CN118408525B - Spreading position continuous monitoring system - Google Patents
Spreading position continuous monitoring system Download PDFInfo
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- CN118408525B CN118408525B CN202410864733.3A CN202410864733A CN118408525B CN 118408525 B CN118408525 B CN 118408525B CN 202410864733 A CN202410864733 A CN 202410864733A CN 118408525 B CN118408525 B CN 118408525B
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- total station
- prism
- prisms
- dimensional coordinate
- controller
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 16
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Road Paving Machines (AREA)
Abstract
The invention discloses a paving position continuous monitoring system, which relates to the field of paving position measurement, and comprises: the system comprises a total station, a controller, a plurality of prisms and a plurality of positioning components; the prisms are arranged on the paver; a positioning member is provided on a prism; the total station is used for tracking the prism and measuring the first three-dimensional coordinate of the tracked prism in real time; the first three-dimensional coordinate is used for representing the paving position of the paver; the positioning component is used for detecting the second three-dimensional coordinate of the corresponding prism in real time; the controller is used for adjusting the rotation angle of the total station according to the first three-dimensional coordinate measured by the total station and/or the second three-dimensional coordinate measured by each positioning component based on the set control logic, so that the total station is switched in front of the prisms to continuously monitor the paving position of the paver. The invention can track a plurality of prisms by only arranging one total station, and can automatically switch the tracked prisms, thereby improving the tracking efficiency of the prisms.
Description
Technical Field
The invention relates to the field of paving position measurement, in particular to a paving position continuous monitoring system.
Background
In the field of paving, a prism is generally arranged on a paver, and a total station is adopted to track the prism so as to realize measurement of three-dimensional coordinates, but at present, one total station can only track one prism, and when a plurality of prisms need to be tracked, a plurality of total stations need to be arranged, so that the cost is high. In addition, when the prism and the total station are shielded by other objects, the total station fails to track, the three-dimensional coordinates cannot be continuously measured, the paving quality is affected, when the articles between the prism and the total station are removed, the total station cannot automatically re-track the prism, and the angle of the total station needs to be manually adjusted to re-track the prism, so that the efficiency is extremely low.
Disclosure of Invention
The invention aims to provide a continuous monitoring system for a paving position, which can continuously monitor the paving position and improve the tracking efficiency of a prism.
To achieve the above object, the present invention provides a paving position continuous monitoring system, comprising: the system comprises a total station, a controller, a plurality of prisms and a plurality of positioning components; the prisms are arranged on the paver; the number of the positioning components is the same as that of the prisms, and one positioning component is arranged on one prism; the controller is respectively connected with the total station and the positioning components.
The total station is used for tracking the prism, measuring a first three-dimensional coordinate of the tracked prism in real time, and sending the first three-dimensional coordinate to the controller; the first three-dimensional coordinates of the prism are used for representing the paving position of the paver.
The positioning component is used for detecting a second three-dimensional coordinate of the corresponding prism in real time and sending the second three-dimensional coordinate to the controller; the second three-dimensional coordinates are used to distinguish between a plurality of prisms.
The controller is used for adjusting the rotation angle of the total station according to the first three-dimensional coordinate measured by the total station and/or the second three-dimensional coordinate measured by each positioning component based on set control logic, so that the total station is switched in front of the prisms to continuously monitor the paving position of the paver.
Optionally, the plurality of positioning components are all global navigation satellite systems GNSS.
Optionally, a plurality of prisms are provided on one or more pavers.
Optionally, a plurality of prisms are each disposed on top of the mast of the paver or on top of the inspection centering bar.
Optionally, the set control logic is configured to switch the tracked prism at set time intervals; the controller is used for adjusting the rotation angle of the total station according to the first three-dimensional coordinate measured by the total station and/or the second three-dimensional coordinate measured by each positioning component based on set control logic, so that the total station is switched in front of a plurality of prisms, and specifically comprises the following steps: and the controller adjusts the rotation angle of the total station according to the second three-dimensional coordinates measured by each positioning component at set time intervals, so that the total station switches the tracked prism.
