CN210262602U - Intelligent roadbed compaction equipment based on unmanned driving and informatization detection technology - Google Patents
Intelligent roadbed compaction equipment based on unmanned driving and informatization detection technology Download PDFInfo
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Abstract
The utility model discloses a roadbed intelligent compaction device based on unmanned driving and informatization detection technology, which comprises an intelligent road roller, a filler group image recognition device, a water content real-time detection device, a central control host and a cloud control system; the filler group image recognition device is installed at the top of a frame of the intelligent road roller, is in wireless communication with a cloud control system, and realizes filler particle size image recognition through analysis; moisture content real-time detection device installs on intelligent road roller's rolling wheel, realizes the vehicle-mounted automated inspection to different filler soil body moisture contents to through bluetooth wireless communication mode with signal transmission to well accuse host computer. The utility model discloses combine techniques such as unmanned driving, path planning, continuous compaction detection, image recognition, moisture content detection, satellite positioning to detect, roll process control and dynamic adjustment, detect to the compaction degree from raw and other materials, what last shaping is that material, compaction quality are all qualified road bed, realize automation, intelligent compaction to the road bed.
Description
Technical Field
The utility model relates to a construction technical field, more specifically the road bed intelligence compaction equipment based on unmanned and information-based detection technique that says so.
Background
The roadbed is the foundation of the railway and is related to the safe and efficient operation of the railway. The roadbed is the foundation of a track structure, and as the running speed of trains is increased, particularly the application of high-speed railways, the roadbed structure is required to provide smoother and more stable support for an upper structure. The compaction quality of roadbed filling engineering is the basis for determining the structural performance, and the roadbed compaction quality comprises three contents of compaction degree, compaction uniformity, compaction stability and the like. The compaction degree is the rolling degree of the roadbed; the compaction uniformity refers to the uniform distribution degree of mechanical properties of a roadbed surface; compaction stability is the degree of stability of the mechanical properties of the subgrade surface. At present, in the compaction operation process of a high-speed railway roadbed, most procedures still need manual intervention and cannot realize intelligent automatic operation, an operator drives a control road roller to roll the roadbed, and the detection and control of the compaction quality of roadbed filling engineering adopt a conventional point type sampling detection method, namely after rolling of each layer is completed, random point selection and sampling detection are carried out. By adopting the conventional 'point type' sampling detection method, the field compaction condition cannot be recorded and checked in real time, and the working efficiency is low.
Therefore, how to provide a roadbed intelligent compaction device based on unmanned driving and informatization detection technology for detecting rolling quality in real time is a problem which needs to be solved by technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a road bed intelligence compaction equipment based on unmanned and information-based detection technique to solve the problem that the above-mentioned background art part mentioned, developed the unmanned system who is suitable for road bed rolling work;
and the automatic pressure supplement to the unqualified area is realized by combining the path planning and the continuous compaction detection technology.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the roadbed intelligent compaction equipment based on the unmanned and informatization detection technology comprises an intelligent road roller, and is characterized by further comprising a filler group image recognition device, a water content real-time detection device, a central control host and a cloud control system, wherein the filler group image recognition device, the water content real-time detection device, the central control host and the cloud control system are mounted on the intelligent road roller; the filler group image recognition device is mounted at the top of a frame of the intelligent road roller, wirelessly communicates with the cloud control system, acquires and wirelessly transmits RGB images and depth images, and realizes filler particle size image recognition through analysis; the real-time moisture content detection device is arranged on a rolling wheel of the intelligent road roller, so that the on-vehicle automatic detection of the moisture content of different filler soil bodies is realized, and signals are sent to the central control host computer in a Bluetooth wireless communication mode; the central control host installed on the intelligent road roller is in wireless communication with the real-time moisture content detection device and the intelligent road roller and is in communication with the cloud control system in a wireless transmission mode, and the central control host adjusts the vibration frequency, the amplitude and the driving route of the intelligent road roller; the cloud control system plans a driving path and working parameters of the intelligent road roller;
the filler group image recognition device is a tablet personal computer provided with an RGB-D camera, the RGB-D camera collects RGB images and depth images, and the tablet personal computer processes image information collected by the RGB-D camera and then sends the image information to the cloud control system;
the cloud control system is used for obtaining a continuous compaction detection result, a real-time water content detection result and a filler particle size image identification result by combining water content, RGB images and depth image information, adjusting parameters of the intelligent road roller through calculation of an intelligent frequency modulation and amplitude modulation model, realizing unmanned path planning, continuous compaction detection and intelligent frequency modulation and amplitude modulation, planning a rolling path of the intelligent road roller according to the continuous compaction detection result, automatically supplementing pressure to an unqualified area, and supplementing pressure according to the detection result from raw material detection, rolling process control, compaction degree detection and qualified rolling of the roadbed.
