coefficient K also can adopt other modes to determine.
In sum, design focal point of the present invention is:
From system architecture: Automatic Levelling control system of the present invention is by central processing unit and the leveling system that links to each other by communication line, running gear and screed system constitute, this leveling system, be provided with the sensor for the collecting work parameter in running gear and the screed system, utilize described central processing unit obtain described sensor by described communication line provide current under make parameter, with reference to the default following corresponding relation of making parameter and levelling adjustment mode, determine the levelling adjustment mode of corresponding work at present parameter, and carry out described levelling adjustment mode by described communication line transmission command adapted thereto to control described operating system.The present invention has adopted integrated control with central processing unit and leveling system, running gear, screed system, to influence the foundation of levelling various factors and leveling system contacts, fellowship levelling control, make leveling system work be in optimum state, realize Based Intelligent Control with this, after paver work, the workman does not need road pavement once to rebuild substantially, therefore, paver has not only improved operating efficiency, but also has saved manpower and materials.
Control method from system: 1) self adaptation is obtained the levelling sensitivity parameter of operation floor data correspondence, effectively realized the control of sensitivity parameter under the different paving operation operating modes, and then improve the pavement construction quality, reduce the difficulty of paver operation simultaneously.2) self adaptation is obtained the operation floor data, makes the paver leveling work more simple, convenient.3) when enforcement is of the present invention, self-adaptation control method can be integrated in the control system of paver, therefore, only need a cover levelling sensor can realize levelling control, the levelling operating system is more succinct, cost is low, has good economic benefits.To sum up, the self-adaptation control method of paver levelling has controlled effectively that sensitivity adapts to automatically under the different paving operation speed, and then improves the pavement construction quality, reduces the difficulty of paver operation simultaneously.
The above, it only is preferred embodiment of the present invention, be not that technical scope of the present invention is imposed any restrictions, so every foundation technical spirit of the present invention all still belongs in the scope of technical solution of the present invention any trickle modification, equivalent variations and modification that above embodiment does.
Claims (10)
1. paver Automatic Levelling control system, it is characterized in that: the leveling system that comprises central processing unit and be connected to central processing unit, running gear and screed system, this central processing unit also connects controlled and electromagnetic valve rising or decline levelling, this leveling system, running gear and screed system are provided with the sensor of gathering the operation floor data, described central processing unit obtains the current operation floor data that described sensor provides by described communication line, corresponding relation with reference to preset working parameter and levelling adjustment mode, determine the levelling adjustment mode of corresponding work at present parameter, and carry out described levelling adjustment mode by described communication line transmission command adapted thereto to control described operating system.
2. paver Automatic Levelling control system according to claim 1, it is characterized in that: described leveling system is connected with the levelling sensor.
3. paver Automatic Levelling control system according to claim 1, it is characterized in that: described running gear is connected with the velocity sensor for detection of paver speed.
4. paver Automatic Levelling control system according to claim 1 is characterized in that: described screed system is connected with temperature pick up, thickness transducer and the width sensor of the temperature of gathering material spreader, paving thickness, paving width.
5. paver Automatic Levelling control system according to claim 1 is characterized in that: adaptive controller and right side adaptive controller on the left of described central processing unit comprises.
6. paver Automatic Levelling control system according to claim 5, it is characterized in that: described electromagnetic valve comprises left side levelling rising electromagnetic valve, the left side levelling decline electromagnetic valve that is connected in the left side adaptive controller, is connected in right side levelling rising electromagnetic valve, the right side levelling decline electromagnetic valve of right side adaptive controller.
7. a paver Automatic Levelling control method is characterized in that, comprises the steps:
Step 1, image data: determine the operation floor data of paver, determine the levelling signal of sensor corresponding with this operation floor data simultaneously;
Step 2, the operational analysis judgment processing: according to presetting rule, self adaptation is obtained the levelling sensitivity parameter of floor data correspondence, and parameter comprises interval and proportional control interval, the dead band of levelling;
Step 3, fill order is handled: carry out computing according to levelling sensitivity parameter and levelling signal of sensor, determine duty cycle signals, according to this duty cycle signals levelling rising electromagnetic valve or levelling decline electromagnetic valve are controlled.
8. according to the described paver Automatic Levelling of claim 7 control method, it is characterized in that: described operation floor data comprises: the temperature of paver travel speed, material spreader, paving thickness, paving width and material spreader coefficient.
9. described paver Automatic Levelling control method according to Claim 8, it is characterized in that: described presetting rule is that self adaptation is obtained the levelling sensitivity parameter of floor data correspondence in the following way:
m?＝?φ×K×D
n?＝?Φ×K×D′
Wherein, m is the interval size in dead band, and n is size between the proportional band, and φ is sensor dead band coefficient, and Φ is sensor proportional band coefficient, and K is the levelling sensitivity coefficient, and D is for setting the levelling control interval.
10. according to the described paver Automatic Levelling of claim 9 control method, it is characterized in that: described levelling instrument sensitivity coefficient K determines in the following way:
Wherein,
τ is the actual radius of gyration of sensor position, and unit is rice;
α is the travel speed weight, and value is 0.7;
β is the material temperature weight, and value is 0.2;
δ is paving thickness and paving width weight, and value is 0.1;
V is the paver travel speed, and unit is meter/minute;
T is the temperature of paver material, and unit is degree centigrade;
H is paving thickness, and unit is millimeter;
L is paving width, and unit is rice;
M is the material spreader coefficient.
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| CN105625145A (en) * | 2016-03-22 | 2016-06-01 | 西安依恩驰网络技术有限公司 | Suspended spreading machine leveling device and leveling method thereof |
| CN106087668A (en) * | 2016-08-15 | 2016-11-09 | 徐工集团工程机械股份有限公司道路机械分公司 | A kind of auto leveling control system being associated with spreading speed and method thereof |
| CN106702864A (en) * | 2015-07-24 | 2017-05-24 | 徐工集团工程机械股份有限公司 | Paver automatic leveling control device and method, and paver |
| CN108824147A (en) * | 2018-09-12 | 2018-11-16 | 北京亿美博科技有限公司 | A kind of digital hydraulic control system, screed and paver |
| CN109085769A (en) * | 2018-08-06 | 2018-12-25 | 徐工集团工程机械股份有限公司 | A kind of paver screed condition control method |
| CN110273334A (en) * | 2018-03-16 | 2019-09-24 | 中国铁建高新装备股份有限公司 | A kind of screen scarifier intelligence control system and its control method |
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| CN106702864A (en) * | 2015-07-24 | 2017-05-24 | 徐工集团工程机械股份有限公司 | Paver automatic leveling control device and method, and paver |
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| CN110273334A (en) * | 2018-03-16 | 2019-09-24 | 中国铁建高新装备股份有限公司 | A kind of screen scarifier intelligence control system and its control method |
| CN109085769A (en) * | 2018-08-06 | 2018-12-25 | 徐工集团工程机械股份有限公司 | A kind of paver screed condition control method |
| CN109085769B (en) * | 2018-08-06 | 2023-08-08 | 徐工集团工程机械股份有限公司 | Paver screed plate state control method |
| CN108824147A (en) * | 2018-09-12 | 2018-11-16 | 北京亿美博科技有限公司 | A kind of digital hydraulic control system, screed and paver |
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Application publication date: 20130911 |