Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real...Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.展开更多
The working principle of radio remote controlling of construction machinery should be that signals of the radio wave from the transmitter obtained in the receiver were controlled and then changed into electronic analo...The working principle of radio remote controlling of construction machinery should be that signals of the radio wave from the transmitter obtained in the receiver were controlled and then changed into electronic analog or digital signals which can be used to drive different actuators and mechanisms of the vehicle.The vehicle could be acted by following the controlling instructions sent by the operator.The best operation mode of construction machinery is suitable not only to manual operating but also to remote controlling in the same vehicle.The design methods of the hydraulic system used for the radio remote controlling of construction machinery are discussed.The design methods of hydraulic circuits for the actuators controlled by solenoid on-off type valves,hydro-electronic multi-way proportional valves,closed loop proportional servo driver or three-way proportional reducing valves are discussed in detail (with real example).The design methods of the power shift transmission of electro-hydraulic controlling,the devices of braking and the directional streering are discussed in this paper.展开更多
The spatial and temporal deformation patterns and deformation control indicators of highfill foundations directly affect the design,construction and operational safety of high-fill projects.In situ monitoring can comp...The spatial and temporal deformation patterns and deformation control indicators of highfill foundations directly affect the design,construction and operational safety of high-fill projects.In situ monitoring can comprehensively reflect the deformation of high-fill during and after construction.In this paper,we have first designed and installed an integrated wireless remote monitoring system for high-fill to achieve real-time dynamic monitoring of settlement,pore water pressure and soil pressure of the fill foundation.Based on the monitoring results of nearly one year of the construction period and two years after construction,it was found that the deformation amount and deformation rate of the high-fill foundation showed a non-linear growth relationship with the filling rate and filling height.The settlement deformation of the high-fill foundation during the loading period was mainly dominated by the original foundation soil,accounting for 54.4%of the total settlement on average;the settlement deformation during the post-construction period was mainly dominated by the filling body,accounting for 77.04%of the total settlement on average,and the settlement deformation during the post-construction period mainly occurred in the first year after construction.The analysis of the deformation mechanism suggests that the deformation of the filling body is dominated by exhaust consolidation during the loading period and drainage consolidation during the post-construction period;the deformation of the original foundation soil is dominated by drainage consolidation during the loading period and drainage consolidation develops slowly during the post-construction period.It is recommended that the original foundation should be reinforced before the large area filling construction,and that the filling rate should be strictly controlled during construction.The research results can provide a scientific basis for deformation calculation and stability assessment of high-fill foundations.展开更多
文摘Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.
文摘The working principle of radio remote controlling of construction machinery should be that signals of the radio wave from the transmitter obtained in the receiver were controlled and then changed into electronic analog or digital signals which can be used to drive different actuators and mechanisms of the vehicle.The vehicle could be acted by following the controlling instructions sent by the operator.The best operation mode of construction machinery is suitable not only to manual operating but also to remote controlling in the same vehicle.The design methods of the hydraulic system used for the radio remote controlling of construction machinery are discussed.The design methods of hydraulic circuits for the actuators controlled by solenoid on-off type valves,hydro-electronic multi-way proportional valves,closed loop proportional servo driver or three-way proportional reducing valves are discussed in detail (with real example).The design methods of the power shift transmission of electro-hydraulic controlling,the devices of braking and the directional streering are discussed in this paper.
基金supported by the Youth Science and Technology Fund Program in Gansu Province(20JR5RA434 and 20JR10RA200)National Natural Science Foundation of China(52168051)+1 种基金Gansu Province University Innovation Fund Project(2020A031)Gansu Provincial Science and Technology Plan Fund Project(22CX8GA112)。
文摘The spatial and temporal deformation patterns and deformation control indicators of highfill foundations directly affect the design,construction and operational safety of high-fill projects.In situ monitoring can comprehensively reflect the deformation of high-fill during and after construction.In this paper,we have first designed and installed an integrated wireless remote monitoring system for high-fill to achieve real-time dynamic monitoring of settlement,pore water pressure and soil pressure of the fill foundation.Based on the monitoring results of nearly one year of the construction period and two years after construction,it was found that the deformation amount and deformation rate of the high-fill foundation showed a non-linear growth relationship with the filling rate and filling height.The settlement deformation of the high-fill foundation during the loading period was mainly dominated by the original foundation soil,accounting for 54.4%of the total settlement on average;the settlement deformation during the post-construction period was mainly dominated by the filling body,accounting for 77.04%of the total settlement on average,and the settlement deformation during the post-construction period mainly occurred in the first year after construction.The analysis of the deformation mechanism suggests that the deformation of the filling body is dominated by exhaust consolidation during the loading period and drainage consolidation during the post-construction period;the deformation of the original foundation soil is dominated by drainage consolidation during the loading period and drainage consolidation develops slowly during the post-construction period.It is recommended that the original foundation should be reinforced before the large area filling construction,and that the filling rate should be strictly controlled during construction.The research results can provide a scientific basis for deformation calculation and stability assessment of high-fill foundations.