Optionally, the set control logic switches the tracked prism when the moving speed is less than a set threshold; the controller is used for adjusting the rotation angle of the total station according to the first three-dimensional coordinate measured by the total station and/or the second three-dimensional coordinate measured by each positioning component based on set control logic, so that the total station is switched in front of a plurality of prisms, and specifically comprises the following steps: the controller calculates the moving speed of the tracked prism according to the first three-dimensional coordinates measured by the total station in a set period, and adjusts the rotation angle of the total station according to the second three-dimensional coordinates measured by each positioning component when the moving speed is smaller than a set threshold value, so that the total station switches the tracked prism.
Optionally, the controller is further configured to adjust a rotation angle of the total station according to the second three-dimensional coordinates measured by each positioning component when the first three-dimensional coordinates are not received within a set period of time, so that the total station switches the tracked prism.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the invention, the plurality of prisms are distinguished through the three-dimensional coordinates measured by the positioning component, and based on the set control logic, the rotation angle of the total station is adjusted according to the three-dimensional coordinates measured by the total station and/or the three-dimensional coordinates measured by each positioning component, so that the total station is switched before the plurality of prisms to continuously monitor the paving position of the paver, the plurality of prisms can be tracked by only setting one total station, the tracked prisms can be automatically switched, and the tracking efficiency of the prisms is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a paving position continuous monitoring system provided by the present invention.
Symbol description: 1-total station, 2-controller, 3-prism, 4-locating component.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a continuous monitoring system for a paving position, which is used for tracking a plurality of prisms through a total station, improving the tracking efficiency of the prisms and continuously monitoring the paving position.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the paving position continuous monitoring system provided by the invention comprises: total station 1, controller 2, a plurality of prisms 3 and a plurality of positioning members 4.
A plurality of prisms 3 are all arranged on the paver. As a specific embodiment, a plurality of prisms 3 are provided on one or more pavers, and one or more prisms 3 may be provided on one paver. A plurality of prisms 3 are each arranged on top of the mast or on top of the centering rod of the paver. The mast is arranged on the paver in a vertical mode. The plurality of prisms 3 are all 360 ° prisms.
The number of the positioning components 4 is the same as that of the prisms 3, and one positioning component 4 is arranged on one prism 3, namely, one positioning component 4 is fixedly connected with one prism 3. In this embodiment, the positioning members 4 are all global navigation satellite systems (Global Navigation SATELLITE SYSTEM, GNSS).
The controller 2 is connected to the total station 1 and the plurality of positioning members 4, respectively.
The total station 1 is used for tracking the prism 3, measuring a first three-dimensional coordinate of the tracked prism 3 in real time, and transmitting the first three-dimensional coordinate to the controller 2. The first three-dimensional coordinates of the prism 3 are used to characterize the paving position of the paver.
The positioning component 4 is configured to detect a second three-dimensional coordinate of the corresponding prism 3 in real time, and send the second three-dimensional coordinate to the controller 2. The second three-dimensional coordinates are used to distinguish the plurality of prisms 3, i.e. the plurality of prisms 3 are identified by the second three-dimensional coordinates.
The controller 2 is configured to adjust a rotation angle of the total station 1 according to a first three-dimensional coordinate measured by the total station 1 and/or a second three-dimensional coordinate measured by each positioning component 4 based on a set control logic, so that the total station 1 is switched before the prisms 3, so as to continuously monitor a paving position of the paver.
The invention can determine the rotation angle of the total station 1 according to the second three-dimensional coordinate of the prism 3 to be tracked next and the three-dimensional coordinate of the total station 1. The rotation angle of the total station 1 includes a horizontal angle and a vertical angle.
As a specific embodiment, the set control logic switches the tracked prism 3 at set time intervals. The controller 2 adjusts the rotation angle of the total station 1 according to the second three-dimensional coordinates measured by each positioning component 4 according to the set time interval, so that the total station 1 switches the tracked prism 3.
