基于闭环反馈控制和RTK-GPS的自动碾压系统
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摘要
有效控制坝体的填筑压实质量是保证土石坝安全的关键。为此提出了一种基于闭环反馈控制和RTK-GPS的自动碾压系统,可实现碾压机精确导航和自动碾压作业。该系统包括远程监控装置和机载自动导航控制装置,拥有自动碾压、遥控碾压和人工碾压三种工作模式,具有设备间无线通讯、自动点火启动、调速、转向、刹车功能。此外,该系统采用A*算法实现整体和避障局部路径规划,并结合RTK-GPS技术实现自动导航功能。通过工程实例研究表明,提出的自动碾压系统既能保证在特殊或紧急情况下碾压施工正常进行,又可解决相邻作业面间漏碾、交叉、重复碾压的问题,显著提高压实作业施工质量和效率。该系统具备较大的实际应用价值,可应用于水利、公路、铁路、机场、港口等土石方工程,尤其适用于危险环境或极限条件下的填筑碾压作业。
Effective control on the filling and compaction quality of a dam body is the key to ensuring the safety of earth-rock dams. This paper presents an automatic rolling system, based on closed-loop feedback control and RTK-GPS, that can realize the accurate navigation and automatic rolling operation of vibrating rollers. This new system, composed of a remote monitoring device and an onboard automatic navigation control device, works in one of the three modes-automatic rolling, remote control rolling, and manual rolling, and offers several functions-wireless communication between equipment, automatic ignition starting, speed regulation, vehicle steering, and braking. It can also achieve an automatic navigation function by planning an overall path and local obstacle-avoiding paths through implementing an A* algorithm together with the RTK-GPS positioning technology. Application to the site compaction of dam construction projects shows that our new rolling system ensures the normal rolling operation in special or emergency situations; solves the problems of rolling omission, cross rolling, and repeated rolling around the joint of two adjacent layers; improves significantly the quality and efficiency of compacting operation. The system, of great application value, can be applied to various earthwork projects in such fields as water conservancy, road, railway, airport, and port engineering. Particularly, it is suitable for filling and rolling operation in dangerous environments or extreme conditions.
Effective control on the filling and compaction quality of a dam body is the key to ensuring the safety of earth-rock dams. This paper presents an automatic rolling system, based on closed-loop feedback control and RTK-GPS, that can realize the accurate navigation and automatic rolling operation of vibrating rollers. This new system, composed of a remote monitoring device and an onboard automatic navigation control device, works in one of the three modes-automatic rolling, remote control rolling, and manual rolling, and offers several functions-wireless communication between equipment, automatic ignition starting, speed regulation, vehicle steering, and braking. It can also achieve an automatic navigation function by planning an overall path and local obstacle-avoiding paths through implementing an A* algorithm together with the RTK-GPS positioning technology. Application to the site compaction of dam construction projects shows that our new rolling system ensures the normal rolling operation in special or emergency situations; solves the problems of rolling omission, cross rolling, and repeated rolling around the joint of two adjacent layers; improves significantly the quality and efficiency of compacting operation. The system, of great application value, can be applied to various earthwork projects in such fields as water conservancy, road, railway, airport, and port engineering. Particularly, it is suitable for filling and rolling operation in dangerous environments or extreme conditions.
引文
[1]李庆斌,石杰.大坝建设4.0[J].水力发电学报,2015,34(8):1-6.Li Qingbin,SHI Jie.Dam construction 4.0[J].Journal of Hydroelectric Engineering,2015,34(8):1-6.(in Chinese)
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[4]Anderegg R,Kaufmann K.Intelligent compaction with vibratory rollers-feedback control systems in automatic compaction and compaction control[J].Transportation Research Record No.1868,Journal of the Transportation Research Board,National Academy Press,2004:124-134.
