大坝填筑碾压施工无人驾驶技术的研究与应用  

Study and application of unmanned driving technology or filling and rolling construction of earth-rockfill dam

作　　者：陈祖煜[1] 赵宇飞[1] 邹斌[2] 姜龙[1] 赵慧敏 CHEN Zuyu;ZHAO Yufei;ZOU Bin;JIANG Long;ZHAO Huimin(State Key Laboratory of Simulation and Regulation of Water Cycle in River Basin,China Institute of Water Resourcesand Hydropower Research,Beijing100048,China;School of Automotive Engineering,Wuhan University of Technology,Wuhan 430070,Hubei China)

机构地区：[1]中国水利水电科学研究院流域水循环模拟与调控国家重点实验室,北京100048 [2]武汉理工大学汽车工业学院,湖北武汉430070

出　　处：《水利水电技术》2019年第8期1-7,共7页Water Resources and Hydropower Engineering

基　　金：“十三五”国家重点研发计划(2018YFC0407000);国家优秀青年科学基金项目(51722907);中国水科院三型人才专项项目(GE0145B88201)

摘　　要：近年来,利用高精度定位技术以及物联网技术,对土石坝填筑碾压施工过程开展了实时智能化监控系统的研发与应用研究,取得了较好的效果。如何利用无人驾驶碾压机械实现智能施工成为了研究人员关注的焦点。利用激光雷达、短波雷达、卫星定位等关键技术,研发了不改变施工机械油路、电路等控制系统以及机械结构的无人驾驶改造技术,能够实现自主施工环境感知、自主施工行为决策、自主施工动作执行的目的。结合建立的土石坝填筑施工过程实时智能化监控系统,实现了大坝填筑碾压施工全过程智能化,有效保证了施工质量,提高了施工过程管理水平。土石坝填筑碾压施工无人驾驶技术通过在河南出山店水库大坝中的应用,验证了该技术的适用性与有效性,具有广阔的推广应用空间。In recent years, better achievementsare obtained from the development and application of the real-time intelligent monitoring system for the filling and rolling process of the construction of earth-rockfill dam carried out by means of high-precision satellite positioning technology and the Internet of Things technology. On this basis, the intelligent construction made by unmanned roller becomes the focus of attention to be studied. With the key technologies, i.e. laser radar, shortwave radar, satellite positioning, etc., an improved technology for the unmanned driving of the construction machinery without changing the control systems of the oil circuit and electric circuit as well as the mechanical structure is developed, which can get the targets of self- perception of construction environment, self-decision-making of construction action and self-execution of mechanical operation . Combined with the real-time intelligent monitoring system for the filling and rolling process of the construction of earth-rockfill dam, the functions of automatic path planning, unmanned driving of construction machinery, etc. can be realized, thus not only the construction quality can be effectively ensured, but the management level of the construction process can also be enhanced. The applicability and effectiveness of this technology are verified through its application to the filling and rolling construction of the earth-rockfill dam for Chushandian Reservoir in Henan Province.

关 键 词：无人驾驶系统 环境感知 路径规划 自主执行 土石坝填筑 

分 类 号：TU443[建筑科学—岩土工程]