CN-121992703-A - Expressway maintenance milling control system

CN121992703ACN 121992703 ACN121992703 ACN 121992703ACN-121992703-A

Abstract

The invention discloses a highway maintenance milling control system, which relates to the technical field of highway maintenance milling and comprises the following steps of S1, system deployment; S2, multi-dimensional data acquisition, S3, data preprocessing, and S4, theoretical milling quantity calculation. According to the expressway maintenance milling control system, when the front elevation detection probe tilts, measurement errors in the vertical direction are generated for target points at different horizontal positions, the downward errors are corrected for the target points at the left side of the reference point after correction by the compensation formula, the upward errors are corrected for the target points at the right side of the probe, and finally the vertical coordinates of the target points at all positions are closer to the true value, so that measurement deviation caused by tilting is avoided, and tilting errors are not required to be additionally processed in a subsequent positioning link, so that accurate pavement unique point values are obtained.

Inventors

YIN PAN
LIU FENG
XUE MIN
OUYANG YIXUAN

Assignees

苏州斑图智控科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260318

Claims (10)

1. A highway maintenance milling control system is characterized by comprising the following steps: S1, system deployment: Placing a wheeled autonomous travelling tracking robot at a starting point of a high-speed pavement to be maintained, calibrating a positioning module and a detection probe, and setting target leveling elevation, a milling machine reference travelling speed, maximum safety resistance and cutter initial cutting edge height parameters; S2, multidimensional data acquisition: starting a tracking robot to travel at a preset speed, and acquiring three-dimensional coordinate data of the road surface before milling through a front elevation detection probe; Wherein, the front elevation detection probes are arranged side by side, and plane coordinates, namely coordinates, of each front elevation detection probe are positioned in real time through the RTK antenna The height of each front elevation detection probe from the ground is obtained through a prism receiver and a total station ; The levelness of each front elevation detection probe is monitored in real time through the attitude sensor, and is adjusted in real time by adjusting the output parameters of the mechanical leveling mechanism based on the level data, so that the levelness of each front elevation detection probe is always vertical to the ground to obtain accurate height data, and the specific flow is as follows: after the front elevation detection probe is installed, firstly calibrating and recording 2 fixed parameters, namely recording the horizontal distance from the front elevation detection probe to a measurement reference point Recording the vertical installation height of the front elevation detection probe Namely, the vertical distance from the installation position of the front elevation detection probe to the reference surface; In the working process of the front elevation detection probe, the current horizontal inclination angle of the front elevation detection probe is detected in real time through the attitude sensor Namely, the inclination angle of the axis of the front elevation detection probe deviating from the vertical direction; Collecting original measurement results, namely plane coordinates of target points, when the front elevation detection probe tilts Reference corresponding to the reference plane Coordinates, namely the height of the front elevation detection probe from the ground, acquired by the prism receiver; Then according to the inclination compensation formula, calculating the actual vertical coordinate of the target point, if the target point is at the left side of the reference point The actual vertical coordinates are calculated as follows: if the target point is on the right side of the datum point The actual vertical coordinates are calculated as follows: Wherein, the Is provided with a front elevation detection probe, the installation position of which is relative to a reference plane To the reference value(s), Is the amount of vertical error compensation due to tilt.
2. The system of claim 1, wherein in the step S2, the hardness probe also moves along with the tracking robot, the hardness probe is a contact probe adopting an ultrasonic rebound synthetic method, the position of the road surface exceeding the threshold height measured by the front elevation probe is marked with coordinates, and the hardness probe is started to collect the hardness data of the road surface material when the hardness probe moves to the coordinates, and the longitudinal coordinates of the collection points are synchronously recorded; The device is characterized by further comprising a rear elevation detection probe corresponding to the front elevation detection probe, wherein the rear elevation detection probe is arranged on the milling machine, the acquisition frequency of the front elevation detection probe and the rear elevation detection probe is more than or equal to 100Hz, the point position distance is less than or equal to 2mm, the acquisition error is less than or equal to 0.1mm, the acquisition frequency of the hardness detection probe is 50Hz, and the acquisition error is less than or equal to 1HS.