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[12]黄声享,曾怀恩.GPS实时监控系统及其在碾压施工中的应用[J].测绘工程,2006,15(3):23-25.HUANG Shengxiang,ZENG Huaien.GPS real-time supervisory system and its application in the roller compaction construction[J].Engineering of Surveying and Mapping,2006,15(3):23-25.(in Chinese)
[13]黄声享,刘经南,曾怀恩.水布垭大坝碾压质量GPS实时监控系统的研制与应用[C]//现代堆石坝技术进展.成都,2009:574-578.HUANG Shengxiang,LIU Jingnan,ZENG Huaien.Development and application of GPS real-time monitoring system for rolling quality of Shuibuya dam[C]//Technical Progress of Modern Rock-fill Dam.Chengdu,2009:574-578.(in Chinese)
[14]邱章云.RTD实时动态GPS测量系统在三峡导流明渠截流及三期土石围堰填筑工程中的应用[J].现代测绘,2003,26(5):23-26.QIU Zhangyun.The application of GPS RTD system in the diversion channel closure and the third-stage soil rock cofferdam building engineering in Three Gorges Projection[J].Modern Surveying and Mapping,2003,26(5):23-26.(in Chinese)
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[16]刘东海,连振宏,李子龙.土石坝填筑碾压机械激振性态实时监控系统[J].水电能源科学,2015,33(10):68-71.LIU Donghai,LIAN Zhenhong,LI Zilong.Real-time roller exciting behaviors monitoring system of earth-rock dam compaction[J].Water Resources and Power,2015,33(10):68-71.(in Chinese)
[17]刘东海,孙源泽,巩树涛,等.水电工程进场公路路基压实质量实时监控系统[J].水力发电,2015,41(6):81-85.LIU Donghai,SUN Yuanze,GONG Shutao,et al.Realtime subgrade compaction quality monitoring system of appropriative highway to hydropower project site[J].Water Power,2015,41(6):81-85.(in Chinese)
[18]刘天云,张庆龙,李益多,等.一种智能碾压机器人:中国,201510293529.1[P].2015-06-01.LIU Tianyun,ZHANG Qinglong,LI Yiduo,et al.An intelligent rolling robot:China,201510293529.1[P].2015-06-01.(in Chinese)
[19]黎永键,赵祚喜,高俊文,等.基于DGPS定位与双闭环转向控制的农业自动导航系统[J].农业现代化研究,2016,37(2):387-394.LI Yongjian,ZHAO Zuoxi,GAO Junwen,et al.Agricultural automatic navigation system based on DGPS positioning and double closed-loop steering control[J].Research of Agricultural Modernization,2016,37(2):387-394.(in Chinese)
[20]罗锡文,张智刚,赵祚喜,等.东方红X-804拖拉机的DGPS自动导航控制系统[J].农业工程学报,2009,25(11):139-144.LUO Xiwen,ZHANG Zhigang,ZHAO Zuoxi,et al.Design of DGPS navigation control system for Dongfanghong X-804 tractor[J].Transactions of the Chinese Society of Agricultural Engineering,2009,25(11):139-144.(in Chinese)
[21]伟利国,张权,颜华,等.XDNZ630型水稻插秧机GPS自动导航系统[J].农业机械学报,2011,42(7):186-190.WEI Liguo,ZHANG Quan,YAN Hua,et al.GPS automatic navigation system design for XDNZ630 rice transplanter[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(7):186-190.(in Chinese)
[22]Liu Y X,Zhong D H,Cui B,et al.Study on real-time construction quality monitoring of storehouse surfaces for RCC dams[J].Automation in Construction,2015,49:100-112.
[23]付梦印,邓志红,刘彤.智能车辆导航技术[M].北京:科学出版社,2009.FU Mengyin,DENG Zhihong,LIU Tong.Intelligent vehicle navigation technology[M].Beijing:Science Press,2009.(in Chinese)
[24]史久根,刘春霞,席海强.CA模型下的改进D*路径规划算法[J].电子测量与仪器学报,2016,30(1):30-37.SHI Jiugen,LIU Chunxia,XI Haiqiang.Improved D*path planning algorithm based on CA model[J].Journal of Electronic Measurement and Instrumentation,2016,30(1):30-37.(in Chinese)
[2]杜关,陈波,杨洪.GPS碾压监控系统在土石坝施工质量管理中的应用[J].水电站设计,2012,28(S1):111-113.DU Guan,CHEN Bo,YANG Hong.Application of GPS rolling monitoring system in construction quality management of earth-rock dam[J].Design of Hydroelectric Power Station,2012,28(S1):111-113.(in Chinese)
[3]Kr?ber W.Untersuchung der dynamischen Vorg?nge bei der Vibrationsverdichtung von B?den[D].München(in German),Technischen Universit?t München,1988.
[4]Anderegg R,Kaufmann K.Intelligent compaction with vibratory rollers-feedback control systems in automatic compaction and compaction control[J].Transportation Research Record No.1868,Journal of the Transportation Research Board,National Academy Press,2004:124-134.
[5]White D J,Vennapusa P.Report of the Workshop on Intelligent Technologies for Earthworks[R].EERC Publication ER09-02,Earthworks Engineering Research Center,Iowa State University,Ames,Iowa,2009.
[6]Carlos Z,Vincent D,Philippe B.Advanced compaction quality control[R].U.S.Indiana:School of Civil Engineering,Purdue University,2006.
