水工大体积混凝土无人运浇系统模型研发  

Research on Unmanned Transportation and Pouring System Model for Hydraulic Mass Concrete Construction

作　　者：邓凯迪 强晟 蒋一波[3] 徐春雷 华夏 DENG Kai-di;QIANG Sheng;JIANG Yi-bo;XU Chun-lei;HUA Xia(Yalong River Basin Hydropower Development Co.,Ltd.,Chengdu 610051,China;College of Water Conservancy and Hydropower Engineering,Hohai University,Nanjing 210098,China;Jiangsu Huaiyin Water Conservancy Construction Co.,Ltd.,Huaian 223005,China;Wuxi Key Water Conservancy Project Construction Management Office,Wuxi 214000,China;College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]雅砻江流域水电开发有限公司,四川成都610051 [2]河海大学水利水电学院,江苏南京210098 [3]江苏淮阴水利建设有限公司,江苏淮安223005 [4]无锡市重点水利工程建设管理处,江苏无锡214000 [5]浙江工业大学机械工程学院,浙江杭州310023

出　　处：《水电能源科学》2022年第7期175-179,共5页Water Resources and Power

摘　　要：水利工程施工中,大体积混凝土的运输与浇筑振捣是关键而繁重的任务。按传统施工方法,需较多的驾驶员和振捣操作工长时间连续作业,由于人的主观性和工作疲劳,易出现运输车辆调度问题或安全事故及混凝土“漏振”、“欠振”、“过振”等问题。对此,利用Arduino主控板、UWB局部定位系统、机械臂等硬件设备研发无人施工机械模型并提出相应算法,于实验室内构建了一套水工大体积混凝土无人运浇系统,该系统可实现各无人施工机械无缝衔接自动化作业,提高施工效率,为进一步推进水利工程智能化施工提供了理论基础和技术支撑。In the construction of water conservancy project, how to efficiently transport, pour and vibrate mass concrete is a key and heavy task. According to the traditional construction method, more drivers and vibration operators are required to work continuously for a long time. Due to human subjectivity and work fatigue, it is easy to cause various problems, such as transportation vehicles scheduling problems, safety accidents, disqualification of concrete vibration and so on. In order to solve the above problems, the unmanned construction machinery models were designed and assembled, which were composed of Arduino main control board, UWB local positioning system, mechanical arm and other hardware equipment. Besides, the corresponding algorithm applied to these models was proposed. The unmanned transportation and pouring system for hydraulic mass concrete was built in the laboratory, which can realize seamless automatic operation of unmanned construction machinery and improve construction efficiency. Thus, it can provide theoretical basis and technical support for further promoting the intelligent construction of water conservancy projects.

关 键 词：水利工程 混凝土运输、振捣 无人运浇系统 智能施工 

分 类 号：TV53[水利工程—水利水电工程]