3. The highway maintenance milling control system according to claim 1, further comprising the steps of: s3, data preprocessing: performing outlier rejection processing on the collected elevation data and hardness data, and ensuring data integrity; S4, calculating theoretical milling quantity: Screening concave-convex abrupt points, namely unique points, of the road surface by using elevation differences of adjacent points, performing elevation curve fitting on areas between the adjacent unique points, and calculating theoretical milling quantity of each point by combining with a target leveling elevation; s5, hardness adaptation calculation: Calculating real-time milling resistance through a milling resistance model based on the hardness data of the pavement materials and the theoretical milling quantity, and generating a milling machine running speed and a milling drum rotating speed adjusting instruction according to a resistance threshold value; s6, cloud data transmission: Uploading structured data such as theoretical milling quantity, resistance adjustment instructions and the like to a cloud server by adopting a wireless communication protocol, and then transmitting the data to a milling machine control module; s7, milling and planing: The milling machine receives the cloud instruction, adjusts the lifting height of the milling drum to the theoretical height, and executes milling operation according to the adjusted running speed and the milling drum rotating speed; in step S3, the outlier rejection processing adopts a Gaussian filter algorithm to reject deviations from the normal data range caused by environmental vibration Is an outlier of (2).
4. The expressway maintenance milling control system as set forth in claim 3, wherein in said step S4, said elevation mutation threshold value of said unique point screening is 3mm, and when the absolute value of the elevation difference of adjacent points is not less than 3mm, said point is determined to be a concave-convex mutation point; the formula for calculating the elevation difference of the adjacent acquisition points is as follows: When (when) At the time of the first The individual points are determined to be unique points and recorded as ; Wherein the method comprises the steps of Represent the first Points and the first At a point of Difference in direction; represents the first At a point of Coordinate values in the direction; represents the first At a point of Coordinate values in the direction; Is a set threshold value for judging that two adjacent points are in Whether the change in direction is significant; Adjacent unique points And (3) with And (3) fitting by adopting a quadratic polynomial.
5. The expressway maintenance milling control system as claimed in claim 3, wherein in said step S4, said quadratic polynomial fitting formula is: ( ) Wherein, the Is the longitudinal coordinate of the adjacent point, 、、 Solving by a least square method, and enabling the fitting curve to meet the constraint condition of passing through two end unique points.
6. The maintenance milling control system for expressway according to claim 3, wherein in said step S5, the formula of the milling resistance model is: Wherein the association coefficient corresponding to the asphalt surface layer Correlation coefficient corresponding to base layer , Is the hardness of the material of the pavement, For the theoretical milling quantity, the milling quantity is, The real-time rotating speed of the milling drum is set; The travelling speed adjustment rule of the milling machine is as follows: when milling resistance in real time Maximum safety resistance At the time, the walking speed is adjusted When (1) At the time, the walking speed is adjusted , Is the reference walking speed.
7. A highway maintenance milling control system according to claim 3 wherein: the expressway maintenance milling control system further comprises the following steps: S8, real-time compensation of cutter abrasion: the post-positioned elevation detection probe on the milling machine is used for collecting elevation data of the milled road surface, calculating the actual milling quantity and the real-time abrasion quantity of the cutter, generating a milling drum height compensation instruction, and dynamically adjusting the target height of the milling drum.
8. The expressway maintenance milling control system as claimed in claim 7, wherein in said step S8, said actual milling amount is calculated as follows: Wherein, the In order to mill the elevation of the road surface before planing, The real-time elevation of the milled road surface is obtained; the calculation formula of the real-time abrasion loss of the cutter is as follows: Wherein, the For the theoretical milling quantity, the milling quantity is, For the actual milling quantity, In order to mill the elevation before the planing, Is the elevation after milling.
9. The expressway maintenance milling control system of claim 8, wherein said milling drum target height is provided with a superimposed wear compensation amount to ensure that the actual milling amount is consistent with the theoretical value, and said real-time compensation formula is: Wherein, the For the theoretical lifting height of the milling drum, Is that The height compensation quantity of the milling drum at any time, Is that The target lifting height of the milling drum at the moment, wherein the compensation quantity is equal to the real-time abrasion quantity 。
10. The highway maintenance milling control system according to claim 9, wherein in step S8, when the cutter is worn in real time When the system triggers the tool replacement early warning, The initial edge height of the cutter.