Collecting an RGB image and a depth image through an RGB-D camera; depth images (depth images), also known as range images, refer to images in which the distance (depth) from an image collector to each point in a scene is taken as a pixel value, which directly reflect the geometric shape of the visible surface of a scene and record the three-dimensional information of the scene;
performing edge detection and scene segmentation according to the RGB image to realize the detection of the edge of the primary target object and obtain an edge detection result R1; extracting scene structure information according to a Depth (Depth) image, and simultaneously, carrying out edge detection on a target object according to the scene structure information to obtain an edge detection result R2; fusing results of the edge detection results R1 and R2 to realize edge segmentation of stones and soil, and binarizing the edge image; the minimum circumcircle detection of the closed target is realized by using the minimum circumcircle detection on the edge image after the binarization; calculating the maximum diameter according to the minimum circumscribed circle, and realizing the detection of the maximum diameter length of the stone block; comparing the maximum diameter length detected by the minimum circumcircle according to the set smaller threshold and larger threshold, and realizing early warning;
the moisture content real-time detection device includes: the detection electrode and the data acquisition and analysis processing device are electrically connected with the lithium battery power supply; a wireless receiving and transmitting device is arranged in the data acquisition and analysis processing device; the detection electrode is arranged in a mounting hole formed in the rolling wheel, the detection electrode is arranged in the mounting hole, a spring gasket is padded below the detection electrode, and the detection electrode is fixed by a screw through the spring gasket, so that the detection electrode can be buffered when encountering hard objects; establishing a coupling relation among resistivity, water content and compactness through a model test so as to obtain water content information and compactness information;
determining a reasonable detection electrode arrangement form based on a resistivity test principle through an indoor test, and completing a field test installation scheme and acquisition and transmission;
and (4) performing an indoor calibration test, namely establishing a coupling relation among resistivity, water content and compactness through an indoor model test by adopting a grinding wheel electrode design.
Preferably, in the roadbed intelligent compaction equipment based on the unmanned driving and information detection technology, a laser radar and a millimeter wave radar for obstacle detection and collision avoidance are arranged around a frame of the intelligent road roller, and the laser radar and the millimeter wave radar are electrically connected with the central control host machine and send detection information to the central control host machine.
Preferably, in the roadbed intelligent compaction equipment based on the unmanned driving and information detection technology, a three-color warning lamp electrically connected with the central control host is installed on the roof of the intelligent road roller; the green light is on to represent an automatic mode, the yellow light represents a communication failure, and the red light represents an equipment failure.
Preferably, in the roadbed intelligent compaction equipment based on unmanned driving and information detection technology, an emergency stop switch electrically connected with the central control host is mounted on a frame of the intelligent road roller.
Preferably, in the roadbed intelligent compaction equipment based on the unmanned and information detection technology, the intelligent road roller is subjected to satellite positioning through a GPS.
According to the technical scheme, compared with the prior art, the utility model discloses a road bed intelligence compaction equipment based on unmanned driving and information-based detection technique, the high in the clouds control system plans the route of rolling according to the technological parameter requirement, gives the well-controlled machine on the road roller with the route wireless communication that plans, controls steering wheel, gear, throttle, the brake mechanism collaborative work of intelligent road roller, carries out the automation to the road bed and rolls; in the rolling process, continuous compaction detection dynamic detection is carried out, parameters such as rolling paths, amplitude, vibration frequency and the like are adjusted in real time, rolling is stopped on qualified areas to prevent over-pressure, and automatic pressure supplement is carried out on unqualified areas. The utility model discloses combine techniques such as unmanned driving, path planning, continuous compaction detection, image recognition, moisture content detection, satellite positioning to detect, roll process control and dynamic adjustment, detect to the compaction degree from raw and other materials, what last shaping is that material, compaction quality are all qualified road bed, realize automation, intelligent compaction to the road bed.
The cloud control system plans a rolling path for the intelligent road roller to form a unmanned road roller process suitable for railways; and according to the continuous compaction detection result, automatically supplementing pressure to the area which is not rolled. The utility model discloses combine path planning and continuous compaction detection technique to detect, roll process control, detect to the compaction degree, mend according to the testing result and press from raw and other materials, last fashioned is the material, rolls all qualified road beds, realizes the intelligent compaction to the road bed.