[7]梁宗铨.振动压路机的研制与发展动向[J].矿业研究与开发,1997,15(S1):30-32.LIANG Zongquan.Research and development of vibrating road roller[J].Mining Research and Development,1997,15(S1):30-32.(in Chinese)
[8]陈罗星.W1102DZ型高性能无人驾驶振动压路机[J].工程机械,2002(7):12-13,31.CHEN Luoxing.W1102DZ type high performance driverless vibratory roller[J].Construction Machinery and Equipment,2002(7):12-13,31.(in Chinese)
[9]张智明.智能化振动压路机及技术现状[J].工程机械,2005,36(3):5-8.ZHANG Zhiming.Intelligent vibratory roller and technical status[J].Construction Machinery and Equipment,2005,36(3):5-8.(in Chinese)
[10]聂福全.国外振动压路机设计的发展趋势[J].水利电力机械,2002,24(6):37-39.NIE Fuquan.Design orientation of foreign vibratory road roller[J].Water Conservancy&Electric Power Machinery,2002,24(6):37-39.(in Chinese)
[11]黄声享,刘经南,吴晓铭.GPS实时监控系统及其在堆石坝施工中的初步应用[J].武汉大学学报(信息科学版),2005,30(9):813-816.HUANG Shengxiang,LIU Jingnan,WU Xiaoming.GPS real-time supervisory system and its preliminary application in the construction of face rock-fill dam[J].Geomatics and Information Science of Wuhan University,2005,30(9):813-816.(in Chinese)
[12]黄声享,曾怀恩.GPS实时监控系统及其在碾压施工中的应用[J].测绘工程,2006,15(3):23-25.HUANG Shengxiang,ZENG Huaien.GPS real-time supervisory system and its application in the roller compaction construction[J].Engineering of Surveying and Mapping,2006,15(3):23-25.(in Chinese)
[13]黄声享,刘经南,曾怀恩.水布垭大坝碾压质量GPS实时监控系统的研制与应用[C]//现代堆石坝技术进展.成都,2009:574-578.HUANG Shengxiang,LIU Jingnan,ZENG Huaien.Development and application of GPS real-time monitoring system for rolling quality of Shuibuya dam[C]//Technical Progress of Modern Rock-fill Dam.Chengdu,2009:574-578.(in Chinese)
[14]邱章云.RTD实时动态GPS测量系统在三峡导流明渠截流及三期土石围堰填筑工程中的应用[J].现代测绘,2003,26(5):23-26.QIU Zhangyun.The application of GPS RTD system in the diversion channel closure and the third-stage soil rock cofferdam building engineering in Three Gorges Projection[J].Modern Surveying and Mapping,2003,26(5):23-26.(in Chinese)
[15]王乾坤,陈沁.GPS大坝施工碾压质量实时监控方法[J].武汉理工大学学报,2009,31(8):79-82.WANG Qiankun,CHEN Qin.Method of real time supervisory control filling and rolling quality construction in the dam by GPS[J].Journal of Wuhan University of Technology,2009,31(8):79-82.(in Chinese)
[16]刘东海,连振宏,李子龙.土石坝填筑碾压机械激振性态实时监控系统[J].水电能源科学,2015,33(10):68-71.LIU Donghai,LIAN Zhenhong,LI Zilong.Real-time roller exciting behaviors monitoring system of earth-rock dam compaction[J].Water Resources and Power,2015,33(10):68-71.(in Chinese)
[17]刘东海,孙源泽,巩树涛,等.水电工程进场公路路基压实质量实时监控系统[J].水力发电,2015,41(6):81-85.LIU Donghai,SUN Yuanze,GONG Shutao,et al.Realtime subgrade compaction quality monitoring system of appropriative highway to hydropower project site[J].Water Power,2015,41(6):81-85.(in Chinese)
[18]刘天云,张庆龙,李益多,等.一种智能碾压机器人:中国,201510293529.1[P].2015-06-01.LIU Tianyun,ZHANG Qinglong,LI Yiduo,et al.An intelligent rolling robot:China,201510293529.1[P].2015-06-01.(in Chinese)
[19]黎永键,赵祚喜,高俊文,等.基于DGPS定位与双闭环转向控制的农业自动导航系统[J].农业现代化研究,2016,37(2):387-394.LI Yongjian,ZHAO Zuoxi,GAO Junwen,et al.Agricultural automatic navigation system based on DGPS positioning and double closed-loop steering control[J].Research of Agricultural Modernization,2016,37(2):387-394.(in Chinese)
[20]罗锡文,张智刚,赵祚喜,等.东方红X-804拖拉机的DGPS自动导航控制系统[J].农业工程学报,2009,25(11):139-144.LUO Xiwen,ZHANG Zhigang,ZHAO Zuoxi,et al.Design of DGPS navigation control system for Dongfanghong X-804 tractor[J].Transactions of the Chinese Society of Agricultural Engineering,2009,25(11):139-144.(in Chinese)
[21]伟利国,张权,颜华,等.XDNZ630型水稻插秧机GPS自动导航系统[J].农业机械学报,2011,42(7):186-190.WEI Liguo,ZHANG Quan,YAN Hua,et al.GPS automatic navigation system design for XDNZ630 rice transplanter[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(7):186-190.(in Chinese)
[22]Liu Y X,Zhong D H,Cui B,et al.Study on real-time construction quality monitoring of storehouse surfaces for RCC dams[J].Automation in Construction,2015,49:100-112.
[23]付梦印,邓志红,刘彤.智能车辆导航技术[M].北京:科学出版社,2009.FU Mengyin,DENG Zhihong,LIU Tong.Intelligent vehicle navigation technology[M].Beijing:Science Press,2009.(in Chinese)
[24]史久根,刘春霞,席海强.CA模型下的改进D*路径规划算法[J].电子测量与仪器学报,2016,30(1):30-37.SHI Jiugen,LIU Chunxia,XI Haiqiang.Improved D*path planning algorithm based on CA model[J].Journal of Electronic Measurement and Instrumentation,2016,30(1):30-37.(in Chinese)