基于闭环反馈控制和RTK-GPS的自动碾压系统

Automatic rolling system based on closed-loop feedback control and RTK-GPS

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.