Through simple mechanical measurement and adjustment and controller analysis, the unmanned function of the road roller can be realized, the road roller can be controlled according to a formulated route planning file according to a central control host, construction is carried out strictly according to specified construction parameters, the running path, rolling times and speed of the road roller are controlled, automatic identification of obstacles and an adjacent environment is realized, and the engineering construction quality is ensured.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an intelligent road roller;
FIG. 2 is a schematic view of the mounting of the detecting electrodes and the rolling wheels;
FIG. 3 is a schematic view of the detection electrode;
fig. 4 is a control schematic diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model discloses a road bed intelligent compaction equipment based on unmanned and information-based detection technology, combines the unmanned system who is suitable for road bed rolling work, and the high in the clouds control system plans the rolling path to intelligent road roller, forms the unmanned road roller technology that is suitable for the railway; and according to the continuous compaction detection result, automatically supplementing pressure to the area which is not rolled. The utility model discloses combine path planning and continuous compaction detection technique to detect, roll process control, detect to the compaction degree, mend according to the testing result and press from raw and other materials, last fashioned is the material, rolls all qualified road beds, realizes the intelligent compaction to the road bed.
The utility model discloses a road bed intelligent compaction equipment based on unmanned and information detection technology, which comprises an intelligent road roller 1 and is characterized by further comprising a filler group image recognition device 2, a water content real-time detection device 3, a central control host and a cloud control system 4 which are arranged on the intelligent road roller 1; the filler group image recognition device 2 is installed at the top of a frame of the intelligent road roller 1, wirelessly communicates with the cloud control system 4, collects and wirelessly transmits RGB images and depth images, and realizes filler particle size image recognition through analysis; the real-time moisture content detection device 3 is arranged on a rolling wheel 11 of the intelligent road roller 1, realizes vehicle-mounted automatic detection of moisture contents of different filler soil bodies, and sends signals to a central control host computer in a Bluetooth wireless communication mode; a central control host installed on the intelligent road roller 1 is in wireless communication with the real-time moisture content detection device 3 and the intelligent road roller 1 and is in communication with a cloud control system 4 in a wireless transmission mode, and the central control host adjusts the vibration frequency, the amplitude and the driving route of the intelligent road roller 1; the cloud control system 4 plans a driving path and working parameters of the intelligent road roller 1;
the filler group image recognition device 2 is a tablet personal computer provided with an RGB-D camera, the RGB-D camera collects RGB images and depth images, and the tablet personal computer processes image information collected by the RGB-D camera and sends the image information to the cloud control system 4;
the cloud control system 4 combines the water content, RGB images and depth image information to obtain a continuous compaction detection result, a real-time water content detection result and a filler particle size image recognition result, calculates through an intelligent frequency modulation and amplitude modulation model, adjusts parameters of the intelligent road roller 1, and realizes unmanned path planning, continuous compaction detection and intelligent frequency modulation and amplitude modulation, the cloud control system 4 plans the rolling path of the intelligent road roller 1 to automatically supplement pressure to an unqualified area according to the continuous compaction detection result, and realizes roadbed rolling with qualified materials and rolling from raw material detection, rolling process control, compaction degree detection and pressure supplement according to the detection result.