For example, there are three prisms 3: a first prism, a second prism, and a third prism. Firstly, according to the second three-dimensional coordinate of the first prism and the three-dimensional coordinate of the total station 1, the rotation angle of the total station 1 is adjusted, so that the total station 1 tracks the first prism; after a set time interval (such as 2 minutes), according to the second three-dimensional coordinate of the second prism and the three-dimensional coordinate of the total station 1, adjusting the rotation angle of the total station 1 to enable the total station 1 to track the second prism; after a set time interval, according to the second three-dimensional coordinate of the third prism and the three-dimensional coordinate of the total station 1, adjusting the rotation angle of the total station 1 to enable the total station 1 to track the third prism; after a set time interval, the rotation angle of the total station 1 is adjusted according to the second three-dimensional coordinate of the first prism and the three-dimensional coordinate of the total station 1, so that the total station 1 tracks the first prism, and the total station 1 is switched among the prisms 3.
As another specific embodiment, the set control logic switches the tracked prism 3 when the moving speed is smaller than a set threshold. The controller 2 calculates the moving speed of the tracked prism 3 according to the first three-dimensional coordinates measured by the total station 1 in a set period, and adjusts the rotation angle of the total station 1 according to the second three-dimensional coordinates measured by each positioning component 4 when the moving speed is smaller than a set threshold value, so that the total station 1 switches the tracked prism 3.
For example, there are three prisms 3: a first prism, a second prism, and a third prism. The total station 1 randomly tracks one prism 3 (such as a second prism), calculates the moving speed of the second prism in real time according to the first three-dimensional coordinate of the second prism measured by the total station 1, and adjusts the rotation angle of the total station 1 according to the second three-dimensional coordinate of the first prism and the second three-dimensional coordinate of the third prism when the moving speed of the second prism is smaller than a set threshold value, so that the total station 1 tracks the first prism or the third prism.
Further, the controller 2 is further configured to adjust the rotation angle of the total station 1 according to the second three-dimensional coordinates measured by each positioning component 4 when the first three-dimensional coordinates are not received within the set period, so that the total station 1 switches the tracked prism 3.
In addition, a plurality of total stations 1 may be provided, and in this case, the total stations 1 and the prism 3 may be in a many-to-many relationship. Each total station 1 tracks a plurality of prisms 3 in the manner described above. The controller 2 stores the three-dimensional coordinates of each total station 1, and controls the rotation angle of each total station 1 according to the three-dimensional coordinates of each total station 1 and the first three-dimensional coordinates of the tracked prism 3 measured by each total station 1, so that a plurality of total stations 1 continuously track a plurality of prisms 3, and the accuracy of paving position measurement is further improved.
Further, the controller 2 stores therein the initial three-dimensional coordinates of each prism 3. The spreading machine is provided with a spreading plate which is horizontally arranged and a driving structure which drives the spreading plate to move up and down, and the driving structure is connected with the controller 2. The controller 2 determines elevation correction data on the roadbed according to the first three-dimensional coordinates of the prism 3 measured by the total station 1 and the initial three-dimensional coordinates of the corresponding prism 3, and controls the driving structure to drive the paving plate to move to the correction height according to the elevation correction data, and then the paving plate pushes and paves the paving material falling into the roadbed to form a paving layer along with the travelling process of the paver on the roadbed, so that the paving efficiency and the paving precision are improved.