Description

Expressway maintenance milling control system Technical Field The invention relates to the technical field of expressway maintenance milling, in particular to an expressway maintenance milling control system. Background In the field of expressway maintenance, milling operation is a key link for repairing road surface diseases and recovering the flatness of the road surface, the existing milling technology generally relies on a laser scanner to collect data, and milling depth is adjusted through elevation data, so that the road surface maintenance task can be completed to a certain extent. However, in the aspect of data acquisition, the existing milling technology has the disadvantages of complex deployment, low efficiency, high cost and transmission delay of a laser scanner, and milling control is only performed according to elevation, and road surface material difference is not considered, so that equipment in a hard area is damaged, and soft area treatment is not thorough. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a highway maintenance milling control system, which solves the problems in the background art. In order to achieve the aim, the invention is realized by the following technical scheme that the expressway maintenance milling control system comprises the following steps: S1, system deployment: placing a wheeled autonomous travelling tracking robot at a starting point of a high-speed pavement to be maintained, calibrating a positioning module and a detection probe, and setting parameters such as a target leveling elevation, a milling machine reference travelling speed, a maximum safety resistance, a cutter initial cutting edge height and the like; S2, multidimensional data acquisition: starting a tracking robot to travel at a preset speed, and acquiring three-dimensional coordinate data of the road surface before milling through a front elevation detection probe; Wherein, the front elevation detection probes are arranged side by side, and plane coordinates, namely coordinates, of each front elevation detection probe are positioned in real time through the RTK antenna The height of each front elevation detection probe from the ground is obtained through a prism receiver and a total station The levelness of each front elevation detection probe is monitored in real time through the attitude sensor, and is adjusted in real time based on the level data by adjusting the output parameters of the mechanical leveling mechanism, so that the levelness of each front elevation detection probe is always vertical to the ground to obtain accurate heightThe specific flow is as follows: after the front elevation detection probe is installed, firstly calibrating and recording 2 fixed parameters, namely recording the horizontal distance from the front elevation detection probe to a measurement reference point Recording the vertical installation height of the front elevation detection probeNamely, the vertical distance from the installation position of the front elevation detection probe to the reference surface; In the working process of the front elevation detection probe, the current horizontal inclination angle of the front elevation detection probe is detected in real time through the attitude sensor Namely, the inclination angle of the axis of the front elevation detection probe deviating from the vertical direction; Collecting original measurement results, namely plane coordinates of target points, when the front elevation detection probe tilts Reference corresponding to the reference planeCoordinates, namely the height of the front elevation detection probe from the ground, acquired by the prism receiver; Then according to the inclination compensation formula, calculating the actual vertical coordinate of the target point, if the target point is at the left side of the reference point The actual vertical coordinates are calculated as follows: if the target point is on the right side of the datum point The actual vertical coordinates are calculated as follows: Wherein, the Is provided with a front elevation detection probe, the installation position of which is relative to a reference planeTo the reference value(s),Is the vertical error compensation amount caused by inclination; Based on the description, when the front elevation detection probe tilts, measurement errors in the vertical direction are generated for the target points at different horizontal positions, and the downward errors are corrected for the target points at the left side of the reference point after correction by a compensation formula, the upward errors are corrected for the target points at the right side of the probe, and finally the vertical coordinates of the target points at all positions are [ ] Value) is closer to the true value, measurement deviation caused by inclination is avoided, so that the inclination error is not required to be additionally processed in a subsequent positioning lin