Collecting an RGB image and a depth image through an RGB-D camera; depth images (depth images), also known as range images, refer to images in which the distance (depth) from an image collector to each point in a scene is taken as a pixel value, which directly reflect the geometric shape of the visible surface of a scene and record the three-dimensional information of the scene;
performing edge detection and scene segmentation according to the RGB image to realize the detection of the edge of the primary target object and obtain an edge detection result R1; extracting scene structure information according to a Depth (Depth) image, and simultaneously, carrying out edge detection on a target object according to the scene structure information to obtain an edge detection result R2; fusing results of the edge detection results R1 and R2 to realize edge segmentation of stones and soil, and binarizing the edge image; the minimum circumcircle detection of the closed target is realized by using the minimum circumcircle detection on the edge image after the binarization; calculating the maximum diameter according to the minimum circumscribed circle, and realizing the detection of the maximum diameter length of the stone block; comparing the maximum diameter length detected by the minimum circumcircle according to the set smaller threshold and larger threshold, and realizing early warning;
the moisture content real-time detection device 3 includes: the detection electrode 31, the data acquisition and analysis processing device 32 and the lithium battery power supply 33 are electrically connected with the detection electrode 31 and the data acquisition and analysis processing device 32; the data acquisition and analysis processing device 32 and the lithium battery power supply 33 are both arranged in the rolling wheel 11, and a wireless transceiver is arranged in the data acquisition and analysis processing device 32; 4 detection electrodes 31 are symmetrically distributed along two transverse sides of the rolling wheel 11 respectively, the detection electrodes 31 are installed in installation holes formed in the rolling wheel 11, the detection electrodes 31 are installed in the installation holes, spring gaskets 34 are padded below the detection electrodes 31, and the spring gaskets 34 are fixed through screws 35, so that the detection electrodes 31 can buffer when encountering hard objects; establishing a coupling relation among resistivity, water content and compactness through a model test so as to obtain water content information and compactness information;
determining a reasonable arrangement form of the detection electrodes 31 based on a resistivity test principle through an indoor test, and completing a field test installation scheme and acquisition and emission;
and (4) performing an indoor calibration test, namely establishing a coupling relation among resistivity, water content and compactness through an indoor model test by adopting a grinding wheel electrode design.
In order to further optimize the technical scheme, a laser radar and a millimeter wave radar which are used for obstacle detection and collision avoidance are installed around the frame of the intelligent road roller 1, the laser radar and the millimeter wave radar are electrically connected with the central control host, and detection information is sent to the central control host.
In order to further optimize the technical scheme, a three-color warning lamp 5 electrically connected with the central control host is installed on the roof of the intelligent road roller 1; the green light is on to represent an automatic mode, the yellow light represents a communication failure, and the red light represents an equipment failure.
In order to further optimize the technical scheme, an emergency stop switch electrically connected with the central control host is installed on a frame of the intelligent road roller 1.
In order to further optimize the technical scheme, the intelligent road roller 1 comprises three main modules, namely automatic driving, continuous compaction dynamic detection and automatic frequency and amplitude modulation of the road roller.
In order to further optimize the technical scheme, the intelligent road roller 1 adopts a mountain-pushing SR26W unmanned single-steel-wheel vibratory roller, SR26W is a first large-tonnage unmanned road roller developed by mountain pushing independently, and the road roller is subjected to accurate positioning control and automatic guidance by adopting the cooperative work of artificial intelligence, visual calculation and a monitoring system; the road roller can automatically walk and turn according to construction requirements, and the unmanned function is realized. The machine is suitable for compacting various non-sticky soils such as gravel, broken stone, gravel mixture, various concretes and the like, and is ideal compacting equipment for large-scale foundation engineering:
the intelligent frequency modulation and amplitude modulation model comprises the following calculation methods:
the method comprises the following steps: obtaining indoor optimal vibration compaction parameters of the roadbed fillers through an indoor test, and performing the indoor vibration compaction test by adopting a vibration compaction instrument to respectively obtain the optimal vibration compaction parameters of different types of fillers;
step two: through tests, the vibration response characteristics of the vibratory roller-soil system are determined, and the vibration wheels generate ultraharmonic vibration in the early stage of compaction through analysis, and the frequency spectrum response of the vibration wheels takes fundamental waves as the components mainly containing ultraharmonic; in the later stage of compaction, as the soil body is continuously compacted, subharmonic vibration occurs in the vibration wheel, richer subharmonic components begin to appear in the vibration response frequency spectrum, and the vibration wheel enters a chaotic vibration state under certain conditions;
step three: through tests, the running state of the vibrating wheel in the compaction process is collected and subjected to data analysis, and the analysis shows that along with the increase of the soil body compactness, the running state of the vibrating wheel is subjected to the change process of complete contact vibration pressure, partial contact loss, jumping or swinging vibration and chaotic vibration, the jumping vibration and the chaotic vibration cause the loss of partial compaction work, the compaction efficiency is low, and 1/2 times of harmonic wave components are generated in a vibration response frequency spectrum when the vibrating wheel generates jumping or swinging vibration; therefore, the jumping or swinging vibration can be effectively restrained by determining and reducing the vibration amplitude, and the chaotic vibration is avoided;