According to the invention, the plurality of prisms 3 are distinguished through the three-dimensional coordinates measured by the positioning component 4, and based on the set control logic, the rotation angle of the total station 1 is adjusted according to the three-dimensional coordinates measured by the total station 1 and/or the three-dimensional coordinates measured by each positioning component 4, so that the total station 1 is switched before the plurality of prisms 3 to continuously monitor the paving position of the paver, the plurality of prisms 3 can be tracked by only setting one total station 1, the tracked prisms 3 can be automatically switched, and the tracking efficiency of the prisms 3 is improved.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (5)
1. A paving position continuous monitoring system, the paving position continuous monitoring system comprising: the system comprises a total station, a controller, a plurality of prisms and a plurality of positioning components; the prisms are arranged on the paver; the number of the positioning components is the same as that of the prisms, and one positioning component is arranged on one prism; the controller is respectively connected with the total station and the plurality of positioning components;
The total station is used for tracking the prism, measuring a first three-dimensional coordinate of the tracked prism in real time, and sending the first three-dimensional coordinate to the controller; the first three-dimensional coordinates of the prism are used for representing the paving position of the paver;
the positioning component is used for detecting a second three-dimensional coordinate of the corresponding prism in real time and sending the second three-dimensional coordinate to the controller; the second three-dimensional coordinates are used for distinguishing a plurality of prisms;
The controller is used for adjusting the rotation angle of the total station according to the first three-dimensional coordinate measured by the total station and/or the second three-dimensional coordinate measured by each positioning component based on set control logic, so that the total station is switched in front of a plurality of prisms to continuously monitor the paving position of the paver;
the set control logic is used for switching the tracked prism according to a set time interval or switching the tracked prism when the moving speed is smaller than a set threshold value;
the controller is used for adjusting the rotation angle of the total station according to the first three-dimensional coordinate measured by the total station and/or the second three-dimensional coordinate measured by each positioning component based on set control logic, so that the total station is switched in front of a plurality of prisms, and specifically comprises the following steps: the controller adjusts the rotation angle of the total station according to the second three-dimensional coordinates measured by each positioning component at a set time interval, so that the total station switches the tracked prism; or the controller calculates the moving speed of the tracked prism according to the first three-dimensional coordinates measured by the total station in a set period, and adjusts the rotation angle of the total station according to the second three-dimensional coordinates measured by each positioning component when the moving speed is smaller than a set threshold value, so that the total station switches the tracked prism.
2. The paving position continuous monitoring system of claim 1, wherein the plurality of positioning members are global navigation satellite systems, GNSS.
3. The paving position continuous monitoring system of claim 1, wherein the plurality of prisms are disposed on one or more paving machines.
4. The paving position continuous monitoring system of claim 1, wherein a plurality of prisms are each disposed on top of a mast or a top of a centering rod of the paving machine.
5. The paving position continuous monitoring system of claim 1, wherein the controller is further configured to adjust the rotational angle of the total station based on the second three-dimensional coordinates measured by each positioning member when the first three-dimensional coordinates are not received within a set period of time, such that the total station switches the tracked prism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410864733.3A CN118408525B (en) | 2024-07-01 | 2024-07-01 | Spreading position continuous monitoring system |
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| CN202410864733.3A CN118408525B (en) | 2024-07-01 | 2024-07-01 | Spreading position continuous monitoring system |
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| CN118408525B true CN118408525B (en) | 2024-10-22 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103866673A (en) * | 2014-02-20 | 2014-06-18 | 天津大学 | Method and system for monitoring paving thickness of high-level highway pavement in real time |
| CA3144609A1 (en) * | 2021-01-12 | 2022-04-19 | Beijing Longruan Technologies Inc. | Measuring-robot device for fully mechanized coal mining face and automatic measuring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6316568B2 (en) * | 2013-10-31 | 2018-04-25 | 株式会社トプコン | Surveying system |
| CN104764434B (en) * | 2015-03-31 | 2017-06-06 | 徐州市市政设计院有限公司 | A kind of quick resolving system of shield attitude and method |
| CN106840129B (en) * | 2017-02-24 | 2019-12-13 | 中铁四局集团第一工程有限公司 | Method for rapidly measuring three-dimensional coordinates of center of subway segment |
| CN113280807B (en) * | 2021-05-25 | 2023-04-07 | 上海大学 | Mobile robot positioning device, method and system |
| CN115752395B (en) * | 2022-10-31 | 2024-12-06 | 武汉大学 | A measuring prism with inertial autonomous positioning capability and a prism tracking method |
| CN117029744A (en) * | 2023-08-14 | 2023-11-10 | 北京中元浩业科技有限公司 | Control system and control method of multi-machine combined paving device |
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- 2024-07-01 CN CN202410864733.3A patent/CN118408525B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103866673A (en) * | 2014-02-20 | 2014-06-18 | 天津大学 | Method and system for monitoring paving thickness of high-level highway pavement in real time |
| CA3144609A1 (en) * | 2021-01-12 | 2022-04-19 | Beijing Longruan Technologies Inc. | Measuring-robot device for fully mechanized coal mining face and automatic measuring system |
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