step four: determining the optimal vibration compaction parameters of the road roller according to the vibration compaction mode judgment criterion; the vibration compaction mode judgment criterion comprises the following steps:
judging criteria of vibration amplitude: the frequency spectrum response of the vibration wheel is 1/2 times of the acceleration amplitude of the working frequency, namely A1/2;
vibration frequency judgment criterion: the optimal vibration frequency is 1-2Hz higher than the second-order natural frequency of the vibratory roller-soil system;
driving speed judgment criterion: the ratio of the running speed to the vibration frequency satisfies that v/f is 0.03;
step five: on the basis of the obtained optimal filling material vibration compaction parameters, the vibration response characteristics of a vibration road roller-soil system, the operating characteristics of a vibration wheel in a compaction process and the vibration compaction mode judgment criterion, the road base is compacted by the road roller with the stepless variable-frequency amplitude variation function, on the basis of the vibration response characteristics of the road roller and the vibration compaction mode judgment criterion, the optimal filling material vibration compaction parameters are combined according to the compaction state of the roadbed filling material, an industrial control host of the road roller analyzes and calculates, the vibration parameters of the road roller are adjusted to the matched optimal working parameters, and meanwhile, the rolling data are uploaded to an intelligent compaction control platform for further deep learning and feedback.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. The roadbed intelligent compaction equipment based on the unmanned and informatization detection technology comprises an intelligent road roller, and is characterized by further comprising a filler group image recognition device, a water content real-time detection device, a central control host and a cloud control system, wherein the filler group image recognition device, the water content real-time detection device, the central control host and the cloud control system are mounted on the intelligent road roller; the filler group image recognition device is mounted at the top of a frame of the intelligent road roller, wirelessly communicates with the cloud control system, acquires and wirelessly transmits RGB images and depth images, and realizes filler particle size image recognition through analysis; the real-time moisture content detection device is arranged on a rolling wheel of the intelligent road roller, so that the on-vehicle automatic detection of the moisture content of different filler soil bodies is realized, and signals are sent to the central control host computer in a Bluetooth wireless communication mode; the central control host installed on the intelligent road roller is in wireless communication with the real-time moisture content detection device and the intelligent road roller and is in communication with the cloud control system in a wireless transmission mode, and the central control host adjusts the vibration frequency, the amplitude and the driving route of the intelligent road roller; the cloud control system plans a driving path and working parameters of the intelligent road roller;
the filler group image recognition device is a tablet personal computer provided with an RGB-D camera, the RGB-D camera collects RGB images and depth images, and the tablet personal computer processes image information collected by the RGB-D camera and then sends the image information to the cloud control system;
the moisture content real-time detection device includes: the detection electrode and the data acquisition and analysis processing device are electrically connected with the lithium battery power supply; a wireless receiving and transmitting device is arranged in the data acquisition and analysis processing device; the detection electrode is arranged in a mounting hole formed in the rolling wheel, the detection electrode is arranged in the mounting hole, a spring gasket is padded below the detection electrode, and the detection electrode is fixed by a screw through the spring gasket, so that the detection electrode can be buffered when encountering hard objects; and establishing a coupling relation among the resistivity, the water content and the compactness through a model test so as to obtain water content information and compactness information.
2. The roadbed intelligent compaction equipment based on the unmanned and information detection technology is characterized in that a laser radar and a millimeter wave radar for obstacle detection and collision avoidance are installed around a frame of the intelligent road roller, and the laser radar and the millimeter wave radar are both electrically connected with the central control host and send detection information to the central control host.
3. The roadbed intelligent compaction equipment based on the unmanned and information detection technology is characterized in that a three-color warning lamp electrically connected with the central control host is mounted on the roof of the intelligent road roller; the green light is on to represent an automatic mode, the yellow light represents a communication failure, and the red light represents an equipment failure.
4. The roadbed intelligent compaction equipment based on the unmanned and information detection technology is characterized in that an emergency stop switch electrically connected with the central control host is mounted on a frame of the intelligent road roller.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109898391A (en) * | 2019-03-19 | 2019-06-18 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Roadbed intelligence debulking systems based on unmanned and information-based detection technique |
| CN112761042A (en) * | 2020-12-24 | 2021-05-07 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Vehicle-mounted water content automatic detection and spraying integrated equipment |
-
2019
- 2019-03-19 CN CN201920348288.XU patent/CN210262602U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109898391A (en) * | 2019-03-19 | 2019-06-18 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Roadbed intelligence debulking systems based on unmanned and information-based detection technique |
| CN109898391B (en) * | 2019-03-19 | 2024-02-09 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Roadbed intelligent compaction system based on unmanned and informationized detection technology |
| CN112761042A (en) * | 2020-12-24 | 2021-05-07 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Vehicle-mounted water content automatic detection and spraying integrated equipment |
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